repo_id stringlengths 19 138 | file_path stringlengths 32 200 | content stringlengths 1 12.9M | __index_level_0__ int64 0 0 |
|---|---|---|---|
apollo_public_repos/apollo/modules | apollo_public_repos/apollo/modules/third_party_perception/third_party_perception_component.cc | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/third_party_perception/third_party_perception_component.h"
#include "modules/common/adapters/adapter_gflags.h"
#include "modules/third_party_perception/proto/third_party_perception_component.pb.h"
DECLARE_string(flagfile);
namespace apollo {
namespace third_party_perception {
bool ThirdPartyPerceptionComponent::Init() {
apollo::third_party_perception::ThirdPartyPerceptionDevice
third_party_perception_param;
if (!GetProtoConfig(&third_party_perception_param)) {
AINFO << "load third party perception param failed";
return false;
}
ThirdPartyPerceptionDeviceType device_type =
third_party_perception_param.device_type();
if (device_type == ThirdPartyPerceptionDeviceType::SMARTEREYE) {
perception_ = std::make_shared<ThirdPartyPerceptionSmartereye>(node_.get());
} else if (device_type == ThirdPartyPerceptionDeviceType::MOBILEYE) {
perception_ = std::make_shared<ThirdPartyPerceptionMobileye>(node_.get());
} else {
perception_ = std::make_shared<ThirdPartyPerception>(node_.get());
}
if (!perception_->Init().ok()) {
return false;
}
writer_ = node_->CreateWriter<apollo::perception::PerceptionObstacles>(
FLAGS_perception_obstacle_topic);
return perception_->Start().ok();
}
bool ThirdPartyPerceptionComponent::Proc() {
auto response = std::make_shared<apollo::perception::PerceptionObstacles>();
if (!perception_->Process(response.get())) {
return false;
}
writer_->Write(response);
return true;
}
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules | apollo_public_repos/apollo/modules/third_party_perception/README.md | # Third Party Perception
## Introduction
In Apollo 2.5, the third_party_perception module incorporates third-party sensors like Mobileye and Conti/Delphi Radar output with simple fusion and creates a similar perception output produced as obstacle/lane detection information as defined in [Perception Obstacles Interface](https://github.com/ApolloAuto/apollo/blob/master/modules/perception/proto/perception_obstacle.proto). This module was only intend to serve for the Prediction/Planning/Control algorithm in real vehicle before perception modules fully ready before 2.5. We recommend using 'modules/perception' instead for your own test purpose after Apollo 2.5 officially released.
## Input
The perception module inputs are:
- Radar data (ROS topic _/apollo/sensor/conti_radar_ or _/apollo/sensor/delphi_esr_ )
- Mobileye data (ROS topic _/apollo/sensor/mobileye_)
## Output
The perception module outputs are:
* The 3D obstacle tracks with the heading, velocity and classification information (ROS topic _/apollo/perception/obstacles_)
* The lane marker information with fitted curve parameter, spatial information(l0,r0, etc) as well as semantic information (lane type) (ROS topic _/apollo/perception/obstacles_)
| 0 |
apollo_public_repos/apollo/modules | apollo_public_repos/apollo/modules/third_party_perception/third_party_perception_base.h | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
*/
#pragma once
#include <memory>
#include <mutex>
#include <string>
#include "cyber/node/node.h"
#include "cyber/node/reader.h"
#include "modules/common_msgs/chassis_msgs/chassis.pb.h"
#include "modules/common/status/status.h"
#include "modules/common_msgs/sensor_msgs/sensor_image.pb.h"
#include "modules/common_msgs/localization_msgs/localization.pb.h"
#include "modules/common_msgs/perception_msgs/perception_obstacle.pb.h"
#include "modules/third_party_perception/common/third_party_perception_gflags.h"
#include "modules/third_party_perception/proto/radar_obstacle.pb.h"
/**
* @namespace apollo::third_party_perception
* @brief apollo::third_party_perception
*/
namespace apollo {
namespace third_party_perception {
class ThirdPartyPerception {
public:
explicit ThirdPartyPerception(apollo::cyber::Node* const node);
ThirdPartyPerception() = default;
virtual ~ThirdPartyPerception() = default;
std::string Name() const;
apollo::common::Status Init();
apollo::common::Status Start();
void Stop();
// Upon receiving localization data
void OnLocalization(
const apollo::localization::LocalizationEstimate& message);
// Upon receiving chassis data
void OnChassis(const apollo::canbus::Chassis& message);
// publish perception obstacles when timer is triggered
virtual bool Process(apollo::perception::PerceptionObstacles* const response);
protected:
std::mutex third_party_perception_mutex_;
apollo::localization::LocalizationEstimate localization_;
apollo::canbus::Chassis chassis_;
RadarObstacles current_radar_obstacles_;
RadarObstacles last_radar_obstacles_;
std::shared_ptr<apollo::cyber::Node> node_ = nullptr;
std::shared_ptr<
apollo::cyber::Reader<apollo::localization::LocalizationEstimate>>
localization_reader_ = nullptr;
std::shared_ptr<apollo::cyber::Reader<apollo::canbus::Chassis>>
chassis_reader_ = nullptr;
};
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules | apollo_public_repos/apollo/modules/third_party_perception/third_party_perception_component.h | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include <memory>
#include <string>
#include <vector>
#include "cyber/component/component.h"
#include "cyber/component/timer_component.h"
#include "modules/common_msgs/sensor_msgs/sensor_image.pb.h"
#include "modules/third_party_perception/third_party_perception_base.h"
#include "modules/third_party_perception/third_party_perception_mobileye.h"
#include "modules/third_party_perception/third_party_perception_smartereye.h"
namespace apollo {
namespace third_party_perception {
class ThirdPartyPerceptionComponent final
: public apollo::cyber::TimerComponent {
public:
ThirdPartyPerceptionComponent() = default;
~ThirdPartyPerceptionComponent() = default;
public:
bool Init() override;
bool Proc() override;
private:
std::shared_ptr<
apollo::cyber::Writer<apollo::perception::PerceptionObstacles>>
writer_ = nullptr;
std::shared_ptr<ThirdPartyPerception> perception_ = nullptr;
};
CYBER_REGISTER_COMPONENT(ThirdPartyPerceptionComponent)
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules | apollo_public_repos/apollo/modules/third_party_perception/third-party-perception.BUILD | load("@rules_cc//cc:defs.bzl", "cc_library")
cc_library(
name = "third_party_perception",
includes = ["include"],
hdrs = glob(["include/**/*.h"]),
srcs = glob(["lib/**/*.so*"]),
include_prefix = "modules/third_party_perception",
strip_include_prefix = "include",
visibility = ["//visibility:public"],
) | 0 |
apollo_public_repos/apollo/modules | apollo_public_repos/apollo/modules/third_party_perception/BUILD | load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library")
load("//tools/install:install.bzl", "install", "install_files", "install_src_files")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
cc_library(
name = "third_party_perception_lib",
srcs = ["third_party_perception_base.cc"],
hdrs = ["third_party_perception_base.h"],
alwayslink = True,
deps = [
"//cyber",
"//modules/common/adapters:adapter_gflags",
"//modules/common/util:util_tool",
"//modules/third_party_perception/tools:third_party_perception_filter",
"//modules/third_party_perception/tools:third_party_perception_fusion",
"//modules/third_party_perception/tools:third_party_perception_mobileye_conversion",
"//modules/third_party_perception/tools:third_party_perception_radar_conversion",
"//modules/third_party_perception/tools:third_party_perception_smartereye_conversion",
],
)
cc_library(
name = "third_party_perception_mobileye_lib",
srcs = ["third_party_perception_mobileye.cc"],
hdrs = ["third_party_perception_mobileye.h"],
alwayslink = True,
deps = [
":third_party_perception_lib",
"//cyber",
"//modules/common/adapters:adapter_gflags",
"//modules/common/util:util_tool",
"//modules/third_party_perception/tools:third_party_perception_filter",
"//modules/third_party_perception/tools:third_party_perception_fusion",
"//modules/third_party_perception/tools:third_party_perception_mobileye_conversion",
"//modules/third_party_perception/tools:third_party_perception_radar_conversion",
"//modules/third_party_perception/tools:third_party_perception_smartereye_conversion",
],
)
cc_library(
name = "third_party_perception_smartereye_lib",
srcs = ["third_party_perception_smartereye.cc"],
hdrs = ["third_party_perception_smartereye.h"],
alwayslink = True,
deps = [
":third_party_perception_lib",
"//cyber",
"//modules/common/adapters:adapter_gflags",
"//modules/common/util:util_tool",
"//modules/third_party_perception/tools:third_party_perception_filter",
"//modules/third_party_perception/tools:third_party_perception_fusion",
"//modules/third_party_perception/tools:third_party_perception_mobileye_conversion",
"//modules/third_party_perception/tools:third_party_perception_radar_conversion",
"//modules/third_party_perception/tools:third_party_perception_smartereye_conversion",
],
)
cc_library(
name = "third_party_perception_component_lib",
srcs = ["third_party_perception_component.cc"],
hdrs = ["third_party_perception_component.h"],
copts = ['-DMODULE_NAME=\\"third_party_perception\\"'],
deps = [
":third_party_perception_lib",
":third_party_perception_mobileye_lib",
":third_party_perception_smartereye_lib",
],
alwayslink = True,
)
cc_binary(
name = "libthird_party_perception_component.so",
linkshared = True,
linkstatic = True,
deps = [":third_party_perception_component_lib"],
)
filegroup(
name = "runtime_data",
srcs = glob([
"conf/**",
"dag/*.dag",
"launch/*.launch",
]),
)
install(
name = "install",
library_dest = "third-party-perception/lib",
data_dest = "third-party-perception",
data = [
":runtime_data",
":cyberfile.xml",
":third-party-perception.BUILD",
],
targets = [
":libthird_party_perception_component.so",
],
deps = [
":pb_hdrs",
],
)
install(
name = "pb_hdrs",
data_dest = "third-party-perception/include",
data = [
"//modules/third_party_perception/proto:radar_obstacle_cc_proto",
"//modules/third_party_perception/proto:third_party_perception_component_cc_proto",
],
)
install_src_files(
name = "install_src",
deps = [
":install_third-party-perception_src",
":install_third-party-perception_hdrs"
],
)
install_src_files(
name = "install_third-party-perception_src",
src_dir = ["."],
dest = "third-party-perception/src",
filter = "*",
)
install_src_files(
name = "install_third-party-perception_hdrs",
src_dir = ["."],
dest = "third-party-perception/include",
filter = "*.h",
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/third_party_perception/testdata | apollo_public_repos/apollo/modules/third_party_perception/testdata/simple_fusion/1_perception_obstacles.pb.txt | perception_obstacle {
id: 5
position {
x: 76.184221246053838
y: -8.74886039049188
}
theta: -1
velocity {
x: -0.84422235291896841
y: 1.3147984137623383
}
length: 5
width: 1.4000000000000001
height: 3
polygon_point {
x: 76.945947321358659
y: -11.230749466619319
}
polygon_point {
x: 78.124006700089723
y: -10.474326238403922
}
polygon_point {
x: 75.422495170749016
y: -6.26697131436444
}
polygon_point {
x: 74.244435792017953
y: -7.0233945425798368
}
type: VEHICLE
confidence: 0.5
}
perception_obstacle {
id: 1000
position {
x: 77.600000000000023
y: -3.7999999999999829
}
theta: -1
velocity {
x: -13.75
y: 0.75
}
length: 5
width: 2
height: 3
polygon_point {
x: 78.109284779862477
y: -6.4439797678878641
}
polygon_point {
x: 79.792226749478274
y: -5.3633751561515837
}
polygon_point {
x: 77.090715220137568
y: -1.1560202321121018
}
polygon_point {
x: 75.407773250521771
y: -2.2366248438483813
}
type: VEHICLE
confidence: 0.01
}
perception_obstacle {
id: 1003
position {
x: 193.20000000000005
y: -19.199999999999989
}
theta: -1
velocity {
x: -14
y: -4.25
}
length: 5
width: 2
height: 3
polygon_point {
x: 193.70928477986249
y: -21.84397976788787
}
polygon_point {
x: 195.39222674947828
y: -20.763375156151593
}
polygon_point {
x: 192.69071522013761
y: -16.556020232112107
}
polygon_point {
x: 191.00777325052181
y: -17.636624843848384
}
type: VEHICLE
confidence: 0.01
}
perception_obstacle {
id: 1006
position {
x: 98
y: -0.39999999999997726
}
theta: -1
velocity {
x: -13.75
y: -0.25
}
length: 5
width: 2
height: 3
polygon_point {
x: 98.509284779862455
y: -3.0439797678878584
}
polygon_point {
x: 100.19222674947825
y: -1.9633751561515789
}
polygon_point {
x: 97.490715220137545
y: 2.2439797678879039
}
polygon_point {
x: 95.807773250521748
y: 1.1633751561516243
}
type: VEHICLE
confidence: 0.01
}
perception_obstacle {
id: 1009
position {
x: 142.40000000000009
y: -8.9999999999999716
}
theta: -1
velocity {
x: -13.75
y: 0.5
}
length: 5
width: 2
height: 3
polygon_point {
x: 142.90928477986253
y: -11.643979767887853
}
polygon_point {
x: 144.59222674947833
y: -10.563375156151572
}
polygon_point {
x: 141.89071522013765
y: -6.35602023211209
}
polygon_point {
x: 140.20777325052185
y: -7.4366248438483709
}
type: VEHICLE
confidence: 0.01
}
perception_obstacle {
id: 1012
position {
x: 115.80000000000007
y: 11.000000000000028
}
theta: -1
velocity {
x: 2.75
y: 3.5
}
length: 5
width: 2
height: 3
polygon_point {
x: 116.30928477986252
y: 8.3560202321121473
}
polygon_point {
x: 117.99222674947832
y: 9.4366248438484277
}
polygon_point {
x: 115.29071522013761
y: 13.64397976788791
}
polygon_point {
x: 113.60777325052182
y: 12.563375156151629
}
type: VEHICLE
confidence: 0.01
}
perception_obstacle {
id: 1015
position {
x: 246.60000000000002
y: 21.400000000000006
}
theta: -1
velocity {
x: -13.75
y: 0
}
length: 5
width: 2
height: 3
polygon_point {
x: 247.10928477986246
y: 18.756020232112125
}
polygon_point {
x: 248.79222674947826
y: 19.8366248438484
}
polygon_point {
x: 246.09071522013758
y: 24.043979767887887
}
polygon_point {
x: 244.40777325052179
y: 22.96337515615161
}
type: VEHICLE
confidence: 0.01
}
perception_obstacle {
id: 1018
position {
x: 45.800000000000068
y: -33.799999999999983
}
theta: -1
velocity {
x: -13.75
y: 0
}
length: 5
width: 2
height: 3
polygon_point {
x: 46.309284779862516
y: -36.443979767887861
}
polygon_point {
x: 47.992226749478313
y: -35.363375156151584
}
polygon_point {
x: 45.290715220137621
y: -31.156020232112102
}
polygon_point {
x: 43.607773250521824
y: -32.236624843848382
}
type: VEHICLE
confidence: 0.01
}
perception_obstacle {
id: 1021
position {
x: 22.399999999999977
y: -3.9999999999999716
}
theta: -1
velocity {
x: -13.75
y: 0
}
length: 5
width: 2
height: 3
polygon_point {
x: 22.909284779862432
y: -6.6439797678878527
}
polygon_point {
x: 24.592226749478222
y: -5.5633751561515723
}
polygon_point {
x: 21.890715220137523
y: -1.3560202321120904
}
polygon_point {
x: 20.207773250521733
y: -2.43662484384837
}
type: VEHICLE
confidence: 0.01
}
perception_obstacle {
id: 1024
position {
x: 59.600000000000023
y: -3.5999999999999943
}
theta: -1
velocity {
x: -14
y: 1
}
length: 5
width: 2
height: 3
polygon_point {
x: 60.10928477986247
y: -6.2439797678878755
}
polygon_point {
x: 61.792226749478267
y: -5.163375156151595
}
polygon_point {
x: 59.090715220137575
y: -0.95602023211211318
}
polygon_point {
x: 57.407773250521778
y: -2.0366248438483927
}
type: VEHICLE
confidence: 0.01
}
perception_obstacle {
id: 1027
position {
x: 27.800000000000068
y: -4.3999999999999773
}
theta: -1
velocity {
x: -13.75
y: 0.75
}
length: 5
width: 2
height: 3
polygon_point {
x: 28.309284779862523
y: -7.0439797678878584
}
polygon_point {
x: 29.992226749478313
y: -5.963375156151578
}
polygon_point {
x: 27.290715220137614
y: -1.7560202321120961
}
polygon_point {
x: 25.607773250521824
y: -2.8366248438483757
}
type: VEHICLE
confidence: 0.01
}
perception_obstacle {
id: 1036
position {
x: 212.60000000000002
y: 23.000000000000028
}
theta: -1
velocity {
x: -13.75
y: 0.25
}
length: 5
width: 2
height: 3
polygon_point {
x: 213.10928477986246
y: 20.356020232112147
}
polygon_point {
x: 214.79222674947826
y: 21.436624843848424
}
polygon_point {
x: 212.09071522013758
y: 25.64397976788791
}
polygon_point {
x: 210.40777325052179
y: 24.563375156151633
}
type: VEHICLE
confidence: 0.01
}
perception_obstacle {
id: 1051
position {
x: 64.200000000000045
y: 30.600000000000023
}
theta: -1
velocity {
x: -13.75
y: -1
}
length: 5
width: 2
height: 3
polygon_point {
x: 64.7092847798625
y: 27.956020232112142
}
polygon_point {
x: 66.3922267494783
y: 29.036624843848418
}
polygon_point {
x: 63.6907152201376
y: 33.2439797678879
}
polygon_point {
x: 62.0077732505218
y: 32.163375156151623
}
type: VEHICLE
confidence: 0.01
}
perception_obstacle {
id: 1054
position {
x: 112
y: 13.600000000000023
}
theta: -1
velocity {
x: 7.25
y: 4.25
}
length: 5
width: 2
height: 3
polygon_point {
x: 112.50928477986245
y: 10.956020232112142
}
polygon_point {
x: 114.19222674947825
y: 12.036624843848422
}
polygon_point {
x: 111.49071522013755
y: 16.243979767887904
}
polygon_point {
x: 109.80777325052175
y: 15.163375156151623
}
type: VEHICLE
confidence: 0.01
}
perception_obstacle {
id: 1002
position {
x: 37.200000000000045
y: -26.999999999999972
}
theta: -1
velocity {
x: -0.25
y: 14.5
}
length: 5
width: 2
height: 3
polygon_point {
x: 37.709284779862493
y: -29.643979767887853
}
polygon_point {
x: 39.39222674947829
y: -28.563375156151576
}
polygon_point {
x: 36.6907152201376
y: -24.35602023211209
}
polygon_point {
x: 35.0077732505218
y: -25.436624843848367
}
type: VEHICLE
confidence: 0.01
}
perception_obstacle {
id: 1005
position {
x: 168.20000000000005
y: 11.200000000000017
}
theta: -1
velocity {
x: -13.75
y: 1.75
}
length: 5
width: 2
height: 3
polygon_point {
x: 168.70928477986249
y: 8.5560202321121359
}
polygon_point {
x: 170.39222674947828
y: 9.6366248438484163
}
polygon_point {
x: 167.69071522013761
y: 13.843979767887898
}
polygon_point {
x: 166.00777325052181
y: 12.763375156151618
}
type: VEHICLE
confidence: 0.01
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| 0 |
apollo_public_repos/apollo/modules/third_party_perception/testdata | apollo_public_repos/apollo/modules/third_party_perception/testdata/simple_fusion/1_conti_radar.pb.txt | header {
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length: 4.4
width: 1.8
obstacle_class: 1
}
contiobs {
header {
timestamp_sec: 1520381229.4192731
module_name: "conti_radar"
sequence_num: 689
}
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}
contiobs {
header {
timestamp_sec: 1520381229.4196296
module_name: "conti_radar"
sequence_num: 689
}
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contiobs {
header {
timestamp_sec: 1520381229.4197581
module_name: "conti_radar"
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}
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}
contiobs {
header {
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module_name: "conti_radar"
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}
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}
contiobs {
header {
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module_name: "conti_radar"
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}
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contiobs {
header {
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}
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contiobs {
header {
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module_name: "conti_radar"
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}
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length: 4.4
