feat(visualzer): add new maker type (#96)

* add new maker
* add docs
* fix spell
---------
Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>

Author: yuki-takagi-66

autoware_lanelet2_extension/docs/lanelet2_format_extension.md

@@ -285,6 +285,11 @@ _An example:_
 
 For more details about the `no_drivable_lane` concept and design, please refer to the [**_no-drivable-lane-design_**](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/README.md) document.
 
+### Map Filter Area
+
+If there is a polygon area that has `map_area_filter` tag, the pointcloud and objects in this area are removed.
+For more details, please refer <https://github.com/tier4/map_area_filter>
+
 ### Localization Landmarks
 
 Landmarks, such as AR-Tags, can be defined into the lanelet map to aid localization module.

autoware_lanelet2_extension/include/autoware_lanelet2_extension/visualization/visualization.hpp

@@ -228,6 +228,14 @@ visualization_msgs::msg::MarkerArray noObstacleSegmentationAreaForRunOutAsMarker
 visualization_msgs::msg::MarkerArray hatchedRoadMarkingsAreaAsMarkerArray(
   const lanelet::ConstPolygons3d & hatched_road_markings_area,
   const std_msgs::msg::ColorRGBA & area_color, const std_msgs::msg::ColorRGBA & line_color);
+
+/**
+ * [map creates marker array to visualize intersection area]
+ * @param  map_filter_area [map filter area polygon]
+ * @param  c               [color of the marker]
+ */
+visualization_msgs::msg::MarkerArray mapFilterAreaAsMarkerArray(
+  const lanelet::ConstPolygons3d & map_filter_area, const std_msgs::msg::ColorRGBA & c);
 }  // namespace format_v2
 
 /**

autoware_lanelet2_extension/lib/visualization.cpp

@@ -1147,6 +1147,25 @@ visualization_msgs::msg::MarkerArray hatchedRoadMarkingsAreaAsMarkerArray(
 
   return marker_array;
 }
+
+visualization_msgs::msg::MarkerArray mapFilterAreaAsMarkerArray(
+  const lanelet::ConstPolygons3d & map_filter_areas, const std_msgs::msg::ColorRGBA & c)
+{
+  visualization_msgs::msg::MarkerArray marker_array;
+  if (map_filter_areas.empty()) {
+    return marker_array;
+  }
+
+  visualization_msgs::msg::Marker marker = createPolygonMarker("map_filter_area", c);
+  for (const auto & polygon : map_filter_areas) {
+    pushPolygonMarker(&marker, polygon, c);
+  }
+
+  if (!marker.points.empty()) {
+    marker_array.markers.push_back(marker);
+  }
+  return marker_array;
+}
 }  // namespace format_v2
 }  // namespace visualization