Regarding Visualization

[YunwooLee94]

https://github.com/LARR-Planning/los-keeper/blob/da48a7de85a9457144061aba505349f8704cc20f/los_keeper_ros2/src/visualization/visualizer.cc#L51-L97C1

Is there any way to make this part neater?
Every time I visualize primitives, I have to specify the specifications of markers like this. Doesn't code look messy?

[icsl-Jeon]

I guess you are not happy with the below lines:

https://github.com/LARR-Planning/los-keeper/blob/da48a7de85a9457144061aba505349f8704cc20f/los_keeper_ros2/src/visualization/visualizer.cc#L65C1-L74C43

I think you can make a struct DefaultVisualization in Visualizer as:

struct DefaultVisualization {
  visualization_msgs:msg::Marker primtive_line_strip;
}

And initialize the primtive_line_strip in the constructor Visualizer().
How do you think about my suggestion?

[icsl-Jeon]

Also, I found another matters (not matter actually) on coding convention: avoid indentation as best as possible. For example:

Your current version:

TargetBestPathVisualizationMsg visual_output;
  if (parameters_.target.best.publish) {
    bool is_best_indices_generated = not best_indices.empty();
    bool is_primitive_generated_big = not primitive_list.empty();
    bool is_primitive_generated = true;
    if (is_primitive_generated_big) {
      for (int i = 0; i < primitive_list.size(); i++) {
        if (primitive_list[i].empty())
          is_primitive_generated = false;
      }
    }
    is_primitive_generated = is_primitive_generated and is_primitive_generated_big;
    if (is_best_indices_generated and is_primitive_generated) {
      static vector<int> last_num_id;
      visualization_msgs::msg::Marker line_strip;
      line_strip.type = visualization_msgs::msg::Marker::LINE_STRIP;
      line_strip.header.frame_id = parameters_.frame_id;
      line_strip.color.a = parameters_.target.best.color.a;
      line_strip.color.r = parameters_.target.best.color.r;
      line_strip.color.g = parameters_.target.best.color.g;
      line_strip.color.b = parameters_.target.best.color.b;
      line_strip.scale.x = parameters_.target.best.line_scale;
      line_strip.action = visualization_msgs::msg::Marker::MODIFY;
      line_strip.pose.orientation.w = 1.0;

      vector<float> time_seq;
      float seg_t0 = primitive_list[0][best_indices[0]].px.GetTimeInterval()[0];
      float seg_tf = primitive_list[0][best_indices[0]].px.GetTimeInterval()[1];
      for (int i = 0; i < parameters_.target.best.num_time_sample; i++)
        time_seq.push_back(seg_t0 + (float)i * (seg_tf - seg_t0) /
                                        (float)(parameters_.target.best.num_time_sample - 1));
      geometry_msgs::msg::Point temp_point;
      for (int i = 0; i < best_indices.size(); i++) {
        line_strip.points.clear();
        line_strip.id = 0;
        line_strip.ns = std::to_string(i) + "-th best_target_prediction";
        for (int j = 0; j < parameters_.target.best.num_time_sample; j++) {
          temp_point.x = primitive_list[i][best_indices[i]].px.GetValue(time_seq[j]);
          temp_point.y = primitive_list[i][best_indices[i]].py.GetValue(time_seq[j]);
          temp_point.z = primitive_list[i][best_indices[i]].pz.GetValue(time_seq[j]);
          line_strip.points.push_back(temp_point);
        }
        visual_output.markers.push_back(line_strip);
      }
    }
  }

My recommendation:

TargetBestPathVisualizationMsg visual_output;
  if (not parameters_.target.best.publish)
    return visual_output;
 
  bool is_best_indices_generated = not best_indices.empty();
  bool is_primitive_generated_big = not primitive_list.empty();
  bool is_primitive_generated = true;
  if (is_primitive_generated_big) {
    for (int i = 0; i < primitive_list.size(); i++) {
      if (primitive_list[i].empty())
        is_primitive_generated = false;
    }
  }
  is_primitive_generated = is_primitive_generated and is_primitive_generated_big;

  if (!is_best_indices_generated || ! is_primitive_generated)
    return visual_output;

  static vector<int> last_num_id;
  visualization_msgs::msg::Marker line_strip;
  line_strip.type = visualization_msgs::msg::Marker::LINE_STRIP;
  line_strip.header.frame_id = parameters_.frame_id;
  line_strip.color.a = parameters_.target.best.color.a;
  line_strip.color.r = parameters_.target.best.color.r;
  line_strip.color.g = parameters_.target.best.color.g;
  line_strip.color.b = parameters_.target.best.color.b;
  line_strip.scale.x = parameters_.target.best.line_scale;
  line_strip.action = visualization_msgs::msg::Marker::MODIFY;
  line_strip.pose.orientation.w = 1.0;

  vector<float> time_seq;
  float seg_t0 = primitive_list[0][best_indices[0]].px.GetTimeInterval()[0];
  float seg_tf = primitive_list[0][best_indices[0]].px.GetTimeInterval()[1];
  for (int i = 0; i < parameters_.target.best.num_time_sample; i++)
    time_seq.push_back(seg_t0 + (float)i * (seg_tf - seg_t0) /
                                    (float)(parameters_.target.best.num_time_sample - 1));
  geometry_msgs::msg::Point temp_point;
  for (int i = 0; i < best_indices.size(); i++) {
    line_strip.points.clear();
    line_strip.id = 0;
    line_strip.ns = std::to_string(i) + "-th best_target_prediction";
    for (int j = 0; j < parameters_.target.best.num_time_sample; j++) {
      temp_point.x = primitive_list[i][best_indices[i]].px.GetValue(time_seq[j]);
      temp_point.y = primitive_list[i][best_indices[i]].py.GetValue(time_seq[j]);
      temp_point.z = primitive_list[i][best_indices[i]].pz.GetValue(time_seq[j]);
      line_strip.points.push_back(temp_point);
    }
    visual_output.markers.push_back(line_strip);
  }
  
  }