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}
contiobs {
header {
timestamp_sec: 1520381229.4210615
module_name: "conti_radar"
sequence_num: 689
}
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length: 4.4
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obstacle_class: 1
}
contiobs {
header {
timestamp_sec: 1520381229.421375
module_name: "conti_radar"
sequence_num: 689
}
clusterortrack: false
obstacle_id: 67
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length: 1.6
width: 1.6
obstacle_class: 4
}
contiobs {
header {
timestamp_sec: 1520381229.4216049
module_name: "conti_radar"
sequence_num: 689
}
clusterortrack: false
obstacle_id: 68
longitude_dist: 50.800000000000068
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meas_state: 2
longitude_accel: -1.1400000000000006
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length: 0
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}
contiobs {
header {
timestamp_sec: 1520381229.4218309
module_name: "conti_radar"
sequence_num: 689
}
clusterortrack: false
obstacle_id: 69
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rcs: -1.5
dynprop: 2
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lateral_dist_rms: 0.794
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lateral_vel_rms: 2.187
probexist: 0.75
meas_state: 1
longitude_accel: 0
lateral_accel: 0
oritation_angle: 3.2000000000000171
longitude_accel_rms: 4.676
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length: 0
width: 0
obstacle_class: 0
}
contiobs {
header {
timestamp_sec: 1520381229.4220691
module_name: "conti_radar"
sequence_num: 689
}
clusterortrack: false
obstacle_id: 70
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lateral_dist: 30.200000000000017
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rcs: 0.5
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lateral_dist_rms: 1.023
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probexist: 0.75
meas_state: 3
longitude_accel: -0.99000000000000021
lateral_accel: 0
oritation_angle: -3.1999999999999886
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lateral_accel_rms: 0.005
oritation_angle_rms: 0.471
length: 4.4
width: 1.8
obstacle_class: 1
}
contiobs {
header {
timestamp_sec: 1520381229.4223826
module_name: "conti_radar"
sequence_num: 689
}
clusterortrack: false
obstacle_id: 71
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rcs: 1.5
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probexist: 0.75
meas_state: 2
longitude_accel: -1.17
lateral_accel: 0
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oritation_angle_rms: 0.471
length: 4.4
width: 1.8
obstacle_class: 1
}
contiobs {
header {
timestamp_sec: 1520381229.4225767
module_name: "conti_radar"
sequence_num: 689
}
clusterortrack: false
obstacle_id: 72
longitude_dist: 70.200000000000045
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rcs: 2
dynprop: 2
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lateral_dist_rms: 0.794
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meas_state: 2
longitude_accel: -1.0899999999999999
lateral_accel: 0
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length: 0.8
width: 0.4
obstacle_class: 0
}
contiobs {
header {
timestamp_sec: 1520381229.422828
module_name: "conti_radar"
sequence_num: 689
}
clusterortrack: false
obstacle_id: 73
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rcs: 4
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probexist: 0.75
meas_state: 2
longitude_accel: -1.129999999999999
lateral_accel: 0
oritation_angle: -3.1999999999999886
longitude_accel_rms: 1.023
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oritation_angle_rms: 0.471
length: 0
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obstacle_class: 0
}
contiobs {
header {
timestamp_sec: 1520381229.4230931
module_name: "conti_radar"
sequence_num: 689
}
clusterortrack: false
obstacle_id: 74
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rcs: -5
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lateral_dist_rms: 1.023
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probexist: 0.999
meas_state: 2
longitude_accel: -1.1199999999999992
lateral_accel: 0
oritation_angle: 3.2000000000000171
longitude_accel_rms: 1.317
lateral_accel_rms: 0.005
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length: 0.2
width: 0
obstacle_class: 0
}
contiobs {
header {
timestamp_sec: 1520381229.4233356
module_name: "conti_radar"
sequence_num: 689
}
clusterortrack: false
obstacle_id: 75
longitude_dist: 96.200000000000045
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longitude_vel: -14
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rcs: 5.5
dynprop: 2
longitude_dist_rms: 0.794
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lateral_vel_rms: 1.697
probexist: 0.5
meas_state: 3
longitude_accel: -1
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oritation_angle: -3.1999999999999886
longitude_accel_rms: 2.817
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oritation_angle_rms: 0.471
length: 0
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}
contiobs {
header {
timestamp_sec: 1520381229.4236133
module_name: "conti_radar"
sequence_num: 689
}
clusterortrack: false
obstacle_id: 76
longitude_dist: 26
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rcs: 7.5
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lateral_vel_rms: 2.187
probexist: 0.25
meas_state: 3
longitude_accel: 0
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oritation_angle_rms: 0.471
length: 1
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}
contiobs {
header {
timestamp_sec: 1520381229.4239194
module_name: "conti_radar"
sequence_num: 689
}
clusterortrack: false
obstacle_id: 77
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longitude_vel: 0
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rcs: 28
dynprop: 4
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lateral_vel_rms: 1.317
probexist: 0.75
meas_state: 3
longitude_accel: 0
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lateral_accel_rms: 0.005
oritation_angle_rms: 0.332
length: 1
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obstacle_class: 0
}
contiobs {
header {
timestamp_sec: 1520381229.4241116
module_name: "conti_radar"
sequence_num: 689
}
clusterortrack: false
obstacle_id: 78
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lateral_vel_rms: 2.187
probexist: 0.25
meas_state: 3
longitude_accel: 0
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oritation_angle: 3.2000000000000171
longitude_accel_rms: 4.676
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length: 0
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}
contiobs {
header {
timestamp_sec: 1520381229.4243667
module_name: "conti_radar"
sequence_num: 689
}
clusterortrack: false
obstacle_id: 79
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rcs: 7
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lateral_dist_rms: 2.187
longitude_vel_rms: 2.187
lateral_vel_rms: 2.187
probexist: 0.5
meas_state: 3
longitude_accel: 0
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oritation_angle: 3.2000000000000171
longitude_accel_rms: 4.676
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length: 0
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}
contiobs {
header {
timestamp_sec: 1520381229.4246397
module_name: "conti_radar"
sequence_num: 689
}
clusterortrack: false
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lateral_dist_rms: 2.187
longitude_vel_rms: 2.187
lateral_vel_rms: 2.187
probexist: 0.5
meas_state: 3
longitude_accel: 0
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longitude_accel_rms: 4.676
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length: 0
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}
contiobs {
header {
timestamp_sec: 1520381229.4249284
module_name: "conti_radar"
sequence_num: 689
}
clusterortrack: false
obstacle_id: 81
longitude_dist: 31.600000000000023
lateral_dist: -9.1999999999999886
longitude_vel: -13.75
lateral_vel: 0
rcs: 2.5
dynprop: 2
longitude_dist_rms: 0.794
lateral_dist_rms: 0.794
longitude_vel_rms: 0.616
lateral_vel_rms: 2.187
probexist: 0.75
meas_state: 1
longitude_accel: 0
lateral_accel: 0
oritation_angle: 3.2000000000000171
longitude_accel_rms: 4.676
lateral_accel_rms: 0.005
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length: 0
width: 0
obstacle_class: 0
}
object_list_status {
nof_objects: 82
meas_counter: 28432
interface_version: 0
}
| 0 |
apollo_public_repos/apollo/modules/third_party_perception/testdata | apollo_public_repos/apollo/modules/third_party_perception/testdata/simple_fusion/1_mobileye.pb.txt | header {
timestamp_sec: 1520381229.531209
module_name: "mobileye"
sequence_num: 641
}
aftermarket_669 {
lane_conf_left: -1
ldw_availability_left: false
lane_type_left: 0
distance_to_lane_l: -1.78
lane_conf_right: -1
ldw_availability_right: false
lane_type_right: 1
distance_to_lane_r: 1.3
}
details_737 {
lane_curvature: 0.000192
lane_heading: -0.0135
ca_construction_area: false
right_ldw_availability: true
left_ldw_availability: true
reserved_1: false
yaw_angle: 31.9990234375
pitch_angle: 0.05572484544
}
details_738 {
num_obstacles: 1
timestamp: 28
application_version: 0
active_version_number_section: 2
left_close_rang_cut_in: false
right_close_rang_cut_in: false
go: 15
protocol_version: 3
close_car: false
failsafe: 0
reserved_10: 0
}
details_739 {
obstacle_id: 5
obstacle_pos_x: 67.125
reseved_2: 0
obstacle_pos_y: 9.125
blinker_info: 0
cut_in_and_out: 0
obstacle_rel_vel_x: -1.625
obstacle_type: 0
reserved_3: false
obstacle_status: 3
obstacle_brake_lights: false
reserved_4: 0
obstacle_valid: 2
}
details_73a {
obstacle_length: 31.5
obstacle_width: 1.35
obstacle_age: 61
obstacle_lane: 2
cipv_flag: false
reserved_5: false
radar_pos_x: 255.9375
radar_vel_x: -128
radar_match_confidence: 0
reserved_6: false
matched_radar_id: 127
reserved_7: false
}
details_73b {
obstacle_angle_rate: -19.41
obstacle_scale_change: -0.0182
object_accel_x: -0.57
reserved_8: 0
obstacle_replaced: false
reserved_9: 0
obstacle_angle: -7.78
}
lka_766 {
lane_type: 0
quality: 3
model_degree: 3
position: -1.77734375
curvature: -0.0001855468755000006
curvature_derivative: -7.0370733729170024e-06
width_left_marking: 0.1
}
lka_767 {
heading_angle: 0.013671875
view_range: 30.4453125
view_range_availability: true
}
lka_768 {
lane_type: 1
quality: 3
model_degree: 3
position: 1.30859375
curvature: -0.0001855468755000006
curvature_derivative: -7.0370733729170024e-06
width_right_marking: 0.13
}
lka_769 {
heading_angle: 0.013671875
view_range: 46.1015625
view_range_availability: true
}
reference_76a {
ref_point_1_position: -0.0081919999999939819
ref_point_1_distance: 0
ref_point_1_validity: false
ref_point_2_position: -127.996094
ref_point_2_distance: 0
ref_point_2_validity: false
}
num_76b {
num_of_next_lane_mark_reported: 2
}
next_76c {
lane_type: 1
quality: 0
model_degree: 3
position: -4.40625
curvature: -4.9999587803384316e-13
curvature_derivative: 9.4949005255418051e-16
lane_mark_width: 0
}
next_76c {
lane_type: 1
quality: 0
model_degree: 3
position: 2.55078125
curvature: -4.9999587803384316e-13
curvature_derivative: 9.4949005255418051e-16
lane_mark_width: 0
}
next_76d {
heading_angle: -0.001953125
view_range: 0
view_range_availability: true
}
next_76d {
heading_angle: 0.009765625
view_range: 0
view_range_availability: true
}
| 0 |
apollo_public_repos/apollo/modules/third_party_perception/testdata | apollo_public_repos/apollo/modules/third_party_perception/testdata/simple_fusion/1_localization.pb.txt | header {
timestamp_sec: 1520381229.5445321
module_name: "localization"
sequence_num: 6483
}
pose {
position {
x: 587252.205154835
y: 4141518.553248974
z: -31.249301665462554
}
orientation {
qx: 0.017207722113691738
qy: 0.0084583018348819757
qz: -0.78496797434882637
qw: 0.619239558391119
}
linear_velocity {
x: 13.665269032972535
y: -3.492169250451866
z: 0.055830427202965494
}
linear_acceleration {
x: 1.2508588125809506
y: 0.098219872135130448
z: -0.55928357841802534
}
angular_velocity {
x: -0.011706170607563599
y: -0.00050808780545420014
z: 0.0039424764548820022
}
heading: -0.23510918482010634
linear_acceleration_vrf {
x: -0.36530500491569606
y: 1.1890351878088341
z: -0.5829584967368544
}
angular_velocity_vrf {
x: 0.0030675899781269947
y: -0.011233731459512918
z: 0.0041507678001040721
}
euler_angles {
x: 0.0375004499822374
y: -0.0080324987469275744
z: -0.23510918482010582
}
}
measurement_time: 1520381229.52
| 0 |
apollo_public_repos/apollo/modules/third_party_perception/testdata | apollo_public_repos/apollo/modules/third_party_perception/testdata/mobileye_obstacles/1_perception_obstacles.pb.txt | perception_obstacle {
id: 5
position {
x: 59.57345466233091
y: -10.946227927702031
}
theta: -1
velocity {
x: -4.1535739763613249
y: 6.4688081957107046
}
length: 5
width: 1.6
height: 3
polygon_point {
x: 60.25103363915494
y: -13.482147234416283
}
polygon_point {
x: 61.597387214847572
y: -12.617663545027261
}
polygon_point {
x: 58.89587568550688
y: -8.4103086209877791
}
polygon_point {
x: 57.549522109814248
y: -9.2747923103768013
}
type: VEHICLE
confidence: 0.5
}
header {
timestamp_sec: 1520552697.5661659
module_name: "third_party_perception"
sequence_num: 21973
}
lane_marker {
left_lane_marker {
lane_type: DOTTED_YELLOW
quality: 0.5
model_degree: 3
c0_position: 1.7578125
c1_heading_angle: -0.0400390625
c2_curvature: -0.0017343749995000005
c3_curvature_derivative: 6.01410865780345e-05
view_range: 25.76953125
}
right_lane_marker {
lane_type: SOLID_YELLOW
quality: 0.5
model_degree: 3
c0_position: -1.21875
c1_heading_angle: -0.06640625
c2_curvature: 0.00016601562549999754
c3_curvature_derivative: -5.7667493830275e-06
view_range: 28.62109375
}
}
| 0 |
apollo_public_repos/apollo/modules/third_party_perception/testdata | apollo_public_repos/apollo/modules/third_party_perception/testdata/mobileye_obstacles/1_mobileye.pb.txt | header {
timestamp_sec: 1520552697.5361128
module_name: "mobileye"
sequence_num: 22097
}
aftermarket_669 {
lane_conf_left: -2
ldw_availability_left: false
lane_type_left: 0
distance_to_lane_l: -1.76
lane_conf_right: -2
ldw_availability_right: false
lane_type_right: 1
distance_to_lane_r: 1.22
}
details_737 {
lane_curvature: -5.2e-05
lane_heading: -0.0635
ca_construction_area: false
right_ldw_availability: true
left_ldw_availability: true
reserved_1: false
yaw_angle: 31.9990234375
pitch_angle: -0.05693219166
}
details_738 {
num_obstacles: 1
timestamp: 120
application_version: 0
active_version_number_section: 2
left_close_rang_cut_in: false
right_close_rang_cut_in: false
go: 15
protocol_version: 3
close_car: false
failsafe: 0
reserved_10: 0
}
details_739 {
obstacle_id: 5
obstacle_pos_x: 53.5625
reseved_2: 0
obstacle_pos_y: 1
blinker_info: 0
cut_in_and_out: 0
obstacle_rel_vel_x: -7.6875
obstacle_type: 0
reserved_3: false
obstacle_status: 1
obstacle_brake_lights: false
reserved_4: 0
obstacle_valid: 2
}
details_73a {
obstacle_length: 31.5
obstacle_width: 1.6
obstacle_age: 30
obstacle_lane: 2
cipv_flag: false
reserved_5: false
radar_pos_x: 255.9375
radar_vel_x: -128
radar_match_confidence: 0
reserved_6: false
matched_radar_id: 127
reserved_7: false
}
details_73b {
obstacle_angle_rate: -33.65
obstacle_scale_change: 0.14120000000000002
object_accel_x: -0.3
reserved_8: 0
obstacle_replaced: false
reserved_9: 0
obstacle_angle: -1.09
}
lka_766 {
lane_type: 0
quality: 2
model_degree: 3
position: -1.7578125
curvature: 0.0017343749995000005
curvature_derivative: -6.01410865780345e-05
width_left_marking: 0.1
}
lka_767 {
heading_angle: 0.0400390625
view_range: 25.76953125
view_range_availability: true
}
lka_768 {
lane_type: 1
quality: 2
model_degree: 3
position: 1.21875
curvature: -0.00016601562549999754
curvature_derivative: 5.7667493830275e-06
width_right_marking: 0.2
}
lka_769 {
heading_angle: 0.06640625
view_range: 28.62109375
view_range_availability: true
}
reference_76a {
ref_point_1_position: -0.0081919999999939819
ref_point_1_distance: 0
ref_point_1_validity: false
ref_point_2_position: -127.996094
ref_point_2_distance: 0
ref_point_2_validity: false
}
num_76b {
num_of_next_lane_mark_reported: 2
}
next_76c {
lane_type: 2
quality: 0
model_degree: 3
position: -3.078125
curvature: -4.9999587803384316e-13
curvature_derivative: 9.4949005255418051e-16
lane_mark_width: 0.07
}
next_76c {
lane_type: 2
quality: 0
model_degree: 3
position: 5.41015625
curvature: -4.9999587803384316e-13
curvature_derivative: 9.4949005255418051e-16
lane_mark_width: 0
}
next_76d {
heading_angle: 0.056640625
view_range: 0
view_range_availability: true
}
next_76d {
heading_angle: 0.03515625
view_range: 0
view_range_availability: true
}
| 0 |
apollo_public_repos/apollo/modules/third_party_perception/testdata | apollo_public_repos/apollo/modules/third_party_perception/testdata/mobileye_obstacles/2_perception_obstacles.pb.txt | perception_obstacle {
id: 41
position {
x: 14.375
y: -0.0625
}
theta: 0.34
velocity {
x: -4.75
y: 0
}
length: 5
width: 1.75
height: 3
polygon_point {
x: 17.398687869444078
y: -0.05369260198526693
}
polygon_point {
x: 16.815085458197654
y: 1.5961280626893388
}
polygon_point {
x: 12.101312130555922
y: -0.07130739801473307
}
polygon_point {
x: 12.684914541802346
y: -1.7211280626893388
}
type: VEHICLE
confidence: 0.5
}
header {
timestamp_sec: 1520575862.9623015
module_name: "third_party_perception"
sequence_num: 2928
}
lane_marker {
left_lane_marker {
lane_type: UNKNOWN
quality: 0
model_degree: 3
c0_position: 1.875
c1_heading_angle: -0
c2_curvature: 4.9999587803384316e-13
c3_curvature_derivative: -9.4949005255418051e-16
view_range: 0
}
right_lane_marker {
lane_type: UNKNOWN
quality: 0
model_degree: 3
c0_position: -1.875
c1_heading_angle: -0
c2_curvature: 4.9999587803384316e-13
c3_curvature_derivative: -9.4949005255418051e-16
view_range: 0
}
}
| 0 |
apollo_public_repos/apollo/modules/third_party_perception/testdata | apollo_public_repos/apollo/modules/third_party_perception/testdata/mobileye_obstacles/2_localization.pb.txt | header {
timestamp_sec: 1520551003.7316802
module_name: "localization"
sequence_num: 51666
}
pose {
position {
x: 587242.2712578458
y: 4141477.4049897976
z: -33.347965505905449
}
orientation {
qx: 0.00085075192116691387
qy: 0.0092156589064149412
qz: -0.13824535708904695
qw: 0.99035476931017563
}
linear_velocity {
x: 1.1942697167699405
y: 4.6376871405045854
z: -0.0047735927322376526
}
linear_acceleration {
x: -0.35533452367609714
y: -1.2614812715641519
z: 0.23016663542996973
}
angular_velocity {
x: -0.0324857477825644
y: -0.018328242600236549
z: -0.0029008029073252441
}
heading: 1.2934132676531691
linear_acceleration_vrf {
x: -0.00054357803408017213
y: -1.3107644222327413
z: 0.22906469876471536
}
angular_velocity_vrf {
x: -0.026166453310543979
y: -0.026521025642883708
z: -0.0034080585836054689
}
euler_angles {
x: 0.018489828904295732
y: 0.00086295177450613049
z: 1.2934132676531693
}
}
measurement_time: 1520551003.71
| 0 |
apollo_public_repos/apollo/modules/third_party_perception/testdata | apollo_public_repos/apollo/modules/third_party_perception/testdata/mobileye_obstacles/1_localization.pb.txt | header {
timestamp_sec: 1520552697.6060355
module_name: "localization"
sequence_num: 221051
}
pose {
position {
x: 587680.27030016342
y: 4141461.3713872195
z: -31.345884411595762
}
orientation {
qx: -0.00085719570979996993
qy: 0.0067058662407370635
qz: -0.774534023732551
qw: 0.63249612066331318
