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fix(lanelet2_extension): fix low FPS when visualizing center_line_arrows at a large map #1032

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merged 3 commits into from
Jun 5, 2022
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fix(lanelet2_extension): fix low FPS when visualizing center_line_arrows at a large map #1032

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7940672
fix(lanelet2_extension): fix low FPS when visualizing center_line_arr…
h-ohta Jun 3, 2022
e0f6905
fix: fix size
h-ohta Jun 3, 2022
fa44cd7
feat: change arrow size
h-ohta Jun 3, 2022
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fix: fix size
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@h-ohta
h-ohta authored Jun 3, 2022
commit e0f69050fb0dff6522b13a28b44754c389ed26bf
4 changes: 2 additions & 2 deletions map/lanelet2_extension/lib/visualization.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1241,8 +1241,8 @@ void visualization::pushArrowsMarker(
for (auto i = ls.begin(); i + 1 != ls.end(); i++) {
const float heading = std::atan2((*(i + 1)).y() - (*i).y(), (*(i + 1)).x() - (*i).x());

const float sin_offset = lss * 0.5 * std::sin(heading);
const float cos_offset = lss * 0.5 * std::cos(heading);
const float sin_offset = lss * std::sin(heading);
const float cos_offset = lss * std::cos(heading);

geometry_msgs::msg::Point p;
p.x = (*i).x() + sin_offset;
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