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758 add guard rails and barriers as lane boundaries to osi #792

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758 add guard rails and barriers as lane boundaries to osi #792

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707fd2b
Added barriers as lane boundaries in OSI
ClemensLinnhoff Jan 21, 2026
db764cd
Only take have of the outline
ClemensLinnhoff Jan 21, 2026
945bae5
Merge branch 'dev' into 758-guard-rails-and-barriers-not-correctly-re…
ClemensLinnhoff Feb 6, 2026
b5e4409
Treat deprecated XODR object type railing as barrier in OSI
ClemensLinnhoff Feb 9, 2026
ddfede6
Merge remote-tracking branch 'origin/dev' into 758-guard-rails-and-ba…
ClemensLinnhoff Apr 17, 2026
d244eb3
Merge branch 'dev' into 758-guard-rails-and-barriers-not-correctly-re…
ClemensLinnhoff May 4, 2026
80c8624
Fix unintended change
ClemensLinnhoff May 4, 2026
6da8b54
Fix unintended change
ClemensLinnhoff May 4, 2026
64c89ef
Merge branch 'dev' into 758-guard-rails-and-barriers-not-correctly-re…
ClemensLinnhoff May 13, 2026
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56 changes: 52 additions & 4 deletions EnvironmentSimulator/Modules/ScenarioEngine/SourceFiles/OSIReporter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -663,7 +663,7 @@ int OSIReporter::UpdateOSIStationaryObjectODR(roadmanager::RMObject *object)
obj_osi_internal.sobj->mutable_classification()->set_type(
osi3::StationaryObject_Classification_Type::StationaryObject_Classification_Type_TYPE_VEGETATION);
}
else if (obj_type == roadmanager::RMObject::ObjectType::BARRIER)
else if (obj_type == roadmanager::RMObject::ObjectType::BARRIER || obj_type == roadmanager::RMObject::ObjectType::RAILING)
{
obj_osi_internal.sobj->mutable_classification()->set_type(
osi3::StationaryObject_Classification_Type::StationaryObject_Classification_Type_TYPE_BARRIER);
Expand All @@ -686,7 +686,7 @@ int OSIReporter::UpdateOSIStationaryObjectODR(roadmanager::RMObject *object)

source_reference->add_identifier()->assign(object->GetParkingSpace().GetRestrictions());
}
else if (obj_type == roadmanager::RMObject::ObjectType::OBSTACLE || obj_type == roadmanager::RMObject::ObjectType::RAILING ||
else if (obj_type == roadmanager::RMObject::ObjectType::OBSTACLE ||
obj_type == roadmanager::RMObject::ObjectType::PATCH || obj_type == roadmanager::RMObject::ObjectType::TRAFFICISLAND ||
obj_type == roadmanager::RMObject::ObjectType::CROSSWALK || obj_type == roadmanager::RMObject::ObjectType::STREETLAMP ||
obj_type == roadmanager::RMObject::ObjectType::GANTRY || obj_type == roadmanager::RMObject::ObjectType::SOUNDBARRIER ||
Expand Down Expand Up @@ -806,7 +806,8 @@ int OSIReporter::UpdateOSIStationaryObject(Object &obj)
obj_osi_internal.sobj->mutable_classification()->set_type(
osi3::StationaryObject_Classification_Type::StationaryObject_Classification_Type_TYPE_VEGETATION);
}
else if (obj.category_ == MiscObject::Category::BARRIER)
else if (obj.category_ == static_cast<int>(MiscObject::Category::BARRIER) ||
obj.category_ == static_cast<int>(MiscObject::Category::RAILING))
{
obj_osi_internal.sobj->mutable_classification()->set_type(
osi3::StationaryObject_Classification_Type::StationaryObject_Classification_Type_TYPE_BARRIER);
Expand All @@ -817,7 +818,7 @@ int OSIReporter::UpdateOSIStationaryObject(Object &obj)
osi3::StationaryObject_Classification_Type::StationaryObject_Classification_Type_TYPE_BUILDING);
}
else if (obj.category_ == MiscObject::Category::OBSTACLE || obj.category_ == MiscObject::Category::PARKINGSPACE ||
obj.category_ == MiscObject::Category::RAILING || obj.category_ == MiscObject::Category::PATCH ||
obj.category_ == MiscObject::Category::PATCH ||
obj.category_ == MiscObject::Category::TRAFFICISLAND || obj.category_ == MiscObject::Category::CROSSWALK ||
obj.category_ == MiscObject::Category::STREETLAMP || obj.category_ == MiscObject::Category::GANTRY ||
obj.category_ == MiscObject::Category::SOUNDBARRIER || obj.category_ == MiscObject::Category::WIND ||
Expand Down Expand Up @@ -2012,6 +2013,53 @@ int OSIReporter::UpdateOSILaneBoundary()
}
}

// set barriers as lane boundaries
for (unsigned int i = 0; i < opendrive->GetNumOfRoads(); i++)
{
roadmanager::Road *road = opendrive->GetRoadByIdx(i);
if (road)
{
for (unsigned int j = 0; j < road->GetNumberOfObjects(); j++)
{
roadmanager::RMObject *object = road->GetRoadObject(j);
if (object)
{
auto obj_type = object->GetType();
if (obj_type == roadmanager::RMObject::ObjectType::BARRIER || obj_type == roadmanager::RMObject::ObjectType::RAILING)
{
osi3::LaneBoundary *osi_laneboundary = obj_osi_internal.static_gt->add_lane_boundary();

// set id and points
osi_laneboundary->mutable_id()->set_value(object->GetGlobalId());
osi_laneboundary->mutable_classification()->set_type(osi3::LaneBoundary_Classification_Type::LaneBoundary_Classification_Type_TYPE_BARRIER); //todo: differentiate between barrier and guard rail
if (object->GetNumberOfOutlines() > 0)
{
for (unsigned int k = 0; k < object->GetNumberOfOutlines(); k++)
{
roadmanager::Outline *outline = object->GetOutline(k);
if (outline)
{
for (size_t l = 0; l < outline->corner_.size()/2; l++) //todo: only use one side of the outline for the lane boundary, but it is not clear, if this is always the case.
{
double x, y, z;
outline->corner_[l]->GetPos(x, y, z);
osi3::LaneBoundary::BoundaryPoint *boundary_point = osi_laneboundary->add_boundary_line();
boundary_point->mutable_position()->set_x(x);
boundary_point->mutable_position()->set_y(y);
boundary_point->mutable_position()->set_z(z);
boundary_point->set_height(outline->corner_[l]->GetHeight());
boundary_point->set_width(0.1); //todo: come up with solution to specify the width
}
}
}
}
obj_osi_internal.lnb.push_back(osi_laneboundary);
}
}
}
}
}

return 0;
}

Expand Down
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