}
linear_velocity {
x: 8.8342633464306815
y: -1.8523446287690539
z: -0.059195302536360184
}
linear_acceleration {
x: -1.7446457805301716
y: -0.29446382691937473
z: 0.57459200898123786
}
angular_velocity {
x: -0.014559446098338855
y: -0.017458021324307696
z: -0.041367965918841176
}
heading: -0.20117475049513089
linear_acceleration_vrf {
x: 0.63314924414295737
y: -1.6571039498936402
z: 0.56016279380098966
}
angular_velocity_vrf {
x: 0.020311573814547391
y: -0.010302057301582769
z: -0.041344602647067734
}
euler_angles {
x: 0.0071555462303405726
y: 0.011472440705812062
z: -0.20117475049513114
}
}
measurement_time: 1520552697.59
| 0 |
apollo_public_repos/apollo/modules/third_party_perception/testdata | apollo_public_repos/apollo/modules/third_party_perception/testdata/mobileye_obstacles/2_mobileye.pb.txt | header {
timestamp_sec: 1520551003.7355325
module_name: "mobileye"
sequence_num: 5159
}
aftermarket_669 {
lane_conf_left: 0
ldw_availability_left: false
lane_type_left: 2
distance_to_lane_l: -1.8800000000000001
lane_conf_right: 0
ldw_availability_right: false
lane_type_right: 2
distance_to_lane_r: 1.8800000000000001
}
details_737 {
lane_curvature: -0.131072
lane_heading: -1.024
ca_construction_area: false
right_ldw_availability: false
left_ldw_availability: false
reserved_1: false
yaw_angle: 31.9990234375
pitch_angle: 0.06132861036
}
details_738 {
num_obstacles: 1
timestamp: 201
application_version: 0
active_version_number_section: 2
left_close_rang_cut_in: false
right_close_rang_cut_in: false
go: 15
protocol_version: 3
close_car: false
failsafe: 0
reserved_10: 0
}
details_739 {
obstacle_id: 41
obstacle_pos_x: 14.375
reseved_2: 0
obstacle_pos_y: -0.0625
blinker_info: 1
cut_in_and_out: 0
obstacle_rel_vel_x: -4.75
obstacle_type: 0
reserved_3: false
obstacle_status: 1
obstacle_brake_lights: false
reserved_4: 0
obstacle_valid: 2
}
details_73a {
obstacle_length: 31.5
obstacle_width: 1.75
obstacle_age: 92
obstacle_lane: 0
cipv_flag: true
reserved_5: false
radar_pos_x: 255.9375
radar_vel_x: -128
radar_match_confidence: 0
reserved_6: false
matched_radar_id: 127
reserved_7: false
}
details_73b {
obstacle_angle_rate: -0.38
obstacle_scale_change: 0.29500000000000004
object_accel_x: -0.65999999999999992
reserved_8: 0
obstacle_replaced: false
reserved_9: 0
obstacle_angle: 0.33
}
lka_766 {
lane_type: 2
quality: 0
model_degree: 3
position: -1.875
curvature: -4.9999587803384316e-13
curvature_derivative: 9.4949005255418051e-16
width_left_marking: 0
}
lka_767 {
heading_angle: 0
view_range: 0
view_range_availability: true
}
lka_768 {
lane_type: 2
quality: 0
model_degree: 3
position: 1.875
curvature: -4.9999587803384316e-13
curvature_derivative: 9.4949005255418051e-16
width_right_marking: 0
}
lka_769 {
heading_angle: 0
view_range: 0
view_range_availability: true
}
reference_76a {
ref_point_1_position: -0.0081919999999939819
ref_point_1_distance: 0
ref_point_1_validity: false
ref_point_2_position: -127.996094
ref_point_2_distance: 0
ref_point_2_validity: false
}
num_76b {
num_of_next_lane_mark_reported: 2
}
next_76c {
lane_type: 2
quality: 0
model_degree: 3
position: -5.60546875
curvature: -4.9999587803384316e-13
curvature_derivative: 9.4949005255418051e-16
lane_mark_width: 0
}
next_76c {
lane_type: 1
quality: 0
model_degree: 3
position: 2.3359375
curvature: -4.9999587803384316e-13
curvature_derivative: 9.4949005255418051e-16
lane_mark_width: 0.09
}
next_76d {
heading_angle: -0.0205078125
view_range: 0
view_range_availability: true
}
next_76d {
heading_angle: -0.005859375
view_range: 0
view_range_availability: true
}
| 0 |
apollo_public_repos/apollo/modules/third_party_perception/testdata | apollo_public_repos/apollo/modules/third_party_perception/testdata/conf/third_party_perception.conf | --flagfile=modules/common/data/global_flagfile.txt
--alsologtostderr=1
--node_namespace=/apollo/third_party_perception
--node_name=third_party_perception
--module_name=third_party_perception
--third_party_perception_freq=10
--radar_pos_adjust=4.0
--mobileye_pos_adjust=4.5
--default_unknown_length=5.0
--default_unknown_width=2.0
--default_bike_width=2.0
--default_bike_length=5.0
--enable_radar=true
--movable_heading_threshold=0.8
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/tools/conversion_radar.h | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
*/
#pragma once
#include "modules/common_msgs/chassis_msgs/chassis.pb.h"
#include "modules/common_msgs/sensor_msgs/conti_radar.pb.h"
#include "modules/common_msgs/sensor_msgs/delphi_esr.pb.h"
#include "modules/common_msgs/localization_msgs/localization.pb.h"
#include "modules/third_party_perception/proto/radar_obstacle.pb.h"
/**
* @namespace apollo::third_party_perception::conversion_radar
* @brief apollo::third_party_perception
*/
namespace apollo {
namespace third_party_perception {
namespace conversion_radar {
RadarObstacles DelphiToRadarObstacles(
const apollo::drivers::DelphiESR& delphi_esr,
const apollo::localization::LocalizationEstimate& localization,
const RadarObstacles& last_radar_obstacles);
RadarObstacles ContiToRadarObstacles(
const apollo::drivers::ContiRadar& conti_radar,
const apollo::localization::LocalizationEstimate& localization,
const RadarObstacles& last_radar_obstacles,
const apollo::canbus::Chassis& chassis);
apollo::perception::PerceptionObstacles RadarObstaclesToPerceptionObstacles(
const RadarObstacles& radar_obstacles);
} // namespace conversion_radar
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/tools/conversion_mobileye.cc | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
*/
#include <cmath>
#include <iostream>
#include <map>
#include <vector>
#include "cyber/common/log.h"
#include "modules/common/configs/config_gflags.h"
#include "modules/third_party_perception/common/third_party_perception_gflags.h"
#include "modules/third_party_perception/common/third_party_perception_util.h"
#include "modules/third_party_perception/tools/conversion_base.h"
#include "modules/third_party_perception/tools/conversion_mobileye.h"
/**
* @namespace apollo::third_party_perception::conversion_mobileye
* @brief apollo::third_party_perception
*/
namespace apollo {
namespace third_party_perception {
namespace conversion_mobileye {
using apollo::canbus::Chassis;
using apollo::drivers::Mobileye;
using apollo::localization::LocalizationEstimate;
using apollo::perception::PerceptionObstacle;
using apollo::perception::PerceptionObstacles;
using Point = apollo::common::Point3D;
PerceptionObstacles MobileyeToPerceptionObstacles(
const Mobileye& mobileye, const LocalizationEstimate& localization,
const Chassis& chassis) {
PerceptionObstacles obstacles;
// retrieve position and velocity of the main vehicle from the localization
// position
obstacles.mutable_header()->CopyFrom(mobileye.header());
// Fullfill lane_type information
std::int32_t mob_left_lane_type = mobileye.lka_766().lane_type();
std::int32_t mob_right_lane_type = mobileye.lka_768().lane_type();
obstacles.mutable_lane_marker()->mutable_left_lane_marker()->set_lane_type(
conversion_base::lane_conversion_map[mob_left_lane_type]);
obstacles.mutable_lane_marker()->mutable_right_lane_marker()->set_lane_type(
conversion_base::lane_conversion_map[mob_right_lane_type]);
obstacles.mutable_lane_marker()->mutable_left_lane_marker()->set_quality(
mobileye.lka_766().quality() / 4.0);
obstacles.mutable_lane_marker()->mutable_left_lane_marker()->set_model_degree(
mobileye.lka_766().model_degree());
// Convert everything to FLU
obstacles.mutable_lane_marker()->mutable_left_lane_marker()->set_c0_position(
-mobileye.lka_766().position());
obstacles.mutable_lane_marker()
->mutable_left_lane_marker()
->set_c1_heading_angle(-mobileye.lka_767().heading_angle());
obstacles.mutable_lane_marker()->mutable_left_lane_marker()->set_c2_curvature(
-mobileye.lka_766().curvature());
obstacles.mutable_lane_marker()
->mutable_left_lane_marker()
->set_c3_curvature_derivative(-mobileye.lka_766().curvature_derivative());
obstacles.mutable_lane_marker()->mutable_left_lane_marker()->set_view_range(
mobileye.lka_767().view_range());
obstacles.mutable_lane_marker()->mutable_right_lane_marker()->set_quality(
mobileye.lka_768().quality() / 4.0);
obstacles.mutable_lane_marker()
->mutable_right_lane_marker()
->set_model_degree(mobileye.lka_768().model_degree());
obstacles.mutable_lane_marker()->mutable_right_lane_marker()->set_c0_position(
-mobileye.lka_768().position());
obstacles.mutable_lane_marker()
->mutable_right_lane_marker()
->set_c1_heading_angle(-mobileye.lka_769().heading_angle());
obstacles.mutable_lane_marker()
->mutable_right_lane_marker()
->set_c2_curvature(-mobileye.lka_768().curvature());
obstacles.mutable_lane_marker()
->mutable_right_lane_marker()
->set_c3_curvature_derivative(-mobileye.lka_768().curvature_derivative());
obstacles.mutable_lane_marker()->mutable_right_lane_marker()->set_view_range(
mobileye.lka_769().view_range());
double adc_x = localization.pose().position().x();
double adc_y = localization.pose().position().y();
double adc_z = localization.pose().position().z();
// heading
auto adc_quaternion = localization.pose().orientation();
double adc_theta = GetAngleFromQuaternion(adc_quaternion);
// velocity
double adc_vx = localization.pose().linear_velocity().x();
double adc_vy = localization.pose().linear_velocity().y();
double adc_velocity = Speed(adc_vx, adc_vy);
for (int index = 0; index < mobileye.details_738().num_obstacles() &&
index < mobileye.details_739_size();
++index) {
auto* mob = obstacles.add_perception_obstacle();
const auto& data_739 = mobileye.details_739(index);
int mob_id = data_739.obstacle_id() + FLAGS_mobileye_id_offset;
double mob_x = data_739.obstacle_pos_x();
double mob_y = -data_739.obstacle_pos_y();
double mob_vel_x = data_739.obstacle_rel_vel_x();
int mob_type = data_739.obstacle_type();
double mob_l = 0.0;
double mob_w = 0.0;
if (mobileye.details_73a_size() <= index) {
mob_l = GetDefaultObjectLength(mob_type);
mob_w = GetDefaultObjectWidth(mob_type);
} else {
if (mobileye.details_73a(index).obstacle_length() >
FLAGS_max_mobileye_obstacle_length) {
mob_l = GetDefaultObjectLength(mob_type);
} else {
mob_l = mobileye.details_73a(index).obstacle_length();
}
if (mobileye.details_73a(index).obstacle_width() >
FLAGS_max_mobileye_obstacle_width) {
mob_w = GetDefaultObjectWidth(mob_type);
} else {
mob_w = mobileye.details_73a(index).obstacle_width();
}
}
mob_x += FLAGS_mobileye_pos_adjust; // offset: imu <-> mobileye
mob_x += mob_l / 2.0; // make x the middle point of the vehicle.
Point xy_point = SLtoXY(mob_x, mob_y, adc_theta);
// TODO(QiL) : Clean this up after data collection and validation
double converted_x = 0.0;
double converted_y = 0.0;
double converted_speed = 0.0;
double converted_vx = 0.0;
double converted_vy = 0.0;
double path_c1 = 0.0;
double path_c2 = 0.0;
double path_c3 = 0.0;
if (obstacles.lane_marker().left_lane_marker().quality() >=
obstacles.lane_marker().right_lane_marker().quality()) {
path_c1 = obstacles.lane_marker().left_lane_marker().c1_heading_angle();
path_c2 = obstacles.lane_marker().left_lane_marker().c2_curvature();
path_c3 =
obstacles.lane_marker().left_lane_marker().c3_curvature_derivative();
} else {
path_c1 = obstacles.lane_marker().right_lane_marker().c1_heading_angle();
path_c2 = obstacles.lane_marker().right_lane_marker().c2_curvature();
path_c3 =
obstacles.lane_marker().right_lane_marker().c3_curvature_derivative();
}
if (!FLAGS_use_navigation_mode) {
converted_x = adc_x + xy_point.x();
converted_y = adc_y + xy_point.y();
mob->set_theta(GetNearestLaneHeading(converted_x, converted_y, adc_z));
converted_speed = adc_velocity + mob_vel_x;
converted_vx = converted_speed * std::cos(mob->theta());
converted_vy = converted_speed * std::sin(mob->theta());
} else {
converted_x = mobileye.details_739(index).obstacle_pos_x() +
FLAGS_mobileye_pos_adjust;
converted_y = mobileye.details_739(index).obstacle_pos_y();
converted_vx = mob_vel_x + chassis.speed_mps();
converted_vy = 0.0;
if (mobileye.details_73b_size() <= index) {
mob->set_theta(0.0);
} else {
if (!FLAGS_overwrite_mobileye_theta) {
mob->set_theta(mobileye.details_73b(index).obstacle_angle() / 180 *
M_PI);
} else {
double nearest_lane_heading =
converted_vx > 0
? std::atan2(3 * path_c3 * converted_x * converted_x +
2 * path_c2 * converted_x + path_c1,
1)
: std::atan2(3 * path_c3 * converted_x * converted_x +
2 * path_c2 * converted_x + path_c1,
1) +
M_PI;
AINFO << "nearest lane heading is" << nearest_lane_heading;
mob->set_theta(nearest_lane_heading);
}
}
}
mob->set_id(mob_id);
mob->mutable_position()->set_x(converted_x);
mob->mutable_position()->set_y(converted_y);
switch (mob_type) {
case 0:
case 1: {
mob->set_type(PerceptionObstacle::VEHICLE); // VEHICLE
break;
}
case 2:
case 4: {
mob->set_type(PerceptionObstacle::BICYCLE); // BIKE
break;
}
case 3: {
mob->set_type(PerceptionObstacle::PEDESTRIAN); // PED
break;
}
default: {
mob->set_type(PerceptionObstacle::UNKNOWN); // UNKNOWN
break;
}
}
mob->mutable_velocity()->set_x(converted_vx);
mob->mutable_velocity()->set_y(converted_vy);
mob->set_length(mob_l);
mob->set_width(mob_w);
mob->set_height(FLAGS_default_height);
mob->clear_polygon_point();
// create polygon
FillPerceptionPolygon(mob, mob->position().x(), mob->position().y(),
mob->position().z(), mob->length(), mob->width(),
mob->height(), mob->theta());
mob->set_confidence(0.5);
}
return obstacles;
}
} // namespace conversion_mobileye
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/tools/conversion_base.h | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
*/
#pragma once
#include <map>
/**
* @namespace apollo::third_party_perception::conversion_base
* @brief apollo::third_party_perception
*/
namespace apollo {
namespace third_party_perception {
namespace conversion_base {
std::map<std::int32_t, apollo::hdmap::LaneBoundaryType_Type>
lane_conversion_map = {{0, apollo::hdmap::LaneBoundaryType::DOTTED_YELLOW},
{1, apollo::hdmap::LaneBoundaryType::SOLID_YELLOW},
{2, apollo::hdmap::LaneBoundaryType::UNKNOWN},
{3, apollo::hdmap::LaneBoundaryType::CURB},
{4, apollo::hdmap::LaneBoundaryType::SOLID_YELLOW},
{5, apollo::hdmap::LaneBoundaryType::DOTTED_YELLOW},
{6, apollo::hdmap::LaneBoundaryType::UNKNOWN}};
} // namespace conversion_base
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/tools/filter.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
*/
#include "modules/third_party_perception/tools/filter.h"
#include "modules/third_party_perception/common/third_party_perception_gflags.h"
#include "modules/third_party_perception/common/third_party_perception_util.h"
/**
* @namespace apollo::third_party_perception::filter
* @brief apollo::third_party_perception
*/
namespace apollo {
namespace third_party_perception {
namespace filter {
bool IsPreserved(const RadarObstacle& radar_obstacle) {
if (!radar_obstacle.movable()) {
return false;
}
double nearest_l =
GetLateralDistanceToNearestLane(radar_obstacle.absolute_position());
if (std::abs(nearest_l) > FLAGS_filter_y_distance) {
return false;
}
if (radar_obstacle.count() < FLAGS_keep_radar_frames) {
return false;
}
return true;
}
RadarObstacles FilterRadarObstacles(const RadarObstacles& radar_obstacles) {
RadarObstacles filtered_radar_obstacles;
for (const auto& iter : radar_obstacles.radar_obstacle()) {
if (IsPreserved(iter.second)) {
filtered_radar_obstacles.mutable_radar_obstacle()->insert(iter);
}
}
filtered_radar_obstacles.mutable_header()->CopyFrom(radar_obstacles.header());
return filtered_radar_obstacles;
}
} // namespace filter
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/tools/conversion_radar.cc | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
*/
#include <cmath>
#include <iostream>
#include <map>
#include <vector>
#include "cyber/common/log.h"
#include "modules/common/configs/config_gflags.h"
#include "modules/third_party_perception/common/third_party_perception_gflags.h"
#include "modules/third_party_perception/common/third_party_perception_util.h"
#include "modules/third_party_perception/tools/conversion_radar.h"
/**
* @namespace apollo::third_party_perception::conversion_radar
* @brief apollo::third_party_perception
*/
namespace apollo {
namespace third_party_perception {
namespace conversion_radar {
using apollo::canbus::Chassis;
using apollo::drivers::DelphiESR;
using apollo::localization::LocalizationEstimate;
using apollo::perception::PerceptionObstacle;
using apollo::perception::PerceptionObstacles;
using Point = apollo::common::Point3D;
RadarObstacles ContiToRadarObstacles(
const apollo::drivers::ContiRadar& conti_radar,
const apollo::localization::LocalizationEstimate& localization,
const RadarObstacles& last_radar_obstacles, const Chassis& chassis) {
RadarObstacles obstacles;
const double last_timestamp = last_radar_obstacles.header().timestamp_sec();
const double current_timestamp = conti_radar.header().timestamp_sec();
const auto adc_pos = localization.pose().position();
const auto adc_vel = localization.pose().linear_velocity();
const auto adc_quaternion = localization.pose().orientation();
const double adc_theta = GetAngleFromQuaternion(adc_quaternion);
for (int index = 0; index < conti_radar.contiobs_size(); ++index) {
const auto& contiobs = conti_radar.contiobs(index);
RadarObstacle rob;
rob.set_id(contiobs.obstacle_id());
rob.set_rcs(contiobs.rcs());
rob.set_length(GetDefaultObjectLength(4));
rob.set_width(GetDefaultObjectWidth(4));
rob.set_height(3.0);
Point relative_pos_sl;
// TODO(QiL): load the radar configs here
relative_pos_sl.set_x(contiobs.longitude_dist());
relative_pos_sl.set_y(contiobs.lateral_dist());
rob.mutable_relative_position()->CopyFrom(relative_pos_sl);
Point relative_pos_xy = SLtoXY(relative_pos_sl, adc_theta);
Point absolute_pos;
absolute_pos.set_x(adc_pos.x() + relative_pos_xy.x());
absolute_pos.set_y(adc_pos.y() + relative_pos_xy.y());
absolute_pos.set_z(adc_pos.z());
rob.mutable_absolute_position()->CopyFrom(absolute_pos);
rob.mutable_relative_velocity()->set_x(contiobs.longitude_vel());
rob.mutable_relative_velocity()->set_y(contiobs.lateral_vel());
const auto iter = last_radar_obstacles.radar_obstacle().find(index);
Point absolute_vel;
if (iter == last_radar_obstacles.radar_obstacle().end()) {
rob.set_count(0);
rob.set_movable(false);
rob.set_moving_frames_count(0);
absolute_vel.set_x(0.0);
absolute_vel.set_y(0.0);
absolute_vel.set_z(0.0);
} else if (!FLAGS_use_navigation_mode) {
rob.set_count(iter->second.count() + 1);
rob.set_movable(iter->second.movable());
absolute_vel.set_x(
(absolute_pos.x() - iter->second.absolute_position().x()) /
(current_timestamp - last_timestamp));
absolute_vel.set_y(
(absolute_pos.y() - iter->second.absolute_position().y()) /
(current_timestamp - last_timestamp));
absolute_vel.set_z(0.0);
double v_heading = std::atan2(absolute_vel.y(), absolute_vel.x());
double heading_diff = HeadingDifference(v_heading, rob.theta());
if (heading_diff < FLAGS_movable_heading_threshold &&
Speed(absolute_vel) * std::cos(heading_diff) >
FLAGS_movable_speed_threshold) {
rob.set_moving_frames_count(iter->second.moving_frames_count() + 1);
} else {
rob.set_moving_frames_count(0);
}
} else {
rob.set_count(iter->second.count() + 1);
rob.set_movable(iter->second.movable());
absolute_vel.set_x(contiobs.longitude_vel() + chassis.speed_mps());
absolute_vel.set_y(contiobs.lateral_vel());
absolute_vel.set_z(0.0);
// Overwrite heading here with relative headings
// TODO(QiL) : refind the logic here.
if (contiobs.clusterortrack() == 0) {
rob.set_theta(contiobs.oritation_angle() / 180 * M_PI);
} else {
// in FLU
rob.set_theta(std::atan2(rob.relative_position().x(),
rob.relative_position().y()));
}
}
rob.mutable_absolute_velocity()->CopyFrom(absolute_vel);
if (rob.moving_frames_count() >= FLAGS_movable_frames_count_threshold) {
rob.set_movable(true);
}
(*obstacles.mutable_radar_obstacle())[index] = rob;
}
obstacles.mutable_header()->CopyFrom(conti_radar.header());
return obstacles;
}
RadarObstacles DelphiToRadarObstacles(
const DelphiESR& delphi_esr, const LocalizationEstimate& localization,
const RadarObstacles& last_radar_obstacles) {
RadarObstacles obstacles;
const double last_timestamp = last_radar_obstacles.header().timestamp_sec();
const double current_timestamp = delphi_esr.header().timestamp_sec();
// assign motion power from 540
std::vector<apollo::drivers::Esr_trackmotionpower_540::Motionpower>
motionpowers(64);
for (const auto& esr_trackmotionpower_540 :
delphi_esr.esr_trackmotionpower_540()) {
if (!esr_trackmotionpower_540.has_can_tx_track_can_id_group()) {
AERROR << "ESR track motion power 540 does not have "
"can_tx_track_can_id_group()";
continue;
}
const int can_tx_track_can_id_group =
esr_trackmotionpower_540.can_tx_track_can_id_group();
const int can_tx_track_motion_power_size =
esr_trackmotionpower_540.can_tx_track_motion_power_size();
for (int index = 0; index < (can_tx_track_can_id_group < 9 ? 7 : 1) &&
index < can_tx_track_motion_power_size;
++index) {
std::size_t motion_powers_index = can_tx_track_can_id_group * 7 + index;
if (motion_powers_index < motionpowers.size()) {
motionpowers[motion_powers_index].CopyFrom(
esr_trackmotionpower_540.can_tx_track_motion_power(index));
}
}
}
const auto adc_pos = localization.pose().position();
const auto adc_vel = localization.pose().linear_velocity();
const auto adc_quaternion = localization.pose().orientation();
const double adc_theta = GetAngleFromQuaternion(adc_quaternion);
for (int index = 0; index < delphi_esr.esr_track01_500_size() &&
index < static_cast<int>(motionpowers.size());
++index) {
const auto& data_500 = delphi_esr.esr_track01_500(index);
// ignore invalid target
if (data_500.can_tx_track_status() ==
apollo::drivers::Esr_track01_500::CAN_TX_TRACK_STATUS_NO_TARGET) {
continue;
}
RadarObstacle rob;
rob.set_id(index);
rob.set_rcs(static_cast<double>(motionpowers[index].can_tx_track_power()) -
10.0);
rob.set_length(GetDefaultObjectLength(4));
rob.set_width(GetDefaultObjectWidth(4));
rob.set_height(3.0);
const double range = data_500.can_tx_track_range();
const double angle = data_500.can_tx_track_angle() * M_PI / 180.0;
Point relative_pos_sl;
relative_pos_sl.set_x(range * std::cos(angle) +
FLAGS_radar_pos_adjust + // offset: imu <-> mobileye
rob.length() /
2.0); // make x the middle point of the vehicle
relative_pos_sl.set_y(range * std::sin(angle));
rob.mutable_relative_position()->CopyFrom(relative_pos_sl);
Point relative_pos_xy = SLtoXY(relative_pos_sl, adc_theta);
Point absolute_pos;
absolute_pos.set_x(adc_pos.x() + relative_pos_xy.x());
absolute_pos.set_y(adc_pos.y() + relative_pos_xy.y());
absolute_pos.set_z(adc_pos.z());
rob.mutable_absolute_position()->CopyFrom(absolute_pos);
double theta = GetNearestLaneHeading(rob.absolute_position());
rob.set_theta(theta);
const double range_vel = data_500.can_tx_track_range_rate();
const double lateral_vel = data_500.can_tx_track_lat_rate();
rob.mutable_relative_velocity()->set_x(range_vel * std::cos(angle) -
lateral_vel * std::sin(angle));
rob.mutable_relative_velocity()->set_y(range_vel * std::sin(angle) +
lateral_vel * std::cos(angle));
const auto iter = last_radar_obstacles.radar_obstacle().find(index);
Point absolute_vel;
if (iter == last_radar_obstacles.radar_obstacle().end()) {
rob.set_count(0);
rob.set_movable(false);
rob.set_moving_frames_count(0);
absolute_vel.set_x(0.0);
absolute_vel.set_y(0.0);
absolute_vel.set_z(0.0);
} else {
rob.set_count(iter->second.count() + 1);
rob.set_movable(iter->second.movable());
absolute_vel.set_x(
(absolute_pos.x() - iter->second.absolute_position().x()) /
(current_timestamp - last_timestamp));
absolute_vel.set_y(
(absolute_pos.y() - iter->second.absolute_position().y()) /
(current_timestamp - last_timestamp));
absolute_vel.set_z(0.0);
double v_heading = std::atan2(absolute_vel.y(), absolute_vel.x());
double heading_diff = HeadingDifference(v_heading, rob.theta());
if (heading_diff < FLAGS_movable_heading_threshold &&
Speed(absolute_vel) * std::cos(heading_diff) >
FLAGS_movable_speed_threshold) {
rob.set_moving_frames_count(iter->second.moving_frames_count() + 1);
} else {
rob.set_moving_frames_count(0);
}
}
rob.mutable_absolute_velocity()->CopyFrom(absolute_vel);
if (rob.moving_frames_count() >= FLAGS_movable_frames_count_threshold) {
rob.set_movable(true);
}
(*obstacles.mutable_radar_obstacle())[index] = rob;
}
obstacles.mutable_header()->CopyFrom(delphi_esr.header());
return obstacles;
}
PerceptionObstacles RadarObstaclesToPerceptionObstacles(
const RadarObstacles& radar_obstacles) {
PerceptionObstacles obstacles;
for (const auto& iter : radar_obstacles.radar_obstacle()) {
auto* pob = obstacles.add_perception_obstacle();
const auto& radar_obstacle = iter.second;
pob->set_id(radar_obstacle.id() + FLAGS_radar_id_offset);
pob->set_type(PerceptionObstacle::VEHICLE);
pob->set_length(radar_obstacle.length());
pob->set_width(radar_obstacle.width());
pob->set_height(radar_obstacle.height());
if (!FLAGS_use_navigation_mode) {
pob->mutable_position()->CopyFrom(radar_obstacle.absolute_position());
pob->mutable_velocity()->CopyFrom(radar_obstacle.absolute_velocity());
} else {
pob->mutable_position()->CopyFrom(radar_obstacle.relative_position());
pob->mutable_velocity()->CopyFrom(radar_obstacle.relative_velocity());
}
pob->set_theta(radar_obstacle.theta());
// create polygon
FillPerceptionPolygon(pob, pob->position().x(), pob->position().y(),
pob->position().z(), pob->length(), pob->width(),
pob->height(), pob->theta());
pob->set_confidence(0.01);
}
obstacles.mutable_header()->CopyFrom(radar_obstacles.header());
return obstacles;
}
} // namespace conversion_radar
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/tools/fusion.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
*/
#pragma once
#include "modules/common_msgs/perception_msgs/perception_obstacle.pb.h"
/**
* @namespace apollo::third_party_perception::fusion
* @brief apollo::third_party_perception
*/
namespace apollo {
namespace third_party_perception {
namespace fusion {
apollo::perception::PerceptionObstacles EyeRadarFusion(
const apollo::perception::PerceptionObstacles& eye_obstacles,
const apollo::perception::PerceptionObstacles& radar_obstacles);
} // namespace fusion
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/tools/conversion_smartereye.cc | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
*/
#include <cmath>
#include <iostream>
#include <map>
#include <vector>
#include "cyber/common/log.h"
#include "modules/common/configs/config_gflags.h"
#include "modules/third_party_perception/common/third_party_perception_gflags.h"
#include "modules/third_party_perception/common/third_party_perception_util.h"
#include "modules/third_party_perception/tools/conversion_base.h"
#include "modules/third_party_perception/tools/conversion_smartereye.h"
/**
* @namespace apollo::third_party_perception::conversion_smartereye
* @brief apollo::third_party_perception
*/
namespace apollo {
namespace third_party_perception {
namespace conversion_smartereye {
using apollo::canbus::Chassis;
using apollo::localization::LocalizationEstimate;
using apollo::perception::PerceptionObstacle;
using apollo::perception::PerceptionObstacles;
using Point = apollo::common::Point3D;
apollo::perception::PerceptionObstacles SmartereyeToPerceptionObstacles(
const apollo::drivers::SmartereyeObstacles& smartereye_obstacles,
const apollo::drivers::SmartereyeLanemark& smartereye_lanemark,
const apollo::localization::LocalizationEstimate& localization,
const apollo::canbus::Chassis& chassis) {
PerceptionObstacles obstacles;
// retrieve position and velocity of the main vehicle from the localization
// position
obstacles.mutable_header()->CopyFrom(smartereye_obstacles.header());
// Fullfill lane_type information
std::int32_t sma_left_lane_type =
smartereye_lanemark.lane_road_data().roadway().left_lane().style();
std::int32_t sma_right_lane_type =
smartereye_lanemark.lane_road_data().roadway().right_lane().style();
obstacles.mutable_lane_marker()->mutable_left_lane_marker()->set_lane_type(
conversion_base::lane_conversion_map[sma_left_lane_type]);
obstacles.mutable_lane_marker()->mutable_right_lane_marker()->set_lane_type(
conversion_base::lane_conversion_map[sma_right_lane_type]);
obstacles.mutable_lane_marker()->mutable_left_lane_marker()->set_quality(
smartereye_lanemark.lane_road_data().roadway()
.left_lane().quality() / 4.0);
obstacles.mutable_lane_marker()->mutable_left_lane_marker()
->set_model_degree(smartereye_lanemark.lane_road_data().roadway()
.left_lane().right_boundary().degree());
// Convert everything to FLU
obstacles.mutable_lane_marker()->mutable_left_lane_marker()->set_c0_position(
smartereye_lanemark.lane_road_data().roadway()
.left_lane().right_boundary().c0_position());
obstacles.mutable_lane_marker()->mutable_left_lane_marker()
->set_c1_heading_angle(smartereye_lanemark.lane_road_data().roadway()
.left_lane().right_boundary().c1_heading_angle());
obstacles.mutable_lane_marker()->mutable_left_lane_marker()
->set_c2_curvature(smartereye_lanemark.lane_road_data().roadway()
.left_lane().right_boundary().c2_curvature());
obstacles.mutable_lane_marker()->mutable_left_lane_marker()
->set_c3_curvature_derivative(
smartereye_lanemark.lane_road_data().roadway()
.left_lane().right_boundary().c3_curvature_derivative());
// obstacles.mutable_lane_marker()->mutable_left_lane_marker()
// ->set_view_range(
// smartereye_lanemark.lane_road_data().roadway().left_lane().width());
obstacles.mutable_lane_marker()->mutable_right_lane_marker()->set_quality(
smartereye_lanemark.lane_road_data().roadway()
.right_lane().quality() / 4.0);
obstacles.mutable_lane_marker()->mutable_right_lane_marker()
->set_model_degree(smartereye_lanemark.lane_road_data().roadway()
.right_lane().left_boundary().degree());
obstacles.mutable_lane_marker()->mutable_right_lane_marker()
->set_c0_position(smartereye_lanemark.lane_road_data().roadway()
.right_lane().left_boundary().c0_position());
obstacles.mutable_lane_marker()->mutable_right_lane_marker()
->set_c1_heading_angle(smartereye_lanemark.lane_road_data().roadway()
.right_lane().left_boundary().c1_heading_angle());
obstacles.mutable_lane_marker()->mutable_right_lane_marker()
->set_c2_curvature(smartereye_lanemark.lane_road_data().roadway()
.right_lane().left_boundary().c2_curvature());
obstacles.mutable_lane_marker()->mutable_right_lane_marker()
->set_c3_curvature_derivative(
smartereye_lanemark.lane_road_data().roadway()
.right_lane().left_boundary().c3_curvature_derivative());
// obstacles.mutable_lane_marker()->mutable_right_lane_marker()
// ->set_view_range(
// smartereye_lanemark.lane_road_data().roadway().right_lane().width());
double adc_x = localization.pose().position().x();
double adc_y = localization.pose().position().y();
double adc_z = localization.pose().position().z();
// heading
auto adc_quaternion = localization.pose().orientation();
double adc_theta = GetAngleFromQuaternion(adc_quaternion);
// velocity
double adc_vx = localization.pose().linear_velocity().x();
double adc_vy = localization.pose().linear_velocity().y();
double adc_velocity = Speed(adc_vx, adc_vy);
for (int index = 0; index < smartereye_obstacles.num_obstacles() &&
index < smartereye_obstacles.output_obstacles_size();
++index) {
auto* sma = obstacles.add_perception_obstacle();
const auto& data_obstacle =
smartereye_obstacles.output_obstacles().at(index);
int sma_id = data_obstacle.trackid() + FLAGS_smartereye_id_offset;
double sma_x = data_obstacle.avgdistancez();
double sma_y = data_obstacle.real3dcenterx();
double sma_z = (data_obstacle.real3dupy() +
data_obstacle.real3dlowy()) / 2.0;
// relative speed
double sma_vel_x = data_obstacle.fuzzyrelativespeedz();
int sma_type = data_obstacle.obstacletype();
double sma_w = data_obstacle.real3drightx() - data_obstacle.real3dleftx();
double sma_l = data_obstacle.real3dlowy() - data_obstacle.real3dupy();
switch (sma_type) {
case 1:
case 6:
case 7: {
sma->set_type(PerceptionObstacle::VEHICLE); // VEHICLE
break;
}
case 4:
case 5: {
sma->set_type(PerceptionObstacle::BICYCLE); // BIKE
break;
}
case 2:
case 3: {
sma->set_type(PerceptionObstacle::PEDESTRIAN); // PED
break;
}
default: {
sma->set_type(PerceptionObstacle::UNKNOWN); // UNKNOWN
break;
}
}
if (sma_l > FLAGS_max_mobileye_obstacle_length) {
sma_l = GetDefaultObjectLength(sma_type);
}
if (sma_w > FLAGS_max_mobileye_obstacle_width) {
sma_w = GetDefaultObjectWidth(sma_type);
}
Point xy_point = SLtoXY(sma_x, sma_y, adc_theta);
// TODO(QiL) : Clean this up after data collection and validation
double converted_x = 0.0;
double converted_y = 0.0;
double converted_z = 0.0;
double converted_speed = 0.0;
double converted_vx = 0.0;
double converted_vy = 0.0;
double path_c1 = 0.0;
double path_c2 = 0.0;
double path_c3 = 0.0;
if (obstacles.lane_marker().left_lane_marker().quality() >=
obstacles.lane_marker().right_lane_marker().quality()) {
path_c1 = obstacles.lane_marker().left_lane_marker().c1_heading_angle();
path_c2 = obstacles.lane_marker().left_lane_marker().c2_curvature();
path_c3 =
obstacles.lane_marker().left_lane_marker().c3_curvature_derivative();
} else {
path_c1 = obstacles.lane_marker().right_lane_marker().c1_heading_angle();
path_c2 = obstacles.lane_marker().right_lane_marker().c2_curvature();
path_c3 =
obstacles.lane_marker().right_lane_marker().c3_curvature_derivative();
}
if (!FLAGS_use_navigation_mode) {
converted_x = adc_x + xy_point.x();
converted_y = adc_y + xy_point.y();
converted_z = adc_z + sma_z;
sma->set_theta(GetNearestLaneHeading(converted_x, converted_y, adc_z));
converted_speed = adc_velocity + sma_vel_x;
converted_vx = converted_speed * std::cos(sma->theta());
converted_vy = converted_speed * std::sin(sma->theta());
} else {
converted_x = data_obstacle.real3dcenterx() - sma_l / 2.0;
converted_y = sma_y;
converted_vx = sma_vel_x + chassis.speed_mps();
converted_vy = 0.0;
converted_z = data_obstacle.avgdistancez();
double nearest_lane_heading =
converted_vx > 0
? std::atan2(3 * path_c3 * converted_x * converted_x +
2 * path_c2 * converted_x + path_c1,
1)
: std::atan2(3 * path_c3 * converted_x * converted_x +
2 * path_c2 * converted_x + path_c1,
1) +
M_PI;
AINFO << "nearest lane heading is" << nearest_lane_heading;
sma->set_theta(nearest_lane_heading);
}
sma->set_id(sma_id);
sma->mutable_position()->set_x(converted_x);
sma->mutable_position()->set_y(converted_y);
sma->mutable_position()->set_z(converted_z);
sma->mutable_velocity()->set_x(converted_vx);
sma->mutable_velocity()->set_y(converted_vy);
sma->set_length(sma_l);
sma->set_width(sma_w);
sma->set_height(FLAGS_default_height);
sma->clear_polygon_point();
// create polygon
FillPerceptionPolygon(sma, sma->position().x(), sma->position().y(),
sma->position().z(), sma->length(), sma->width(),
sma->height(), sma->theta());
sma->set_confidence(0.5);
}
return obstacles;
}
} // namespace conversion_smartereye
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/tools/fusion.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
*/
#include "modules/third_party_perception/tools/fusion.h"
#include <vector>
#include "modules/common/math/polygon2d.h"
/**
* @namespace apollo::third_party_perception::fusion
* @brief apollo::third_party_perception
*/
namespace apollo {
namespace third_party_perception {
namespace fusion {
using apollo::common::math::Vec2d;
using apollo::perception::PerceptionObstacle;
using apollo::perception::PerceptionObstacles;
std::vector<Vec2d> PerceptionObstacleToVectorVec2d(
const PerceptionObstacle& obstacle) {
std::vector<Vec2d> result;
for (const auto& vertex : obstacle.polygon_point()) {
result.emplace_back(vertex.x(), vertex.y());
}
return result;
}
bool HasOverlap(const PerceptionObstacle& obstacle_1,
const PerceptionObstacle& obstacle_2) {
common::math::Polygon2d polygon_1(
PerceptionObstacleToVectorVec2d(obstacle_1));
common::math::Polygon2d polygon_2(
PerceptionObstacleToVectorVec2d(obstacle_2));
return polygon_1.HasOverlap(polygon_2);
}
bool HasOverlap(const PerceptionObstacle& obstacle,
const PerceptionObstacles& obstacles) {
for (const auto& current_obstacle : obstacles.perception_obstacle()) {
if (HasOverlap(obstacle, current_obstacle)) {
return true;
}
}
return false;
}
PerceptionObstacles EyeRadarFusion(const PerceptionObstacles& eye_obstacles,
const PerceptionObstacles& radar_obstacles) {
PerceptionObstacles eye_obstacles_fusion = eye_obstacles;
PerceptionObstacles radar_obstacles_fusion = radar_obstacles;
for (auto& eye_obstacle :
*(eye_obstacles_fusion.mutable_perception_obstacle())) {
for (auto& radar_obstacle :
*(radar_obstacles_fusion.mutable_perception_obstacle())) {
if (HasOverlap(eye_obstacle, radar_obstacle)) {
eye_obstacle.set_confidence(0.99);
eye_obstacle.mutable_velocity()->CopyFrom(radar_obstacle.velocity());
}
}
}
// mobileye_obstacles_fusion.MergeFrom(radar_obstacles_fusion);
return eye_obstacles_fusion;
}
} // namespace fusion
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/tools/conversion_mobileye.h | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
*/
#pragma once
#include "modules/common_msgs/chassis_msgs/chassis.pb.h"
#include "modules/common_msgs/sensor_msgs/mobileye.pb.h"
#include "modules/common_msgs/localization_msgs/localization.pb.h"
/**
* @namespace apollo::third_party_perception::conversion_mobileye
* @brief apollo::third_party_perception
*/
namespace apollo {
namespace third_party_perception {
namespace conversion_mobileye {
apollo::perception::PerceptionObstacles MobileyeToPerceptionObstacles(
const apollo::drivers::Mobileye& mobileye,
const apollo::localization::LocalizationEstimate& localization,
const apollo::canbus::Chassis& chassis);
} // namespace conversion_mobileye
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/tools/conversion_smartereye.h | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
*/
#pragma once
#include "modules/common_msgs/chassis_msgs/chassis.pb.h"
#include "modules/common_msgs/sensor_msgs/smartereye.pb.h"
#include "modules/common_msgs/localization_msgs/localization.pb.h"
/**
* @namespace apollo::third_party_perception::conversion_smartereye
* @brief apollo::third_party_perception
*/
namespace apollo {
namespace third_party_perception {
namespace conversion_smartereye {
apollo::perception::PerceptionObstacles SmartereyeToPerceptionObstacles(
const apollo::drivers::SmartereyeObstacles& smartereye_obstacles,
const apollo::drivers::SmartereyeLanemark& smartereye_lanemark,
const apollo::localization::LocalizationEstimate& localization,
const apollo::canbus::Chassis& chassis);
} // namespace conversion_smartereye
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/tools/BUILD | load("@rules_cc//cc:defs.bzl", "cc_library")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
cc_library(
name = "third_party_perception_radar_conversion",
srcs = ["conversion_radar.cc"],
hdrs = ["conversion_radar.h"],
deps = [
"//modules/common_msgs/chassis_msgs:chassis_cc_proto",
"//modules/common_msgs/config_msgs:vehicle_config_cc_proto",
"//modules/common_msgs/basic_msgs:drive_state_cc_proto",
"//modules/common_msgs/basic_msgs:vehicle_signal_cc_proto",
"//modules/common_msgs/sensor_msgs:conti_radar_cc_proto",
"//modules/common_msgs/sensor_msgs:delphi_esr_cc_proto",
"//modules/third_party_perception/common:third_party_perception_util",
"//modules/third_party_perception/proto:radar_obstacle_cc_proto",
],
)
cc_library(
name = "third_party_perception_smartereye_conversion",
srcs = ["conversion_smartereye.cc"],
hdrs = [
"conversion_base.h",
"conversion_smartereye.h",
],
linkopts = ["-Wl,--allow-multiple-definition"],
deps = [
"//modules/common_msgs/chassis_msgs:chassis_cc_proto",
"//modules/common_msgs/config_msgs:vehicle_config_cc_proto",
"//modules/common_msgs/basic_msgs:drive_state_cc_proto",
"//modules/common_msgs/basic_msgs:vehicle_signal_cc_proto",
"//modules/common_msgs/sensor_msgs:smartereye_cc_proto",
"//modules/third_party_perception/common:third_party_perception_util",
],
)
cc_library(
name = "third_party_perception_mobileye_conversion",
srcs = ["conversion_mobileye.cc"],
hdrs = [
"conversion_base.h",
"conversion_mobileye.h",
],
linkopts = ["-Wl,--allow-multiple-definition"],
deps = [
"//modules/common_msgs/chassis_msgs:chassis_cc_proto",
"//modules/common_msgs/config_msgs:vehicle_config_cc_proto",
"//modules/common_msgs/basic_msgs:drive_state_cc_proto",
"//modules/common_msgs/basic_msgs:vehicle_signal_cc_proto",
"//modules/common_msgs/sensor_msgs:mobileye_cc_proto",
"//modules/common_msgs/sensor_msgs:sensor_image_cc_proto",
"//modules/third_party_perception/common:third_party_perception_util",
],
)
cc_library(
name = "third_party_perception_fusion",
srcs = ["fusion.cc"],
hdrs = ["fusion.h"],
deps = [
"//modules/common/math",
"//modules/common_msgs/perception_msgs:perception_obstacle_cc_proto",
"//modules/third_party_perception/proto:third_party_perception_component_cc_proto",
],
)
cc_library(
name = "third_party_perception_filter",
srcs = ["filter.cc"],
hdrs = ["filter.h"],
deps = [
"//modules/third_party_perception/common:third_party_perception_util",
"//modules/third_party_perception/proto:radar_obstacle_cc_proto",
],
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/tools/filter.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
*/
#pragma once
#include "modules/third_party_perception/proto/radar_obstacle.pb.h"
/**
* @namespace apollo::third_party_perception::filter
* @brief apollo::third_party_perception
*/
namespace apollo {
namespace third_party_perception {
namespace filter {
RadarObstacles FilterRadarObstacles(const RadarObstacles& radar_obstacles);
bool IsPreserved(const RadarObstacle& radar_obstacle);
} // namespace filter
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/proto/radar_obstacle.proto | syntax = "proto2";
package apollo.third_party_perception;
import "modules/common_msgs/basic_msgs/error_code.proto";
import "modules/common_msgs/basic_msgs/header.proto";
// import "modules/common_msgs/perception_msgs/perception_obstacle.proto";
import "modules/common_msgs/basic_msgs/geometry.proto";
message RadarObstacle {
optional int32 id = 1; // obstacle ID.
optional apollo.common.Point3D relative_position =
2; // obstacle position in the sl coordinate system.
optional apollo.common.Point3D relative_velocity =
3; // obstacle relative velocity.
optional double rcs = 4; // radar signal intensity.
optional bool movable = 5; // whether this obstacle is able to move.
optional double width = 6;
optional double length = 7;
optional double height = 8;
optional double theta = 9;
optional apollo.common.Point3D absolute_position = 10;
optional apollo.common.Point3D absolute_velocity = 11;
optional int32 count = 12;
optional int32 moving_frames_count = 13;
}
message RadarObstacles {
map<int32, RadarObstacle> radar_obstacle = 1; // An array of obstacles
optional apollo.common.Header header = 2; // Header
optional apollo.common.ErrorCode error_code = 3 [default = OK];
}
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/proto/third_party_perception_component.proto | syntax = "proto2";
package apollo.third_party_perception;
enum ThirdPartyPerceptionDeviceType {
SMARTEREYE = 0;
MOBILEYE = 1;
};
message ThirdPartyPerceptionDevice {
optional ThirdPartyPerceptionDeviceType device_type = 1;
} | 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/proto/BUILD | ## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "radar_obstacle_cc_proto",
deps = [
":radar_obstacle_proto",
],
)
proto_library(
name = "radar_obstacle_proto",
srcs = ["radar_obstacle.proto"],
deps = [
"//modules/common_msgs/basic_msgs:error_code_proto",
"//modules/common_msgs/basic_msgs:header_proto",
"//modules/common_msgs/perception_msgs:perception_obstacle_proto",
"//modules/common_msgs/basic_msgs:geometry_proto",
],
)
py_proto_library(
name = "radar_obstacle_py_pb2",
deps = [
":radar_obstacle_proto",
"//modules/common_msgs/basic_msgs:error_code_py_pb2",
"//modules/common_msgs/basic_msgs:header_py_pb2",
"//modules/common_msgs/perception_msgs:perception_obstacle_py_pb2",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
],
)
cc_proto_library(
name = "third_party_perception_component_cc_proto",
deps = [
":third_party_perception_component_proto",
],
)
proto_library(
name = "third_party_perception_component_proto",
srcs = ["third_party_perception_component.proto"],
)
py_proto_library(
name = "third_party_perception_component_py_pb2",
deps = [
":third_party_perception_component_proto",
],
)
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/integration_tests/third_party_perception_test_base.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/third_party_perception/integration_tests/third_party_perception_test_base.h"
DEFINE_string(test_data_dir, "", "the test data folder");
DEFINE_string(test_localization_file, "", "localization input file");
DEFINE_string(test_monitor_file, "", "montor input file");
DEFINE_bool(test_update_golden_log, false, "true to update golden log file.");
namespace apollo {
namespace third_party_perception {
uint32_t ThirdPartyPerceptionTestBase::s_seq_num_ = 0;
void ThirdPartyPerceptionTestBase::SetUp() { ++s_seq_num_; }
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/integration_tests/third_party_perception_test_base.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include "gtest/gtest.h"
#include "modules/third_party_perception/common/third_party_perception_gflags.h"
#define RUN_GOLDEN_TEST \
{ \
const ::testing::TestInfo *const test_info = \
::testing::UnitTest::GetInstance()->current_test_info(); \
bool run_third_party_perception_success = \
test_third_party_perception(test_info->name(), 0); \
EXPECT_TRUE(run_third_party_perception_success); \
}
DECLARE_string(test_localization_file);
DECLARE_string(test_chassis_file);
DECLARE_string(test_data_dir);
DECLARE_string(test_monitor_file);
/**
* @namespace apollo::third_party_perception
* @brief apollo::third_party_perception
*/
namespace apollo {
namespace third_party_perception {
class ThirdPartyPerceptionTestBase : public ::testing::Test {
public:
virtual void SetUp();
private:
static uint32_t s_seq_num_;
};
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/integration_tests/BUILD | load("@rules_cc//cc:defs.bzl", "cc_library")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
cc_library(
name = "third_party_perception_test_base",
srcs = ["third_party_perception_test_base.cc"],
hdrs = ["third_party_perception_test_base.h"],
deps = [
"//modules/third_party_perception:third_party_perception_lib",
"@com_google_googletest//:gtest",
],
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/launch/third_party_perception.launch | <cyber>
<module>
<name>third_party_perception</name>
<dag_conf>/apollo/modules/third_party_perception/dag/third_party_perception.dag</dag_conf>
<process_name>third_party_perception</process_name>
</module>
</cyber>
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/dag/third_party_perception.dag | module_config {
module_library : "/apollo/bazel-bin/modules/third_party_perception/libthird_party_perception_component.so"
timer_components {
class_name : "ThirdPartyPerceptionComponent"
config {
name: "third_party_perception"
config_file_path: "/apollo/modules/third_party_perception/conf/third_party_perception_component.pb.txt"
flag_file_path: "/apollo/modules/third_party_perception/conf/third_party_perception.conf"
interval: 100
}
}
}
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/common/third_party_perception_gflags.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include "gflags/gflags.h"
DECLARE_string(third_party_perception_node_name);
DECLARE_double(third_party_perception_freq);
DECLARE_bool(enable_radar);
// flags to calibrate mobileye, radar and localization
DECLARE_double(mobileye_pos_adjust);
DECLARE_double(smartereye_pos_adjust);
DECLARE_double(radar_pos_adjust);
// object id offset
DECLARE_int32(mobileye_id_offset);
DECLARE_int32(smartereye_id_offset);
DECLARE_int32(radar_id_offset);
// flags to create fake bounding box
DECLARE_double(default_car_length);
DECLARE_double(default_truck_length);
DECLARE_double(default_bike_length);
DECLARE_double(default_ped_length);
DECLARE_double(default_unknown_length);
DECLARE_double(default_car_width);
DECLARE_double(default_truck_width);
DECLARE_double(default_bike_width);
DECLARE_double(default_ped_width);
DECLARE_double(default_unknown_width);
DECLARE_double(default_height);
// flags to filter radar obstacles
DECLARE_double(filter_y_distance);
DECLARE_double(movable_speed_threshold);
DECLARE_double(movable_heading_threshold);
DECLARE_int32(movable_frames_count_threshold);
DECLARE_int32(keep_radar_frames);
// TODO(QiL) : remove this temporary gflags
DECLARE_bool(use_conti_radar);
DECLARE_double(max_mobileye_obstacle_length);
DECLARE_double(max_mobileye_obstacle_width);
DECLARE_bool(overwrite_mobileye_theta);
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/common/third_party_perception_gflags.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/third_party_perception/common/third_party_perception_gflags.h"
DEFINE_string(third_party_perception_node_name, "third_party_perception",
"Node name");
DEFINE_double(third_party_perception_freq, 10,
"third party perception timer frequency.");
DEFINE_bool(enable_radar, true, "switch to turn on/off radar obstacles");
// flags to calibrate mobileye, radar and localization
DEFINE_double(mobileye_pos_adjust, 3.0,
"adjust mobileye objects's position due to distance between "
"mobileye and gps.");
DEFINE_double(smartereye_pos_adjust, 3.0,
"adjust smartereye objects's position due to distance between "
"smartereye and gps.");
DEFINE_double(
radar_pos_adjust, 3.0,
"adjust radar objects's position due to distance between radar and gps.");
// object id offset
DEFINE_int32(mobileye_id_offset, 0, "id offset for mobileye");
DEFINE_int32(smartereye_id_offset, 0, "id offset for smartereye");
DEFINE_int32(radar_id_offset, 1000, "id offset for radar");
// flags to create fake bounding box
DEFINE_double(default_car_length, 5.0, "default car length for bounding box.");
DEFINE_double(default_truck_length, 10.0,
"default truck length for bounding box.");
DEFINE_double(default_bike_length, 2.0,
"default bike length for bounding box.");
DEFINE_double(default_ped_length, 0.5, "default ped length for bounding box.");
DEFINE_double(default_unknown_length, 5.0,
"default unknown length for bounding box.");
DEFINE_double(default_car_width, 3.0, "default car width for bounding box.");
DEFINE_double(default_truck_width, 5.0,
"default truck width for bounding box.");
DEFINE_double(default_bike_width, 1.0, "default bike width for bounding box.");
DEFINE_double(default_ped_width, 0.5, "default ped width for bounding box.");
DEFINE_double(default_unknown_width, 3.0,
"default unknown width for bounding box.");
DEFINE_double(default_height, 3.0, "default height for bounding box.");
// flags to filter radar obstacles
DEFINE_double(
filter_y_distance, 7.5,
"fiter the radar objects far away from the main vehicle on y-axis.");
DEFINE_double(movable_speed_threshold, 6.7,
"a radar object is considered as moving in a frame "
"if its speed > movable_speed_threshold");
DEFINE_double(
movable_heading_threshold, 1.5,
"a radar object is considered as moving in a frame "
"if the difference between its heading and the main vehicle's heading "
"< movable_speed_threshold");
DEFINE_int32(
movable_frames_count_threshold, 5,
"a radar object is considered as a movable "
"if it is moving for consecutive movable_frames_count_threshold frames");
DEFINE_int32(keep_radar_frames, 5, "number of delphi esr frames to keep");
// TODO(QiL) : remove this temporary gflags
DEFINE_bool(use_conti_radar, true,
"use conti or delphi radar, true is conti, false is delphi");
DEFINE_double(max_mobileye_obstacle_length, 31.2,
"maximum mobileye obstacle length");
DEFINE_double(max_mobileye_obstacle_width, 12.7,
"maximum mobileye obstacle length");
DEFINE_bool(overwrite_mobileye_theta, true,
"overrite mobileye raw theta output");
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/common/third_party_perception_util.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
*/
#pragma once
#include "modules/common_msgs/perception_msgs/perception_obstacle.pb.h"
/**
* @namespace apollo::third_party_perception
* @brief apollo::third_party_perception
*/
namespace apollo {
namespace third_party_perception {
double GetAngleFromQuaternion(const apollo::common::Quaternion quaternion);
void FillPerceptionPolygon(
apollo::perception::PerceptionObstacle* const perception_obstacle,
const double mid_x, const double mid_y, const double mid_z,
const double length, const double width, const double height,
const double heading);
// TODO(lizh): change it to PerceptionObstacle::VEHICLE or so
// when perception obstacle type is extended.
// object type | int
// car | 0
// truck | 1
// bike | 2
// ped | 3
// unknown | 4
double GetDefaultObjectLength(const int object_type);
double GetDefaultObjectWidth(const int object_type);
apollo::common::Point3D SLtoXY(const double x, const double y,
const double theta);
apollo::common::Point3D SLtoXY(const apollo::common::Point3D& point,
const double theta);
double Distance(const apollo::common::Point3D& point1,
const apollo::common::Point3D& point2);
double Speed(const apollo::common::Point3D& point);
double Speed(const double vx, const double vy);
double GetNearestLaneHeading(const apollo::common::PointENU& point_enu);
double GetNearestLaneHeading(const apollo::common::Point3D& point);
double GetNearestLaneHeading(const double x, const double y, const double z);
double GetLateralDistanceToNearestLane(const apollo::common::Point3D& point);
double HeadingDifference(const double theta1, const double theta2);
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/common/BUILD | load("@rules_cc//cc:defs.bzl", "cc_library")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
cc_library(
name = "third_party_perception_util",
srcs = ["third_party_perception_util.cc"],
hdrs = ["third_party_perception_util.h"],
deps = [
":third_party_perception_gflags",
"//modules/map/hdmap:hdmap_util",
],
)
cc_library(
name = "third_party_perception_gflags",
srcs = ["third_party_perception_gflags.cc"],
hdrs = ["third_party_perception_gflags.h"],
deps = [
"@com_github_gflags_gflags//:gflags",
],
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/common/third_party_perception_util.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
*/
#include "modules/third_party_perception/common/third_party_perception_util.h"
#include "modules/map/hdmap/hdmap_util.h"
#include "modules/third_party_perception/common/third_party_perception_gflags.h"
/**
* @namespace apollo::third_party_perception
* @brief apollo::third_party_perception
*/
namespace apollo {
namespace third_party_perception {
using apollo::common::PointENU;
using apollo::common::Quaternion;
using apollo::hdmap::HDMapUtil;
using apollo::perception::PerceptionObstacle;
using Point = apollo::common::Point3D;
double GetAngleFromQuaternion(const Quaternion quaternion) {
double theta = std::atan2(2.0 * (quaternion.qw() * quaternion.qz() +
quaternion.qx() * quaternion.qy()),
1.0 - 2.0 * (quaternion.qy() * quaternion.qy() +
quaternion.qz() * quaternion.qz())) +
std::acos(-1.0) / 2.0;
return theta;
}
void FillPerceptionPolygon(PerceptionObstacle* const perception_obstacle,
const double mid_x, const double mid_y,
const double mid_z, const double length,
const double width, const double height,
const double heading) {
// Generate a 2D cube whose vertices are given in counter-clock order when
// viewed from top
const int sign_l[4] = {1, 1, -1, -1};
const int sign_w[4] = {1, -1, -1, 1};
for (int i = 0; i < 4; ++i) {
perception_obstacle->add_polygon_point();
perception_obstacle->mutable_polygon_point(i)->set_x(
mid_x + sign_l[i] * length * std::cos(heading) / 2.0 +
sign_w[i] * width * std::sin(heading) / 2.0);
perception_obstacle->mutable_polygon_point(i)->set_y(
mid_y + sign_l[i] * length * std::sin(heading) / 2.0 -
sign_w[i] * width * std::cos(heading) / 2.0);
perception_obstacle->mutable_polygon_point(i)->set_z(mid_z);
}
}
double GetDefaultObjectLength(const int object_type) {
double default_object_length = 0.0;
switch (object_type) {
case 0: {
default_object_length = FLAGS_default_car_length;
break;
}
case 1: {
default_object_length = FLAGS_default_truck_length;
break;
}
case 2: {
default_object_length = FLAGS_default_bike_length;
break;
}
case 3: {
default_object_length = FLAGS_default_ped_length;
break;
}
case 4: {
default_object_length = FLAGS_default_unknown_length;
break;
}
}
return default_object_length;
}
double GetDefaultObjectWidth(const int object_type) {
double default_object_width = 0.0;
switch (object_type) {
case 0: {
default_object_width = FLAGS_default_car_width;
break;
}
case 1: {
default_object_width = FLAGS_default_truck_width;
break;
}
case 2: {
default_object_width = FLAGS_default_bike_width;
break;
}
case 3: {
default_object_width = FLAGS_default_ped_width;
break;
}
case 4: {
default_object_width = FLAGS_default_unknown_width;
break;
}
}
return default_object_width;
}
Point SLtoXY(const Point& point, const double theta) {
return SLtoXY(point.x(), point.y(), theta);
}
Point SLtoXY(const double x, const double y, const double theta) {
Point converted_point;
converted_point.set_x(x * std::cos(theta) + y * std::sin(theta));
converted_point.set_y(x * std::sin(theta) - y * std::cos(theta));
return converted_point;
}
double Distance(const Point& point1, const Point& point2) {
double distance =
std::sqrt((point1.x() - point2.x()) * (point1.x() - point2.x()) +
(point1.y() - point2.y()) * (point1.y() - point2.y()));
return distance;
}
double GetNearestLaneHeading(const PointENU& point_enu) {
auto* hdmap = HDMapUtil::BaseMapPtr();
if (hdmap == nullptr) {
AERROR << "Failed to get nearest lane for point "
<< point_enu.DebugString();
return -1.0;
}
hdmap::LaneInfoConstPtr nearest_lane;
double nearest_s;
double nearest_l;
int status =
hdmap->GetNearestLane(point_enu, &nearest_lane, &nearest_s, &nearest_l);
// TODO(lizh): make it a formal status below
if (status != 0) {
AERROR << "Failed to get nearest lane for point "
<< point_enu.DebugString();
return -1.0;
}
double lane_heading = nearest_lane->Heading(nearest_s);
return lane_heading;
}
double GetNearestLaneHeading(const Point& point) {
auto* hdmap = HDMapUtil::BaseMapPtr();
if (hdmap == nullptr) {
AERROR << "Failed to get nearest lane for point " << point.DebugString();
return -1.0;
}
PointENU point_enu;
point_enu.set_x(point.x());
point_enu.set_y(point.y());
point_enu.set_z(point.z());
return GetNearestLaneHeading(point_enu);
}
double GetNearestLaneHeading(const double x, const double y, const double z) {
auto* hdmap = HDMapUtil::BaseMapPtr();
if (hdmap == nullptr) {
AERROR << "Failed to get nearest lane for point (" << x << ", " << y << ", "
<< z << ")";
return -1.0;
}
PointENU point_enu;
point_enu.set_x(x);
point_enu.set_y(y);
point_enu.set_z(z);
return GetNearestLaneHeading(point_enu);
}
double GetLateralDistanceToNearestLane(const Point& point) {
auto* hdmap = HDMapUtil::BaseMapPtr();
if (hdmap == nullptr) {
AERROR << "Failed to get nearest lane for point " << point.DebugString();
return -1.0;
}
PointENU point_enu;
point_enu.set_x(point.x());
point_enu.set_y(point.y());
point_enu.set_z(point.z());
hdmap::LaneInfoConstPtr nearest_lane;
double nearest_s;
double nearest_l;
int status =
hdmap->GetNearestLane(point_enu, &nearest_lane, &nearest_s, &nearest_l);
// TODO(lizh): make it a formal status below
if (status != 0) {
AERROR << "Failed to get nearest lane for point " << point.DebugString();
return -1.0;
}
AINFO << "Dist: " << nearest_l;
return nearest_l;
}
double Speed(const Point& point) {
return std::sqrt(point.x() * point.x() + point.y() + point.y());
}
double Speed(const double vx, const double vy) {
return std::sqrt(vx * vx + vy * vy);
}
double HeadingDifference(const double theta1, const double theta2) {
double theta_diff = std::abs(theta1 - theta2);
return theta_diff > M_PI ? (2 * M_PI - theta_diff) : theta_diff;
}
} // namespace third_party_perception
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/conf/third_party_perception.conf | --flagfile=/apollo/modules/common/data/global_flagfile.txt
--alsologtostderr=1
--node_namespace=/apollo/third_party_perception
--node_name=third_party_perception
--module_name=third_party_perception
--third_party_perception_freq=10
--radar_pos_adjust=4.0
--mobileye_pos_adjust=4.5
--default_unknown_length=5.0
--default_unknown_width=2.0
--default_bike_width=2.0
--default_bike_length=5.0
--enable_radar=false
--movable_heading_threshold=0.8
--nouse_navigation_mode
| 0 |
apollo_public_repos/apollo/modules/third_party_perception | apollo_public_repos/apollo/modules/third_party_perception/conf/third_party_perception_component.pb.txt | device_type: SMARTEREYE
| 0 |
apollo_public_repos/apollo/modules | apollo_public_repos/apollo/modules/audio/audio_component.cc | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/audio/audio_component.h"
#include "modules/audio/proto/audio_conf.pb.h"
#include "modules/common_msgs/basic_msgs/geometry.pb.h"
#include "modules/common/util/message_util.h"
namespace apollo {
namespace audio {
using apollo::common::Point3D;
using apollo::common::util::FillHeader;
using apollo::drivers::microphone::config::AudioData;
AudioComponent::~AudioComponent() {}
std::string AudioComponent::Name() const {
// TODO(all) implement
return "";
}
bool AudioComponent::Init() {
AudioConf audio_conf;
if (!ComponentBase::GetProtoConfig(&audio_conf)) {
AERROR << "Unable to load audio conf file: "
<< ComponentBase::ConfigFilePath();
return false;
}
localization_reader_ =
node_->CreateReader<localization::LocalizationEstimate>(
audio_conf.topic_conf().localization_topic_name(), nullptr);
audio_writer_ = node_->CreateWriter<AudioDetection>(
audio_conf.topic_conf().audio_detection_topic_name());
respeaker_extrinsics_file_ = audio_conf.respeaker_extrinsics_path();
return true;
}
bool AudioComponent::Proc(const std::shared_ptr<AudioData>& audio_data) {
// TODO(all) remove GetSignals() multiple calls
AudioDetection audio_detection;
MessageProcess::OnMicrophone(*audio_data, respeaker_extrinsics_file_,
&audio_info_, &direction_detection_, &moving_detection_,
&siren_detection_, &audio_detection);
FillHeader(node_->Name(), &audio_detection);
audio_writer_->Write(audio_detection);
return true;
}
} // namespace audio
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules | apollo_public_repos/apollo/modules/audio/audio_component.h | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
*/
#pragma once
#include <memory>
#include <string>
#include "cyber/component/component.h"
#include "modules/audio/common/message_process.h"
#include "modules/common_msgs/localization_msgs/localization.pb.h"
/**
* @namespace apollo::audio
* @brief apollo::audio
*/
namespace apollo {
namespace audio {
class AudioComponent
: public cyber::Component<apollo::drivers::microphone::config::AudioData> {
public:
~AudioComponent();
std::string Name() const;
bool Init() override;
bool Proc(
const std::shared_ptr<apollo::drivers::microphone::config::AudioData>&)
override;
private:
std::shared_ptr<cyber::Reader<localization::LocalizationEstimate>>
localization_reader_;
std::shared_ptr<cyber::Writer<AudioDetection>> audio_writer_;
AudioInfo audio_info_;
DirectionDetection direction_detection_;
MovingDetection moving_detection_;
SirenDetection siren_detection_;
std::string respeaker_extrinsics_file_;
};
CYBER_REGISTER_COMPONENT(AudioComponent)
} // namespace audio
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules | apollo_public_repos/apollo/modules/audio/cyberfile.xml | <package format="2">
<name>audio</name>
<version>local</version>
<description>
The Audio module detect the siren sound coming from the active emergency vehicle.
It detects and output siren on/off status, moving status and the relative position of the siren.
When active emergency vehicles detected, you can also see active alerts on Dreamview.
</description>
<maintainer email="apollo-support@baidu.com">Apollo</maintainer>
<license>Apache License 2.0</license>
<url type="website">https://www.apollo.auto/</url>
<url type="repository">https://github.com/ApolloAuto/apollo</url>
<url type="bugtracker">https://github.com/ApolloAuto/apollo/issues</url>
<type>module</type>
<src_path url="https://github.com/ApolloAuto/apollo">//modules/audio</src_path>
<depend repo_name="common-msgs" lib_names="common-msgs">common-msgs-dev</depend>
<depend type="binary" repo_name="cyber">cyber-dev</depend>
<depend type="binary" repo_name="common" lib_names="common">common-dev</depend>
<depend type="binary" repo_name="drivers">drivers-dev</depend>
<depend repo_name="com_github_gflags_gflags" lib_names="gflags">3rd-gflags-dev</depend>
<depend repo_name="boost">3rd-boost-dev</depend>
<depend repo_name="eigen">3rd-eigen3-dev</depend>
<depend repo_name="fftw3">3rd-fftw3-dev</depend>
<depend repo_name="com_github_jbeder_yaml_cpp" lib_names="yaml-cpp">3rd-yaml-cpp-dev</depend>
<depend repo_name="com_google_googletest" lib_names="gtest,gtest_main">3rd-gtest-dev</depend>
<depend repo_name="libtorch_cpu" lib_names="libtorch_cpu">3rd-libtorch-cpu-dev</depend>
<depend>3rd-mkl-dev</depend>
<depend expose="False">3rd-rules-python-dev</depend>
<depend expose="False">3rd-grpc-dev</depend>
<depend expose="False">3rd-bazel-skylib-dev</depend>
<depend expose="False">3rd-rules-proto-dev</depend>
<depend expose="False">3rd-py-dev</depend>
</package>
| 0 |
apollo_public_repos/apollo/modules | apollo_public_repos/apollo/modules/audio/README.md | # Audio
## Introduction
The Audio module detect the siren sound coming from the active emergency vehicle. It detects and output siren on/off status, moving status and the relative position of the siren. When active emergency vehicles detected, you can also see active alerts on Dreamview.
## Input
* Audio signal data (cyber channel `/apollo/sensor/microphone`)
## Output
* Audio detection result, including the siren active/inactive status, moving status(approaching/departing/stationary), and the positions (cyber channel `apollo/audio/audio_detection`).
| 0 |
apollo_public_repos/apollo/modules | apollo_public_repos/apollo/modules/audio/audio.BUILD | load("@rules_cc//cc:defs.bzl", "cc_library")
cc_library(
name = "audio",
includes = ["include"],
hdrs = glob(["include/**/*.h"]),
srcs = glob(["lib/**/*.so*"]),
include_prefix = "modules/audio",
strip_include_prefix = "include",
visibility = ["//visibility:public"],
) | 0 |
apollo_public_repos/apollo/modules | apollo_public_repos/apollo/modules/audio/BUILD | load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library")
load("//tools/install:install.bzl", "install", "install_files", "install_src_files")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
cc_library(
name = "audio_component_lib",
srcs = ["audio_component.cc"],
hdrs = ["audio_component.h"],
copts = [
"-DMODULE_NAME=\\\"audio\\\"",
],
deps = [
"//cyber",
"//modules/audio/common:message_process",
"//modules/audio/proto:audio_conf_cc_proto",
"//modules/common_msgs/basic_msgs:geometry_cc_proto",
"//modules/common_msgs/localization_msgs:localization_cc_proto",
"//modules/common/util:util_tool",
],
alwayslink = True,
)
cc_binary(
name = "libaudio_component.so",
linkshared = True,
linkstatic = True,
deps = [":audio_component_lib"],
)
filegroup(
name = "runtime_data",
srcs = glob([
"conf/**",
"dag/*.dag",
"launch/*.launch",
]),
)
# Data->Models:
# modules/audio/data/torch_siren_detection_model.pt
install(
name = "install",
library_dest = "audio/lib",
data_dest = "audio",
data = [
":runtime_data",
":cyberfile.xml",
":audio.BUILD",
],
targets = [
":libaudio_component.so",
],
deps = [
":pb_hdrs",
"//modules/audio/tools:install",
],
)
install(
name = "pb_hdrs",
data_dest = "audio/include",
data = [
"//modules/audio/proto:audio_conf_cc_proto",
],
)
install_src_files(
name = "install_src",
deps = [
":install_audio_src",
":install_audio_hdrs",
":install_audio_model",
"//modules/audio/proto:py_pb_audio",
],
)
install_src_files(
name = "install_audio_src",
src_dir = ["."],
dest = "audio/src",
filter = "*",
)
install_src_files(
name = "install_audio_model",
src_dir = ["data"],
dest = "audio/data",
filter = "*"
)
install_src_files(
name = "install_audio_hdrs",
src_dir = ["."],
dest = "audio/include",
filter = "*.h",
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/tools/audio_offline_processing.cc | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include <string>
#include <boost/filesystem.hpp>
#include <boost/range/iterator_range.hpp>
#include "cyber/common/file.h"
#include "cyber/record/record_reader.h"
#include "cyber/record/record_writer.h"
#include "modules/audio/common/audio_gflags.h"
#include "modules/audio/common/message_process.h"
#include "modules/audio/proto/audio_conf.pb.h"
#include "modules/common_msgs/audio_msgs/audio_event.pb.h"
#include "modules/common_msgs/localization_msgs/localization.pb.h"
#include "modules/common_msgs/perception_msgs/perception_obstacle.pb.h"
namespace apollo {
namespace audio {
using apollo::cyber::record::RecordReader;
using apollo::cyber::record::RecordMessage;
using apollo::cyber::record::RecordWriter;
using apollo::drivers::microphone::config::AudioData;
using apollo::localization::LocalizationEstimate;
using apollo::perception::PerceptionObstacles;
void GetRecordFileNames(const boost::filesystem::path& p,
std::vector<std::string>* record_files) {
if (!boost::filesystem::exists(p)) {
return;
}
if (boost::filesystem::is_regular_file(p)) {
AINFO << "Found record file: " << p.c_str();
record_files->push_back(p.c_str());
return;
}
if (boost::filesystem::is_directory(p)) {
for (auto& entry : boost::make_iterator_range(
boost::filesystem::directory_iterator(p), {})) {
GetRecordFileNames(entry.path(), record_files);
}
}
}
void ProcessSingleRecordFile(const AudioConf& audio_conf,
const std::string& input_record_filepath,
const std::string& output_record_filepath,
AudioInfo* audio_info,
DirectionDetection* direction_detection,
MovingDetection* moving_detection,
SirenDetection* siren_detection) {
RecordReader reader(input_record_filepath);
RecordMessage message;
RecordWriter writer;
writer.Open(output_record_filepath);
while (reader.ReadMessage(&message)) {
if (message.channel_name ==
audio_conf.topic_conf().audio_data_topic_name()) {
AudioData audio_data;
if (audio_data.ParseFromString(message.content)) {
AudioDetection audio_detection;
std::string respeaker_extrinsics_file =
audio_conf.respeaker_extrinsics_path();
MessageProcess::OnMicrophone(audio_data, respeaker_extrinsics_file,
audio_info, direction_detection, moving_detection, siren_detection,
&audio_detection);
writer.WriteMessage<AudioDetection>(
audio_conf.topic_conf().audio_detection_topic_name(),
audio_detection, message.time);
AINFO << "Generate a new audio detection message.";
}
} else if (message.channel_name ==
audio_conf.topic_conf().audio_event_topic_name()) {
AudioEvent audio_event;
if (audio_event.ParseFromString(message.content)) {
writer.WriteMessage<AudioEvent>(message.channel_name, audio_event,
message.time);
AINFO << "Save an audio even message.";
}
} else if (message.channel_name ==
audio_conf.topic_conf().localization_topic_name()) {
LocalizationEstimate localization;
if (localization.ParseFromString(message.content)) {
writer.WriteMessage<LocalizationEstimate>(
message.channel_name, localization, message.time);
AINFO << "Save a localization message.";
}
} else if (message.channel_name ==
audio_conf.topic_conf().perception_topic_name()) {
PerceptionObstacles perception_obstacles;
if (perception_obstacles.ParseFromString(message.content)) {
writer.WriteMessage<PerceptionObstacles>(
message.channel_name, perception_obstacles, message.time);
AINFO << "Save a perception message.";
}
}
}
writer.Close();
}
void ProcessFolder() {
if (FLAGS_audio_records_dir.empty()) {
AERROR << "The input folder is empty";
return;
}
AudioConf audio_conf;
if (!cyber::common::GetProtoFromFile(FLAGS_audio_conf_file,
&audio_conf)) {
return;
}
AudioInfo audio_info;
DirectionDetection direction_detection;
MovingDetection moving_detection;
SirenDetection siren_detection;
std::vector<std::string> offline_bags;
GetRecordFileNames(boost::filesystem::path(FLAGS_audio_records_dir),
&offline_bags);
std::sort(offline_bags.begin(), offline_bags.end());
for (std::size_t i = 0; i < offline_bags.size(); ++i) {
const std::string& input_record_filepath = offline_bags[i];
std::string output_record_filepath =
input_record_filepath + ".new_audio_detection";
ProcessSingleRecordFile(audio_conf, input_record_filepath,
output_record_filepath, &audio_info, &direction_detection,
&moving_detection, &siren_detection);
}
}
} // namespace audio
} // namespace apollo
int main(int argc, char* argv[]) {
google::ParseCommandLineFlags(&argc, &argv, true);
apollo::audio::ProcessFolder();
return 0;
}
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/tools/README.md | ## Dump audio to wave
We provide tools to dump audio data from topic `/apollo/sensor/microphone` to wave files.
### How
To do so,
1. Change `WAV_SAVING_PATH` in `audiosaver.py` to the directory for saving wave files, which is default to `/tmp`.
2. Run command `python3 audiosaver.py` to start to listen to audio data from the topic `/apollo/sensor/microphone` (while playing a record, etc.).
3. Terminate the program with `Ctrl + C` when you want to stop listening & save data to wave files under the target directory.
By default, there are 6 audio channels, so 6 files will be generated -- one for each audio channel. For information of the audio channel, refer to [Microphone](../../drivers/microphone/README.md) and [Microphone Configuration](../../drivers/microphone/conf/respeaker.pb.txt).
### Other References
* Hardware Specification -- [Respeaker](../../../docs/specs/Microphone/Re_Speaker_USB_Mic_Array_Guide.md)
* Driver Configuration -- [Microphone](../../drivers/microphone/README.md)
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/tools/audiosaver.py | #!/usr/bin/env python3
# ****************************************************************************
# Copyright 2020 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ****************************************************************************
# -*- coding: utf-8 -*-
import atexit
import os
import wave
from cyber.python.cyber_py3 import cyber
from modules.drivers.microphone.proto.audio_pb2 import AudioData
RESPEAKER_CHANNEL = "/apollo/sensor/microphone"
WAV_SAVING_PATH = "/tmp"
frames = [b"" for _ in range(6)]
sample_width = 0
sample_rate = 0
def save_to_wave(frames, filepath, sample_width, sample_rate, n_channels=1):
"""Save frame to file.wave"""
with wave.open(filepath, 'wb') as wf:
wf.setnchannels(n_channels)
wf.setsampwidth(sample_width)
wf.setframerate(sample_rate)
wf.writeframes(frames)
def before_exit():
for idx, data in enumerate(frames):
file_path = os.path.join(WAV_SAVING_PATH, "channel_{}.wav".format(idx))
save_to_wave(data, file_path, sample_width, sample_rate, 1)
print("Done...")
def callback(audio):
global frames, sample_width, sample_rate
sample_width = audio.microphone_config.sample_width
sample_rate = audio.microphone_config.sample_rate
print("=" * 40)
print(audio.header)
for idx, channel_data in enumerate(audio.channel_data):
frames[idx] += channel_data.data
def run():
print("=" * 120)
test_node = cyber.Node("audiosaver")
test_node.create_reader(RESPEAKER_CHANNEL, AudioData, callback)
test_node.spin()
if __name__ == '__main__':
atexit.register(before_exit)
cyber.init()
run()
cyber.shutdown()
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/tools/BUILD | load("@rules_cc//cc:defs.bzl", "cc_binary")
load("//tools:cpplint.bzl", "cpplint")
load("@rules_python//python:defs.bzl", "py_binary")
load("//tools/install:install.bzl", "install")
package(default_visibility = ["//visibility:public"])
install(
name = "install",
runtime_dest = "audio/bin",
targets = [
":audio_offline_processing",
],
visibility = ["//visibility:public"],
)
py_binary(
name = "audiosaver",
srcs = ["audiosaver.py"],
deps = [
"//cyber/python/cyber_py3:cyber",
"//modules/common_msgs/basic_msgs:header_py_pb2",
"//modules/drivers/microphone/proto:audio_py_pb2",
"//modules/drivers/microphone/proto:microphone_config_py_pb2",
],
tags = ["exclude"]
)
cc_binary(
name = "audio_offline_processing",
srcs = ["audio_offline_processing.cc"],
copts = [
"-DMODULE_NAME=\\\"audio\\\"",
],
linkopts = [
"-lgomp",
],
deps = [
"//cyber",
"//modules/audio/common:audio_gflags",
"//modules/audio/common:message_process",
"//modules/audio/proto:audio_conf_cc_proto",
"//modules/common_msgs/audio_msgs:audio_event_cc_proto",
"//modules/common_msgs/localization_msgs:localization_cc_proto",
"//modules/common_msgs/perception_msgs:perception_obstacle_cc_proto",
"@boost",
],
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/proto/audio_conf.proto | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
syntax = "proto2";
package apollo.audio;
message TopicConf {
optional string audio_data_topic_name = 1;
optional string audio_detection_topic_name = 2;
optional string localization_topic_name = 3;
optional string audio_event_topic_name = 4;
optional string perception_topic_name = 5;
}
message AudioConf {
optional TopicConf topic_conf = 1;
optional string respeaker_extrinsics_path = 2;
}
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/proto/BUILD | ## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
load("//tools/install:install.bzl", "install", "install_files")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "audio_conf_cc_proto",
deps = [
":audio_conf_proto",
],
)
proto_library(
name = "audio_conf_proto",
srcs = ["audio_conf.proto"],
)
py_proto_library(
name = "audio_conf_py_pb2",
deps = [
":audio_conf_proto",
],
)
install_files(
name = "py_pb_audio",
dest = "audio/python/modules/audio/proto",
files = [
"audio_conf_py_pb2",
]
)
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/launch/audio.launch | <cyber>
<module>
<name>audio</name>
<dag_conf>/apollo/modules/audio/dag/audio.dag</dag_conf>
<process_name>audio</process_name>
</module>
</cyber>
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/dag/audio.dag | module_config {
module_library : "/apollo/bazel-bin/modules/audio/libaudio_component.so"
components {
class_name : "AudioComponent"
config {
name: "audio"
config_file_path: "/apollo/modules/audio/conf/audio_conf.pb.txt"
flag_file_path: "/apollo/modules/audio/conf/audio.conf"
readers: [
{
channel: "/apollo/sensor/microphone"
qos_profile: {
depth : 1
}
}
]
}
}
}
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/common/message_process.cc | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/audio/common/message_process.h"
namespace apollo {
namespace audio {
using apollo::drivers::microphone::config::AudioData;
void MessageProcess::OnMicrophone(
const AudioData& audio_data,
const std::string& respeaker_extrinsics_file,
AudioInfo* audio_info,
DirectionDetection* direction_detection,
MovingDetection* moving_detection,
SirenDetection* siren_detection,
AudioDetection* audio_detection) {
audio_info->Insert(audio_data);
auto direction_result =
direction_detection->EstimateSoundSource(
audio_info->GetSignals(audio_data.microphone_config().chunk()),
respeaker_extrinsics_file,
audio_data.microphone_config().sample_rate(),
audio_data.microphone_config().mic_distance());
*(audio_detection->mutable_position()) = direction_result.first;
audio_detection->set_source_degree(direction_result.second);
bool is_siren = siren_detection->Evaluate(audio_info->GetSignals(72000));
audio_detection->set_is_siren(is_siren);
auto signals =
audio_info->GetSignals(audio_data.microphone_config().chunk());
MovingResult moving_result = moving_detection->Detect(signals);
audio_detection->set_moving_result(moving_result);
}
} // namespace audio
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/common/audio_info.h | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include <deque>
#include <memory>
#include <string>
#include <vector>
#include "modules/drivers/microphone/proto/audio.pb.h"
#include "modules/drivers/microphone/proto/microphone_config.pb.h"
namespace apollo {
namespace audio {
class AudioInfo {
public:
AudioInfo() = default;
void Insert(
const apollo::drivers::microphone::config::AudioData&);
std::vector<std::vector<double>> GetSignals(const int signal_length);
private:
void InsertChannelData(
const std::size_t index,
const apollo::drivers::microphone::config::ChannelData& channel_data,
const apollo::drivers::microphone::config::MicrophoneConfig&
microphone_config);
std::vector<std::deque<double>> signals_;
};
} // namespace audio
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/common/message_process.h | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include <string>
#include "modules/audio/common/audio_info.h"
#include "modules/audio/inference/direction_detection.h"
#include "modules/audio/inference/moving_detection.h"
#include "modules/audio/inference/siren_detection.h"
#include "modules/common_msgs/audio_msgs/audio.pb.h"
#include "modules/drivers/microphone/proto/audio.pb.h"
namespace apollo {
namespace audio {
class MessageProcess {
public:
MessageProcess() = delete;
static void OnMicrophone(
const apollo::drivers::microphone::config::AudioData& audio_data,
const std::string& respeaker_extrinsics_file,
AudioInfo* audio_info,
DirectionDetection* direction_detection,
MovingDetection* moving_detection,
SirenDetection* siren_detection,
AudioDetection* audio_detection);
};
} // namespace audio
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/common/BUILD | load("@rules_cc//cc:defs.bzl", "cc_library")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
cc_library(
name = "audio_gflags",
srcs = ["audio_gflags.cc"],
hdrs = ["audio_gflags.h"],
deps = [
"@com_github_gflags_gflags//:gflags",
],
)
cc_library(
name = "audio_info",
srcs = ["audio_info.cc"],
hdrs = ["audio_info.h"],
deps = [
":audio_gflags",
"//modules/drivers/microphone/proto:audio_cc_proto",
"//modules/drivers/microphone/proto:microphone_config_cc_proto",
],
)
cc_library(
name = "message_process",
srcs = ["message_process.cc"],
hdrs = ["message_process.h"],
deps = [
":audio_info",
"//modules/audio/inference:direction_detection",
"//modules/audio/inference:moving_detection",
"//modules/audio/inference:siren_detection",
"//modules/common_msgs/audio_msgs:audio_cc_proto",
"//modules/drivers/microphone/proto:audio_cc_proto",
],
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/common/audio_gflags.h | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include "gflags/gflags.h"
DECLARE_int32(cache_signal_time);
DECLARE_string(torch_siren_detection_model);
DECLARE_string(audio_records_dir);
DECLARE_string(audio_conf_file);
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/common/audio_gflags.cc | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/audio/common/audio_gflags.h"
DEFINE_int32(cache_signal_time, 3, "The time to cache signal");
DEFINE_string(torch_siren_detection_model,
"/apollo/modules/audio/data/torch_siren_detection_model.pt",
"Siren detection model file");
DEFINE_string(audio_records_dir, "", "The dir path to offline cyber records");
DEFINE_string(audio_conf_file,
"/apollo/modules/audio/conf/audio_conf.pb.txt",
"Default conf file for audio module");
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/common/audio_info.cc | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/audio/common/audio_info.h"
#include <algorithm>
#include "modules/audio/common/audio_gflags.h"
namespace apollo {
namespace audio {
using apollo::drivers::microphone::config::AudioData;
using apollo::drivers::microphone::config::ChannelData;
using apollo::drivers::microphone::config::ChannelType;
using apollo::drivers::microphone::config::MicrophoneConfig;
void AudioInfo::Insert(const AudioData& audio_data) {
std::size_t index = 0;
for (const auto& channel_data : audio_data.channel_data()) {
if (channel_data.channel_type() == ChannelType::RAW) {
InsertChannelData(index, channel_data, audio_data.microphone_config());
++index;
}
}
}
void AudioInfo::InsertChannelData(const std::size_t index,
const ChannelData& channel_data,
const MicrophoneConfig& microphone_config) {
while (index >= signals_.size()) {
signals_.push_back(std::deque<double>());
}
int width = microphone_config.sample_width();
const std::string& data = channel_data.data();
for (std::size_t i = 0; i < data.length(); i += width) {
int16_t signal = ((int16_t(data[i + 1])) << 8) | (0x00ff & data[i]);
signals_[index].push_back(static_cast<double>(signal));
}
std::size_t max_signal_length = static_cast<std::size_t>(
FLAGS_cache_signal_time * microphone_config.sample_rate());
while (signals_[index].size() > max_signal_length) {
signals_[index].pop_front();
}
}
std::vector<std::vector<double>> AudioInfo::GetSignals(
const int signal_length) {
std::vector<std::vector<double>> signals;
for (std::size_t i = 0; i < signals_.size(); ++i) {
int start_index = static_cast<int>(signals_[i].size()) - signal_length;
start_index = std::max(0, start_index);
std::deque<double>::iterator iter = signals_[i].begin();
iter += start_index;
std::vector<double> signal(iter, signals_[i].end());
signals.push_back(signal);
}
return signals;
}
} // namespace audio
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/inference/direction_detection.h |
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include <algorithm>
#include <cmath>
#include <memory>
#include <string>
#include <utility>
#include <vector>
#include "Eigen/Eigen"
// Eigen 3.3.7: #define ALIVE (0)
// fastrtps: enum ChangeKind_t { ALIVE, ... };
#if defined(ALIVE)
#undef ALIVE
#endif
#include "ATen/ATen.h"
#include "torch/torch.h"
#include "modules/common_msgs/basic_msgs/geometry.pb.h"
namespace apollo {
namespace audio {
using apollo::common::Point3D;
class DirectionDetection {
public:
DirectionDetection();
~DirectionDetection();
// Estimates the position of the source of the sound
std::pair<Point3D, double> EstimateSoundSource(
std::vector<std::vector<double>>&& channels_vec,
const std::string& respeaker_extrinsic_file,
const int sample_rate, const double mic_distance);
private:
const double kSoundSpeed = 343.2;
const int kDistance = 50;
std::unique_ptr<Eigen::Matrix4d> respeaker2imu_ptr_;
// Estimates the direction of the source of the sound
double EstimateDirection(std::vector<std::vector<double>>&& channels_vec,
const int sample_rate, const double mic_distance);
bool LoadExtrinsics(const std::string& yaml_file,
Eigen::Matrix4d* respeaker_extrinsic);
// Computes the offset between the signal sig and the reference signal refsig
// using the Generalized Cross Correlation - Phase Transform (GCC-PHAT)method.
double GccPhat(const torch::Tensor& sig, const torch::Tensor& refsig, int fs,
double max_tau, int interp);
// Libtorch does not support Complex type currently.
void ConjugateTensor(torch::Tensor* tensor);
torch::Tensor ComplexMultiply(const torch::Tensor& a, const torch::Tensor& b);
torch::Tensor ComplexAbsolute(const torch::Tensor& tensor);
};
} // namespace audio
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/inference/siren_detection.cc | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/audio/inference/siren_detection.h"
#include <utility>
#include <vector>
#include <omp.h>
#include "cyber/common/log.h"
#include "modules/audio/common/audio_gflags.h"
namespace apollo {
namespace audio {
SirenDetection::SirenDetection() : device_(torch::kCPU) {
LoadModel();
}
bool SirenDetection::Evaluate(const std::vector<std::vector<double>>& signals) {
// Sanity checks.
omp_set_num_threads(1);
if (signals.size() == 0) {
AERROR << "Got no channel in signals!";
return false;
}
if (signals[0].size() == 0) {
AERROR << "Got no signal in channel 0!";
return false;
}
if (signals[0].size() != 72000) {
AERROR << "signals[0].size() = " << signals[0].size() << ", skiping!";
return false;
}
torch::Tensor audio_tensor = torch::empty(4 * 1 * 72000);
float* data = audio_tensor.data_ptr<float>();
for (const auto& channel : signals) {
for (const auto& i : channel) {
*data++ = static_cast<float>(i) / 32767.0;
}
}
torch::Tensor torch_input = torch::from_blob(audio_tensor.data_ptr<float>(),
{4, 1, 72000});
std::vector<torch::jit::IValue> torch_inputs;
torch_inputs.push_back(torch_input.to(device_));
auto start_time = std::chrono::system_clock::now();
at::Tensor torch_output_tensor = torch_model_.forward(torch_inputs).toTensor()
.to(torch::kCPU);
auto end_time = std::chrono::system_clock::now();
std::chrono::duration<double> diff = end_time - start_time;
AINFO << "SirenDetection used time: " << diff.count() * 1000 << " ms.";
auto torch_output = torch_output_tensor.accessor<float, 2>();
// majority vote with 4 channels
float neg_score = torch_output[0][0] + torch_output[1][0] +
torch_output[2][0] + torch_output[3][0];
float pos_score = torch_output[0][1] + torch_output[1][1] +
torch_output[2][1] + torch_output[3][1];
ADEBUG << "neg_score = " << neg_score << ", pos_score = " << pos_score;
if (neg_score < pos_score) {
return true;
} else {
return false;
}
}
void SirenDetection::LoadModel() {
if (torch::cuda::is_available()) {
AINFO << "CUDA is available";
device_ = torch::Device(torch::kCUDA);
}
torch::set_num_threads(1);
torch_model_ = torch::jit::load(FLAGS_torch_siren_detection_model, device_);
}
} // namespace audio
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/inference/direction_detection.cc | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/audio/inference/direction_detection.h"
#include "yaml-cpp/yaml.h"
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "modules/common/math/math_utils.h"
namespace apollo {
namespace audio {
using torch::indexing::None;
using torch::indexing::Slice;
using apollo::common::math::NormalizeAngle;
DirectionDetection::DirectionDetection() {}
DirectionDetection::~DirectionDetection() {}
std::pair<Point3D, double> DirectionDetection::EstimateSoundSource(
std::vector<std::vector<double>>&& channels_vec,
const std::string& respeaker_extrinsic_file, const int sample_rate,
const double mic_distance) {
if (!respeaker2imu_ptr_.get()) {
respeaker2imu_ptr_.reset(new Eigen::Matrix4d);
LoadExtrinsics(respeaker_extrinsic_file, respeaker2imu_ptr_.get());
}
double degree =
EstimateDirection(move(channels_vec), sample_rate, mic_distance);
Eigen::Vector4d source_position(kDistance * sin(degree),
kDistance * cos(degree), 0, 1);
source_position = (*respeaker2imu_ptr_) * source_position;
Point3D source_position_p3d;
source_position_p3d.set_x(source_position[0]);
source_position_p3d.set_y(source_position[1]);
source_position_p3d.set_z(source_position[2]);
degree = NormalizeAngle(degree);
return {source_position_p3d, degree};
}
double DirectionDetection::EstimateDirection(
std::vector<std::vector<double>>&& channels_vec, const int sample_rate,
const double mic_distance) {
std::vector<torch::Tensor> channels_ts;
auto options = torch::TensorOptions().dtype(torch::kFloat64);
int size = static_cast<int>(channels_vec[0].size());
for (auto& signal : channels_vec) {
channels_ts.push_back(torch::from_blob(signal.data(), {size}, options));
}
double tau0, tau1;
double theta0, theta1;
const double max_tau = mic_distance / kSoundSpeed;
tau0 = GccPhat(channels_ts[0], channels_ts[2], sample_rate, max_tau, 1);
theta0 = asin(tau0 / max_tau) * 180 / M_PI;
tau1 = GccPhat(channels_ts[1], channels_ts[3], sample_rate, max_tau, 1);
theta1 = asin(tau1 / max_tau) * 180 / M_PI;
int best_guess = 0;
if (fabs(theta0) < fabs(theta1)) {
best_guess = theta1 > 0 ? std::fmod(theta0 + 360, 360) : (180 - theta0);
} else {
best_guess = theta0 < 0 ? std::fmod(theta1 + 360, 360) : (180 - theta1);
best_guess = (best_guess + 90 + 180) % 360;
}
best_guess = (-best_guess + 480) % 360;
return static_cast<double>(best_guess) / 180 * M_PI;
}
bool DirectionDetection::LoadExtrinsics(const std::string& yaml_file,
Eigen::Matrix4d* respeaker_extrinsic) {
if (!apollo::cyber::common::PathExists(yaml_file)) {
AINFO << yaml_file << " does not exist!";
return false;
}
YAML::Node node = YAML::LoadFile(yaml_file);
double qw = 0.0;
double qx = 0.0;
double qy = 0.0;
double qz = 0.0;
double tx = 0.0;
double ty = 0.0;
double tz = 0.0;
try {
if (node.IsNull()) {
AINFO << "Load " << yaml_file << " failed! please check!";
return false;
}
qw = node["transform"]["rotation"]["w"].as<double>();
qx = node["transform"]["rotation"]["x"].as<double>();
qy = node["transform"]["rotation"]["y"].as<double>();
qz = node["transform"]["rotation"]["z"].as<double>();
tx = node["transform"]["translation"]["x"].as<double>();
ty = node["transform"]["translation"]["y"].as<double>();
tz = node["transform"]["translation"]["z"].as<double>();
} catch (YAML::Exception& e) {
AERROR << "load camera extrinsic file " << yaml_file
<< " with error, YAML exception:" << e.what();
return false;
}
respeaker_extrinsic->setConstant(0);
Eigen::Quaterniond q;
q.x() = qx;
q.y() = qy;
q.z() = qz;
q.w() = qw;
(*respeaker_extrinsic).block<3, 3>(0, 0) = q.normalized().toRotationMatrix();
(*respeaker_extrinsic)(0, 3) = tx;
(*respeaker_extrinsic)(1, 3) = ty;
(*respeaker_extrinsic)(2, 3) = tz;
(*respeaker_extrinsic)(3, 3) = 1;
return true;
}
double DirectionDetection::GccPhat(const torch::Tensor& sig,
const torch::Tensor& refsig, int fs,
double max_tau, int interp) {
const int n_sig = sig.size(0), n_refsig = refsig.size(0),
n = n_sig + n_refsig;
torch::Tensor psig = at::constant_pad_nd(sig, {0, n_refsig}, 0);
torch::Tensor prefsig = at::constant_pad_nd(refsig, {0, n_sig}, 0);
psig = at::view_as_real(at::fft_rfft(psig, at::nullopt, 1));
prefsig = at::view_as_real(at::fft_rfft(prefsig, at::nullopt, 1));
ConjugateTensor(&prefsig);
torch::Tensor r = ComplexMultiply(psig, prefsig);
torch::Tensor cc =
at::fft_ifftn(at::view_as_complex(r / ComplexAbsolute(r)), {interp * n});
int max_shift = static_cast<int>(interp * n / 2);
if (max_tau != 0)
max_shift = std::min(static_cast<int>(interp * fs * max_tau), max_shift);
auto begin = cc.index({Slice(cc.size(0) - max_shift, None)});
auto end = cc.index({Slice(None, max_shift + 1)});
cc = at::cat({begin, end});
// find max cross correlation index
const int shift = at::argmax(at::abs(cc), 0).item<int>() - max_shift;
const double tau = shift / static_cast<double>(interp * fs);
return tau;
}
void DirectionDetection::ConjugateTensor(torch::Tensor* tensor) {
tensor->index_put_({"...", 1}, -tensor->index({"...", 1}));
}
torch::Tensor DirectionDetection::ComplexMultiply(const torch::Tensor& a,
const torch::Tensor& b) {
torch::Tensor real = a.index({"...", 0}) * b.index({"...", 0}) -
a.index({"...", 1}) * b.index({"...", 1});
torch::Tensor imag = a.index({"...", 0}) * b.index({"...", 1}) +
a.index({"...", 1}) * b.index({"...", 0});
return at::cat({real.reshape({-1, 1}), imag.reshape({-1, 1})}, 1);
}
torch::Tensor DirectionDetection::ComplexAbsolute(const torch::Tensor& tensor) {
torch::Tensor res = tensor * tensor;
res = at::sqrt(res.sum(1)).reshape({-1, 1});
return res;
}
} // namespace audio
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/inference/siren_detection.h | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include <vector>
#include "torch/script.h"
#include "torch/torch.h"
namespace apollo {
namespace audio {
/**
* @file moving_detection.h
* @description detect if the sound is approaching or departing
*/
class SirenDetection {
public:
SirenDetection();
~SirenDetection() = default;
bool Evaluate(const std::vector<std::vector<double>>& signals);
private:
void LoadModel();
private:
torch::jit::script::Module torch_model_;
torch::Device device_;
};
} // namespace audio
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/inference/siren_detection_test.cc | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/audio/inference/siren_detection.h"
#include "gtest/gtest.h"
namespace apollo {
namespace audio {
class SirenDetectionTest : public ::testing::Test {
public:
virtual void SetUp() {}
protected:
SirenDetection siren_detection_;
};
TEST_F(SirenDetectionTest, is_siren) {
std::vector<std::vector<double>> signals(4,
(std::vector<double> (72000, 0.01)));
bool result = siren_detection_.Evaluate(signals);
EXPECT_EQ(result, false);
}
} // namespace audio
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/inference/moving_detection_test.cc | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/audio/inference/moving_detection.h"
#include "gtest/gtest.h"
namespace apollo {
namespace audio {
class MovingDetectionTest : public ::testing::Test {
public:
virtual void SetUp() {}
protected:
MovingDetection moving_detection_;
};
TEST_F(MovingDetectionTest, fft1d) {
std::vector<double> signal{1.0, 2.0, 3.0, 4.0, -1.0, -2.0};
std::vector<std::complex<double>> fft_result =
moving_detection_.fft1d(signal);
}
TEST_F(MovingDetectionTest, moving) {
std::vector<std::vector<double>> signals{
{1.0, 2.0, 3.0, 4.0, -1.0, -2.0},
{-1.0, -2.0, 3.0, 4.0, 1.0, -2.0}};
MovingResult result = moving_detection_.Detect(signals);
EXPECT_EQ(result, UNKNOWN);
}
} // namespace audio
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/inference/BUILD | load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
cc_library(
name = "moving_detection",
srcs = ["moving_detection.cc"],
hdrs = ["moving_detection.h"],
deps = [
"//modules/common_msgs/audio_msgs:audio_cc_proto",
"@fftw3",
],
)
cc_library(
name = "direction_detection",
srcs = ["direction_detection.cc"],
hdrs = ["direction_detection.h"],
deps = [
"//cyber",
"//modules/common/math",
"//modules/common_msgs/basic_msgs:geometry_cc_proto",
"//third_party:libtorch",
"@com_github_jbeder_yaml_cpp//:yaml-cpp",
"@eigen",
],
)
cc_library(
name = "siren_detection",
srcs = ["siren_detection.cc"],
hdrs = ["siren_detection.h"],
deps = [
"//cyber",
"//modules/audio/common:audio_gflags",
"//third_party:libtorch",
],
)
# cc_test(
# name = "siren_detection_test",
# size = "small",
# srcs = ["siren_detection_test.cc"],
# deps = [
# ":siren_detection",
# "@com_google_googletest//:gtest_main",
# ],
# )
cc_test(
name = "moving_detection_test",
size = "small",
srcs = ["moving_detection_test.cc"],
deps = [
":moving_detection",
"@com_google_googletest//:gtest_main",
],
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/inference/moving_detection.h | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include <deque>
#include <vector>
#include <complex>
#include "modules/common_msgs/audio_msgs/audio.pb.h"
namespace apollo {
namespace audio {
/**
* @file moving_detection.h
* @description detect if the sound is approaching or departing
*/
class MovingDetection {
public:
MovingDetection() = default;
std::vector<std::complex<double>> fft1d(const std::vector<double>& signals);
MovingResult Detect(const std::vector<std::vector<double>>& signals);
MovingResult DetectSingleChannel(
const std::size_t channel_index, const std::vector<double>& signal);
private:
class SignalStat {
public:
SignalStat(double power, int top_frequency)
: power_(power), top_frequency_(top_frequency) {}
double power() const { return power_; }
int top_frequency() const { return top_frequency_; }
private:
double power_;
int top_frequency_;
};
SignalStat GetSignalStat(
const std::vector<std::complex<double>>& fft_results,
const int start_frequency);
MovingResult AnalyzePower(const std::deque<SignalStat>& signal_stats);
MovingResult AnalyzeTopFrequence(const std::deque<SignalStat>& signal_stats);
std::vector<std::deque<SignalStat>> signal_stats_;
};
} // namespace audio
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/inference/moving_detection.cc | /******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/audio/inference/moving_detection.h"
#include <fftw3.h>
namespace apollo {
namespace audio {
MovingResult MovingDetection::Detect(
const std::vector<std::vector<double>>& signals) {
int approaching_count = 0;
int departing_count = 0;
for (std::size_t i = 0; i < signals.size(); ++i) {
while (signal_stats_.size() <= i) {
signal_stats_.push_back({});
}
MovingResult result = DetectSingleChannel(i, signals[i]);
if (result == APPROACHING) {
++approaching_count;
} else if (result == DEPARTING) {
++departing_count;
}
}
if (approaching_count > departing_count) {
return APPROACHING;
}
if (approaching_count < departing_count) {
return DEPARTING;
}
return UNKNOWN;
}
MovingResult MovingDetection::DetectSingleChannel(
const std::size_t channel_index, const std::vector<double>& signals) {
static constexpr int kStartFrequency = 3;
static constexpr int kFrameNumStored = 10;
std::vector<std::complex<double>> fft_results = fft1d(signals);
SignalStat signal_stat = GetSignalStat(fft_results, kStartFrequency);
signal_stats_[channel_index].push_back(signal_stat);
while (static_cast<int>(signal_stats_[channel_index].size()) >
kFrameNumStored) {
signal_stats_[channel_index].pop_front();
}
// TODO(kechxu) refactor the following initial version
MovingResult power_result = AnalyzePower(signal_stats_[channel_index]);
if (power_result != UNKNOWN) {
return power_result;
}
MovingResult top_frequency_result =
AnalyzeTopFrequence(signal_stats_[channel_index]);
return top_frequency_result;
}
MovingResult MovingDetection::AnalyzePower(
const std::deque<SignalStat>& signal_stats) {
int n = static_cast<int>(signal_stats.size());
if (n < 3) {
return UNKNOWN;
}
double first = signal_stats[n - 3].power();
double second = signal_stats[n - 2].power();
double third = signal_stats[n - 1].power();
if (first < second && second < third) {
return APPROACHING;
}
if (first > second && second > third) {
return DEPARTING;
}
return UNKNOWN;
}
MovingResult MovingDetection::AnalyzeTopFrequence(
const std::deque<SignalStat>& signal_stats) {
int n = static_cast<int>(signal_stats.size());
if (n < 3) {
return UNKNOWN;
}
int first = signal_stats[n - 3].top_frequency();
int second = signal_stats[n - 2].top_frequency();
int third = signal_stats[n - 1].top_frequency();
if (first < second && second < third) {
return APPROACHING;
}
if (first > second && second > third) {
return DEPARTING;
}
return UNKNOWN;
}
std::vector<std::complex<double>> MovingDetection::fft1d(
const std::vector<double>& signal) {
int n = static_cast<int>(signal.size());
fftw_complex in[n]; // NOLINT
fftw_complex out[n]; // NOLINT
for (int i = 0; i < n; ++i) {
in[i][0] = signal[i];
in[i][1] = 0.0;
}
fftw_plan p = fftw_plan_dft_1d(n, in, out, FFTW_FORWARD, FFTW_ESTIMATE);
fftw_execute(p);
std::vector<std::complex<double>> output;
output.reserve(n);
for (int i = 0; i < n; ++i) {
output.emplace_back(out[i][0], out[i][1]);
}
return output;
}
MovingDetection::SignalStat MovingDetection::GetSignalStat(
const std::vector<std::complex<double>>& fft_results,
const int start_frequency) {
double total_power = 0.0;
int top_frequency = -1;
double max_power = -1.0;
for (int i = start_frequency; i < static_cast<int>(fft_results.size()); ++i) {
double power = std::abs(fft_results[i]);
total_power += power;
if (power > max_power) {
max_power = power;
top_frequency = i;
}
}
return {total_power, top_frequency};
}
} // namespace audio
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/conf/respeaker_extrinsics.yaml | header:
stamp:
secs: 0
nsecs: 0
seq: 0
frame_id: novatel
child_frame_id: microphone
transform:
rotation:
x: 0
y: 0
z: 0
w: 1
translation:
x: 0.0
y: 0.68
z: 0.72
| 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/conf/audio_conf.pb.txt | topic_conf {
audio_data_topic_name: "/apollo/sensor/microphone"
audio_detection_topic_name: "/apollo/audio_detection"
localization_topic_name: "/apollo/localization/pose"
audio_event_topic_name: "/apollo/audio_event"
perception_topic_name: "/apollo/perception/obstacles"
}
respeaker_extrinsics_path: "/apollo/modules/audio/conf/respeaker_extrinsics.yaml" | 0 |
apollo_public_repos/apollo/modules/audio | apollo_public_repos/apollo/modules/audio/conf/audio.conf | --flagfile=/apollo/modules/common/data/global_flagfile.txt
| 0 |
apollo_public_repos/apollo/modules | apollo_public_repos/apollo/modules/map/cyberfile.xml | <package format="2">
<name>map</name>
<version>local</version>
<description>
Apollo map module.
</description>
<maintainer email="apollo-support@baidu.com">Apollo</maintainer>
<license>Apache License 2.0</license>
<url type="website">https://www.apollo.auto/</url>
<url type="repository">https://github.com/ApolloAuto/apollo</url>
<url type="bugtracker">https://github.com/ApolloAuto/apollo/issues</url>
<depend expose="False">3rd-rules-python-dev</depend>
<depend expose="False">3rd-grpc-dev</depend>
<depend expose="False">3rd-bazel-skylib-dev</depend>
<depend expose="False">3rd-rules-proto-dev</depend>
<depend lib_names="protobuf" repo_name="com_google_protobuf">3rd-protobuf-dev</depend>
<depend type="binary" repo_name="common" lib_names="common">common-dev</depend>
<depend type="binary" repo_name="cyber">cyber-dev</depend>
<depend repo_name="common-msgs" lib_names="common-msgs">common-msgs-dev</depend>
<depend repo_name="proj">3rd-proj-dev</depend>
<depend repo_name="tinyxml2" so_names="tinyxml2">libtinyxml2-dev</depend>
<depend repo_name="com_github_jbeder_yaml_cpp" lib_names="yaml-cpp">3rd-yaml-cpp-dev</depend>
<depend repo_name="eigen">3rd-eigen3-dev</depend>
<depend repo_name="com_google_absl" lib_names="absl">3rd-absl-dev</depend>
<depend repo_name="com_github_google_glog" lib_names="glog">3rd-glog-dev</depend>
<depend repo_name="com_google_googletest" lib_names="gtest,gtest_main">3rd-gtest-dev</depend>
<depend repo_name="com_github_gflags_gflags" lib_names="gflags">3rd-gflags-dev</depend>
<depend repo_name="com_github_nlohmann_json" lib_names="single_json,json">3rd-nlohmann-json-dev</depend>
<depend repo_name="boost">3rd-boost-dev</depend>
<type>module</type>
<depend expose="False">3rd-gpus-dev</depend>
<depend expose="False">3rd-rules-python-dev</depend>
<depend expose="False">3rd-grpc-dev</depend>
<depend expose="False">3rd-bazel-skylib-dev</depend>
<depend expose="False">3rd-rules-proto-dev</depend>
<depend repo_name="common-msgs" lib_names="common-msgs">common-msgs-dev</depend>
<src_path url="https://github.com/ApolloAuto/apollo">//modules/map</src_path>
</package>
| 0 |
apollo_public_repos/apollo/modules | apollo_public_repos/apollo/modules/map/map.BUILD | load("@rules_cc//cc:defs.bzl", "cc_library")
cc_library(
name = "map",
includes = ["include"],
hdrs = glob(["include/**/*.h"]),
srcs = glob(["lib/**/*.so*"]),
include_prefix = "modules/map",
strip_include_prefix = "include",
visibility = ["//visibility:public"],
) | 0 |
apollo_public_repos/apollo/modules | apollo_public_repos/apollo/modules/map/BUILD | load("//tools/install:install.bzl", "install", "install_files", "install_src_files")
package(
default_visibility = ["//visibility:public"],
)
filegroup(
name = "testdata",
srcs = glob([
"testdata/**/*",
]),
)
install(
name = "map_testdata",
data_dest = "map/addition_data",
data = [":testdata"],
)
install(
name = "install",
data_dest = "map",
data = [
":cyberfile.xml",
":map.BUILD",
],
deps = [
":pb_map",
":pb_hdrs",
"//modules/map/data:install",
"//modules/map/relative_map:install",
"//modules/map/tools:install",
"//modules/map/hdmap/adapter:install",
"//modules/map/hdmap:install",
"//modules/map/pnc_map:install",
"//modules/map/relative_map/tools:install",
":map_testdata"
],
)
install(
name = "pb_hdrs",
data_dest = "map/include",
data = [
"//modules/map/relative_map/proto:navigator_config_cc_proto",
"//modules/map/relative_map/proto:relative_map_config_cc_proto",
],
)
install_files(
name = "pb_map",
dest = "map",
files = [
"//modules/common_msgs/map_msgs:map_clear_area_py_pb2",
"//modules/common_msgs/map_msgs:map_crosswalk_py_pb2",
"//modules/common_msgs/map_msgs:map_geometry_py_pb2",
"//modules/common_msgs/map_msgs:map_id_py_pb2",
"//modules/common_msgs/map_msgs:map_junction_py_pb2",
"//modules/common_msgs/map_msgs:map_lane_py_pb2",
"//modules/common_msgs/map_msgs:map_overlap_py_pb2",
"//modules/common_msgs/map_msgs:map_parking_space_py_pb2",
"//modules/common_msgs/map_msgs:map_pnc_junction_py_pb2",
"//modules/common_msgs/map_msgs:map_proto",
"//modules/common_msgs/map_msgs:map_py_pb2",
"//modules/common_msgs/map_msgs:map_road_py_pb2",
"//modules/common_msgs/map_msgs:map_rsu_py_pb2",
"//modules/common_msgs/map_msgs:map_signal_py_pb2",
"//modules/common_msgs/map_msgs:map_speed_bump_py_pb2",
"//modules/common_msgs/map_msgs:map_stop_sign_py_pb2",
"//modules/common_msgs/map_msgs:map_yield_sign_py_pb2",
"//modules/common_msgs/planning_msgs:navigation_py_pb2",
"//modules/map/relative_map/proto:navigator_config_py_pb2",
"//modules/map/relative_map/proto:relative_map_config_py_pb2",
],
)
install_src_files(
name = "install_src",
deps = [
":install_map_src",
":install_map_hdrs"
],
)
install_src_files(
name = "install_map_src",
src_dir = ["."],
dest = "map/src",
filter = "*",
)
install_src_files(
name = "install_map_hdrs",
src_dir = ["."],
dest = "map/include",
filter = "*.h",
) | 0 |
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| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/tools/map_xysl.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "gflags/gflags.h"
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "modules/common/configs/config_gflags.h"
#include "modules/common/util/string_util.h"
#include "modules/map/hdmap/hdmap_common.h"
#include "modules/map/hdmap/hdmap_impl.h"
#include "modules/map/hdmap/hdmap_util.h"
#include "modules/common_msgs/map_msgs/map_geometry.pb.h"
DEFINE_bool(xy_to_sl, false, "calculate xy to sl");
DEFINE_bool(sl_to_xy, false, "calculate sl to xy");
DEFINE_bool(xy_to_lane, false, "calculate xy to lane");
DEFINE_bool(lane_to_lane, false, "calculate lane to lane");
DEFINE_bool(dump_lane_width, false, "dump all lane width info");
DEFINE_string(dump_txt_map, "", "text file name for dumping map");
DEFINE_string(dump_bin_map, "", "binary file name for dumping map");
DEFINE_string(overlap, "", "get overlap information");
DEFINE_string(signal_info, "", "print signal info");
DEFINE_double(x, 0.0, "x");
DEFINE_double(y, 0.0, "y");
DEFINE_string(lane, "", "lane_id");
DEFINE_string(from_lane, "", "from_lane");
DEFINE_string(to_lane, "", "to_lane");
DEFINE_double(s, 0.0, "s");
DEFINE_double(l, 0.0, "l");
using apollo::common::PointENU;
namespace apollo {
namespace hdmap {
#define QUIT_IF(CONDITION, RET, LEVEL, MSG, ...) \
do { \
if (CONDITION) { \
RAW_LOG(LEVEL, MSG, ##__VA_ARGS__); \
return RET; \
} \
} while (0);
std::ostream &operator<<(
std::ostream &os,
const ::google::protobuf::RepeatedPtrField<apollo::hdmap::Id> &ids) {
for (int i = 0; i < ids.size(); ++i) {
os << ids.Get(i).id();
if (i != ids.size() - 1) {
os << ", ";
}
}
return os;
}
#define GET_ELEMENT_BY_ID(TYPE) \
const TYPE##InfoConstPtr Get##TYPE(const std::string &id) { \
auto ret = HDMapUtil::BaseMap().Get##TYPE##ById(MakeMapId(id)); \
AERROR_IF(ret == nullptr) \
<< "failed to find " << #TYPE << " with id: " << id; \
return ret; \
}
class MapUtil {
public:
const OverlapInfo *GetOverlap(const std::string &overlap_id) const {
auto ret = HDMapUtil::BaseMap().GetOverlapById(MakeMapId(overlap_id));
AERROR_IF(ret == nullptr) << "failed to find overlap[" << overlap_id << "]";
return ret.get();
}
GET_ELEMENT_BY_ID(ClearArea);
GET_ELEMENT_BY_ID(Crosswalk);
GET_ELEMENT_BY_ID(Junction);
GET_ELEMENT_BY_ID(Lane);
GET_ELEMENT_BY_ID(Signal);
GET_ELEMENT_BY_ID(SpeedBump);
GET_ELEMENT_BY_ID(StopSign);
GET_ELEMENT_BY_ID(YieldSign);
template <class T>
void Print(const T &t) {
std::cout << t.DebugString();
}
int PointToSL(const PointENU &point, std::string *lane_id, double *s,
double *l, double *heading) const {
QUIT_IF(lane_id == nullptr, -1, ERROR, "arg lane id is null");
QUIT_IF(s == nullptr, -2, ERROR, "arg s is null");
QUIT_IF(l == nullptr, -3, ERROR, "arg l is null");
LaneInfoConstPtr lane = nullptr;
int ret = HDMapUtil::BaseMap().GetNearestLane(point, &lane, s, l);
QUIT_IF(ret != 0, -4, ERROR, "get_nearest_lane failed with ret[%d]", ret);
QUIT_IF(lane == nullptr, -5, ERROR, "lane is null");
*lane_id = lane->id().id();
*heading = lane->Heading(*s);
return 0;
}
int SLToPoint(LaneInfoConstPtr lane_ptr, const double s, const double l,
PointENU *point, double *heading) const {
QUIT_IF(point == nullptr, -1, ERROR, "arg point is null");
QUIT_IF(heading == nullptr, -2, ERROR, "arg heading is null");
QUIT_IF(lane_ptr == nullptr, -3, ERROR, "the provided lane_ptr is null");
*point = lane_ptr->GetSmoothPoint(s);
*heading = lane_ptr->Heading(s);
auto normal_vec =
common::math::Vec2d::CreateUnitVec2d(*heading + M_PI / 2.0) * l;
point->set_x(point->x() + normal_vec.x());
point->set_y(point->y() + normal_vec.y());
return 0;
}
int LaneProjection(const apollo::common::math::Vec2d &vec2d,
const std::string &lane_id, double *s, double *l,
double *heading) const {
QUIT_IF(s == nullptr, -1, ERROR, "arg s is nullptr");
const auto lane = HDMapUtil::BaseMap().GetLaneById(MakeMapId(lane_id));
QUIT_IF(lane == nullptr, -2, ERROR, "GetSignal_by_id[%s] failed",
lane_id.c_str());
bool ret = lane->GetProjection(vec2d, s, l);
QUIT_IF(!ret, -3, ERROR, "lane[%s] get projection for point[%f, %f] failed",
lane_id.c_str(), vec2d.x(), vec2d.y());
*heading = lane->Heading(*s);
return 0;
}
void PrintOverlap(const std::string &overlap_id) {
const auto *overlap_ptr = GetOverlap(FLAGS_overlap);
if (overlap_ptr == nullptr) {
AERROR << "overlap_ptr is nullptr.";
return;
}
ADEBUG << "overlap[" << overlap_ptr->id().id() << "] info["
<< overlap_ptr->overlap().DebugString() << "]" << std::endl;
for (const auto &object_info : overlap_ptr->overlap().object()) {
if (object_info.has_lane_overlap_info()) {
std::cout << "Lane : " << object_info.id().id() << std::endl;
PrintLane(GetLane(object_info.id().id()));
} else if (object_info.has_signal_overlap_info()) {
std::cout << "Signal: " << object_info.id().id() << std::endl;
Print(GetSignal(object_info.id().id())->signal());
} else if (object_info.has_stop_sign_overlap_info()) {
std::cout << "StopSign: " << object_info.id().id() << std::endl;
Print(GetStopSign(object_info.id().id())->stop_sign());
} else if (object_info.has_crosswalk_overlap_info()) {
std::cout << "Crosswalk: " << object_info.id().id() << std::endl;
Print(GetCrosswalk(object_info.id().id())->crosswalk());
} else if (object_info.has_junction_overlap_info()) {
std::cout << "Junction: " << object_info.id().id() << std::endl;
Print(GetJunction(object_info.id().id())->junction());
} else if (object_info.has_yield_sign_overlap_info()) {
std::cout << "YieldSign: " << object_info.id().id() << std::endl;
Print(GetYieldSign(object_info.id().id())->yield_sign());
} else if (object_info.has_clear_area_overlap_info()) {
std::cout << "ClearArea: " << object_info.id().id() << std::endl;
Print(GetClearArea(object_info.id().id())->clear_area());
} else if (object_info.has_speed_bump_overlap_info()) {
std::cout << "SpeedBump: " << object_info.id().id() << std::endl;
Print(GetSpeedBump(object_info.id().id())->speed_bump());
} else if (object_info.has_parking_space_overlap_info()) {
std::cout << "ParkingSpace: " << object_info.id().id() << std::endl;
} else {
std::cout << "Unknown overlap type: " << object_info.DebugString();
}
}
}
void PrintLane(const std::string &lane_id) { PrintLane(GetLane(lane_id)); }
void PrintLane(LaneInfoConstPtr lane_ptr) {
const auto &lane = lane_ptr->lane();
PointENU start_point;
double start_heading = 0.0;
SLToPoint(lane_ptr, 0, 0, &start_point, &start_heading);
PointENU end_point;
double end_heading = 0.0;
SLToPoint(lane_ptr, lane_ptr->total_length(), 0, &end_point, &end_heading);
double left_width = 0.0;
double right_width = 0.0;
lane_ptr->GetWidth(FLAGS_s, &left_width, &right_width);
std::cout << "lane[" << FLAGS_lane << std::fixed << "] length["
<< lane_ptr->total_length() << "] type["
<< Lane_LaneType_Name(lane.type()) << "] turn["
<< Lane_LaneTurn_Name(lane.turn()) << "] speed_limit["
<< lane.speed_limit() << "] predecessor[" << lane.predecessor_id()
<< "] successor[" << lane.successor_id() << "] left_forward["
<< lane.left_neighbor_forward_lane_id() << "] right_forward["
<< lane.right_neighbor_forward_lane_id() << "] left_reverse["
<< lane.left_neighbor_reverse_lane_id() << "] right_reverse["
<< lane.right_neighbor_reverse_lane_id() << "], "
<< "Left Boundary: [ virtual?:" << std::boolalpha
<< lane.left_boundary().virtual_() << ", Type: [";
for (const auto &boundary_type : lane.left_boundary().boundary_type()) {
std::cout << "s: " << boundary_type.s() << "->";
for (const auto t : boundary_type.types()) {
std::cout << LaneBoundaryType::Type_Name(
static_cast<LaneBoundaryType::Type>(t))
<< ", ";
}
}
std::cout << "]; Right Boundary: [ virtual?:" << std::boolalpha
<< lane.right_boundary().virtual_() << ", Type: ";
for (const auto &boundary_type : lane.left_boundary().boundary_type()) {
std::cout << "s: " << boundary_type.s() << "->";
for (const auto t : boundary_type.types()) {
std::cout << LaneBoundaryType::Type_Name(
static_cast<LaneBoundaryType::Type>(t))
<< ", ";
}
}
std::cout << "] overlap[" << lane.overlap_id() << "];"
<< " start point(x,y,heading):" << start_point.x() << ","
<< start_point.y() << "," << start_heading
<< " end point(x,y,heading):" << end_point.x() << ","
<< end_point.y() << "," << end_heading
<< " left_width:" << left_width << " right_width:" << right_width
<< std::endl;
std::cout.unsetf(std::ios_base::fixed);
if (FLAGS_dump_lane_width) {
const auto sample_left_widthes = lane_ptr->sampled_left_width();
std::cout << "left width num: " << sample_left_widthes.size()
<< std::endl;
int num = 0;
for (auto w : sample_left_widthes) {
std::cout << " " << w.second;
if (++num % 10 == 0) {
std::cout << std::endl;
}
}
std::cout << std::endl;
num = 0;
const auto sample_right_widthes = lane_ptr->sampled_right_width();
std::cout << "right width num: " << sample_right_widthes.size()
<< std::endl;
for (auto w : sample_right_widthes) {
std::cout << " " << w.second;
if (++num % 10 == 0) {
std::cout << std::endl;
}
}
std::cout << std::endl;
}
}
}; // namespace hdmap
} // namespace hdmap
} // namespace apollo
int main(int argc, char *argv[]) {
google::InitGoogleLogging(argv[0]);
google::ParseCommandLineFlags(&argc, &argv, true);
const std::string map_file = apollo::hdmap::BaseMapFile();
bool valid_arg = false;
apollo::hdmap::MapUtil map_util;
if (FLAGS_xy_to_sl) {
double x = FLAGS_x;
double y = FLAGS_y;
PointENU point;
point.set_x(x);
point.set_y(y);
point.set_z(0);
std::string lane_id;
double s = 0.0;
double l = 0.0;
double heading = 0.0;
map_util.PointToSL(point, &lane_id, &s, &l, &heading);
printf("lane_id[%s], s[%f], l[%f], heading[%f]\n", lane_id.c_str(), s, l,
heading);
map_util.PrintLane(lane_id);
valid_arg = true;
}
if (FLAGS_sl_to_xy) {
PointENU point;
double heading = 0.0;
map_util.SLToPoint(map_util.GetLane(FLAGS_lane), FLAGS_s, FLAGS_l, &point,
&heading);
printf("x[%f] y[%f], heading[%f]\n", point.x(), point.y(), heading);
map_util.PrintLane(FLAGS_lane);
valid_arg = true;
}
if (FLAGS_xy_to_lane) {
double s = 0.0;
double l = 0.0;
double heading = 0.0;
int ret = map_util.LaneProjection({FLAGS_x, FLAGS_y}, FLAGS_lane, &s, &l,
&heading);
if (ret != 0) {
printf("lane_projection for x[%f], y[%f], lane_id[%s] failed\n", FLAGS_x,
FLAGS_y, FLAGS_lane.c_str());
return -1;
}
printf("lane[%s] s[%f], l[%f], heading[%f]\n", FLAGS_lane.c_str(), s, l,
heading);
map_util.PrintLane(FLAGS_lane);
valid_arg = true;
}
if (FLAGS_lane_to_lane) {
PointENU point;
double src_heading = 0.0;
map_util.SLToPoint(map_util.GetLane(FLAGS_from_lane), FLAGS_s, 0.0, &point,
&src_heading);
double target_s = 0.0;
double target_l = 0.0;
double target_heading = 0.0;
int ret = map_util.LaneProjection({point.x(), point.y()}, FLAGS_to_lane,
&target_s, &target_l, &target_heading);
if (ret != 0) {
printf("lane_projection for lane[%s], s[%f] to lane_id[%s] failed\n",
FLAGS_from_lane.c_str(), FLAGS_s, FLAGS_to_lane.c_str());
return -1;
}
printf("lane[%s] s[%f], l[%f], heading[%f]\n", FLAGS_to_lane.c_str(),
target_s, target_l, target_heading);
map_util.PrintLane(FLAGS_from_lane);
map_util.PrintLane(FLAGS_to_lane);
valid_arg = true;
}
if (!FLAGS_lane.empty()) {
const auto lane_ptr = map_util.GetLane(FLAGS_lane);
if (!lane_ptr) {
std::cout << "Could not find lane " << FLAGS_lane << " on map "
<< map_file;
return 0;
}
map_util.PrintLane(lane_ptr);
valid_arg = true;
}
if (!FLAGS_overlap.empty()) {
map_util.PrintOverlap(FLAGS_overlap);
valid_arg = true;
}
if (!FLAGS_signal_info.empty()) {
std::cout << "Signal: " << FLAGS_signal_info << std::endl;
map_util.Print(map_util.GetSignal(FLAGS_signal_info)->signal());
valid_arg = true;
}
if (!FLAGS_dump_txt_map.empty()) {
apollo::hdmap::Map map;
ACHECK(apollo::cyber::common::GetProtoFromFile(map_file, &map));
ACHECK(apollo::cyber::common::SetProtoToASCIIFile(map, FLAGS_dump_txt_map));
valid_arg = true;
}
if (!FLAGS_dump_bin_map.empty()) {
apollo::hdmap::Map map;
ACHECK(apollo::cyber::common::GetProtoFromFile(map_file, &map));
ACHECK(
apollo::cyber::common::SetProtoToBinaryFile(map, FLAGS_dump_bin_map));
valid_arg = true;
}
if (!valid_arg) {
std::cout << "usage: --map_dir map/file/directory/" << std::endl;
std::cout << "usage: --base_map_filename map_file_name" << std::endl;
std::cout << "usage: --dump_txt_map text_map_file" << std::endl;
std::cout << "usage: --dump_bin_map bin_map_file" << std::endl;
std::cout << "usage: --xy_to_sl --x x --y y" << std::endl;
std::cout << "usage: --sl_to_xy --lane lane_id --s s --l l" << std::endl;
std::cout << "usage: --xy_to_lane --x --y --lane" << std::endl;
std::cout
<< "usage: --lane_to_lane --from_lane lane_id --s s --to_lane lane_id"
<< std::endl;
std::cout << "usage: --lane lane_id" << std::endl;
std::cout << "usage: --signal_info signal_id" << std::endl;
std::cout << "usage: --overlap overlap_id" << std::endl;
}
return 0;
}
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/tools/bin_map_generator.cc | /* Copyright 2017 The Apollo Authors. All Rights Reserved.
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
=========================================================================*/
#include "gflags/gflags.h"
#include "modules/common_msgs/map_msgs/map.pb.h"
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "modules/map/hdmap/hdmap_util.h"
/**
* A map tool to transform .txt map to .bin map
*/
DEFINE_string(output_dir, "/tmp", "output map directory");
int main(int argc, char *argv[]) {
google::InitGoogleLogging(argv[0]);
FLAGS_alsologtostderr = true;
google::ParseCommandLineFlags(&argc, &argv, true);
const auto map_filename = FLAGS_map_dir + "/base_map.txt";
apollo::hdmap::Map pb_map;
if (!apollo::cyber::common::GetProtoFromFile(map_filename, &pb_map)) {
AERROR << "Failed to load txt map from " << map_filename;
return -1;
} else {
AINFO << "Loaded txt map from " << map_filename;
}
const std::string output_bin_file = FLAGS_output_dir + "/base_map.bin";
if (!apollo::cyber::common::SetProtoToBinaryFile(pb_map, output_bin_file)) {
AERROR << "Failed to generate binary base map";
return -1;
}
pb_map.Clear();
ACHECK(apollo::cyber::common::GetProtoFromFile(output_bin_file, &pb_map))
<< "Failed to load generated binary base map";
AINFO << "Successfully converted .txt map to .bin map: " << output_bin_file;
return 0;
}
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/tools/refresh_default_end_way_point.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
// A tool to refresh default_end_way_point.txt file after the map is updated.
//
// Usage:
// bazel-bin/modules/map/tools/refresh_default_end_way_point --map_dir=</yours>
//
// How it works:
// Assuming that the lanes information is changed while our end point's
// absolute (x,y,z) is still correct. Then we can find the nearest point on
// the new map as the new end point.
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "modules/map/hdmap/hdmap_util.h"
#include "modules/common_msgs/routing_msgs/poi.pb.h"
#include "modules/common_msgs/routing_msgs/routing.pb.h"
namespace apollo {
namespace hdmap {
apollo::common::PointENU SLToXYZ(const std::string& lane_id, const double s,
const double l) {
const auto lane_info = HDMapUtil::BaseMap().GetLaneById(MakeMapId(lane_id));
ACHECK(lane_info);
return lane_info->GetSmoothPoint(s);
}
void XYZToSL(const apollo::common::PointENU& point, std::string* lane_id,
double* s, double* l) {
ACHECK(lane_id);
ACHECK(s);
ACHECK(l);
LaneInfoConstPtr lane = nullptr;
CHECK_EQ(HDMapUtil::BaseMap().GetNearestLane(point, &lane, s, l), 0);
*lane_id = lane->id().id();
}
double XYZDistance(const apollo::common::PointENU& p1,
const apollo::common::PointENU& p2) {
const double x_diff = p1.x() - p2.x();
const double y_diff = p1.y() - p2.y();
const double z_diff = p1.z() - p2.z();
return std::sqrt(x_diff * x_diff + y_diff * y_diff + z_diff * z_diff);
}
void RefreshDefaultEndPoint() {
apollo::routing::POI old_poi;
ACHECK(cyber::common::GetProtoFromASCIIFile(EndWayPointFile(), &old_poi));
apollo::routing::POI new_poi;
for (const auto& old_landmark : old_poi.landmark()) {
apollo::routing::Landmark* new_landmark = new_poi.add_landmark();
new_landmark->set_name(old_landmark.name());
AINFO << "Refreshed point of interest: " << old_landmark.name();
// Read xyz from old point.
for (const auto& old_end_point : old_landmark.waypoint()) {
apollo::common::PointENU old_xyz;
old_xyz.set_x(old_end_point.pose().x());
old_xyz.set_y(old_end_point.pose().y());
old_xyz.set_z(old_end_point.pose().z());
// Get new lane info from xyz.
std::string new_lane;
double new_s;
double new_l;
XYZToSL(old_xyz, &new_lane, &new_s, &new_l);
// Get new xyz from lane info.
const auto new_xyz = SLToXYZ(new_lane, new_s, new_l);
// Update default end way point.
apollo::routing::LaneWaypoint new_end_point;
new_end_point.set_id(new_lane);
new_end_point.set_s(new_s);
auto* pose = new_end_point.mutable_pose();
pose->set_x(new_xyz.x());
pose->set_y(new_xyz.y());
pose->set_z(new_xyz.z());
*new_landmark->add_waypoint() = new_end_point;
AINFO << "\n ============ from ============ \n"
<< old_end_point.DebugString()
<< "\n ============ to ============ \n"
<< new_end_point.DebugString() << "XYZ distance is "
<< XYZDistance(old_xyz, new_xyz);
}
}
ACHECK(cyber::common::SetProtoToASCIIFile(new_poi, EndWayPointFile()));
}
} // namespace hdmap
} // namespace apollo
int main(int argc, char* argv[]) {
google::InitGoogleLogging(argv[0]);
google::ParseCommandLineFlags(&argc, &argv, true);
FLAGS_logtostderr = true;
apollo::hdmap::RefreshDefaultEndPoint();
return 0;
}
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/tools/sim_map_generator.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "absl/strings/match.h"
#include "gflags/gflags.h"
#include "modules/common_msgs/map_msgs/map.pb.h"
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "modules/common/configs/config_gflags.h"
#include "modules/common/util/points_downsampler.h"
#include "modules/map/hdmap/adapter/opendrive_adapter.h"
#include "modules/map/hdmap/hdmap_util.h"
/**
* A map tool to generate a downsampled map to be displayed by dreamview
* frontend.
*/
DEFINE_string(output_dir, "/tmp/", "output map directory");
DEFINE_double(angle_threshold, 1. / 180 * M_PI, /* 1 degree */
"Points are sampled when the accumulated direction change "
"exceeds the threshold");
DEFINE_int32(downsample_distance, 5, "downsample rate for a normal path");
DEFINE_int32(steep_turn_downsample_distance, 1,
"downsample rate for a steep turn path");
using apollo::common::PointENU;
using apollo::common::util::DownsampleByAngle;
using apollo::common::util::DownsampleByDistance;
using apollo::cyber::common::GetProtoFromFile;
using apollo::hdmap::Curve;
using apollo::hdmap::Map;
using apollo::hdmap::adapter::OpendriveAdapter;
static void DownsampleCurve(Curve* curve) {
auto* line_segment = curve->mutable_segment(0)->mutable_line_segment();
std::vector<PointENU> points(line_segment->point().begin(),
line_segment->point().end());
line_segment->clear_point();
// NOTE: this not the most efficient implementation, but since this map tool
// is only run once for each, we can probably live with that.
// Downsample points by angle then by distance.
auto sampled_indices = DownsampleByAngle(points, FLAGS_angle_threshold);
std::vector<PointENU> downsampled_points;
for (const size_t index : sampled_indices) {
downsampled_points.push_back(points[index]);
}
sampled_indices =
DownsampleByDistance(downsampled_points, FLAGS_downsample_distance,
FLAGS_steep_turn_downsample_distance);
for (const size_t index : sampled_indices) {
*line_segment->add_point() = downsampled_points[index];
}
size_t new_size = line_segment->point_size();
CHECK_GT(new_size, 1U);
AINFO << "Lane curve downsampled from " << points.size() << " points to "
<< new_size << " points.";
}
static void DownsampleMap(Map* map_pb) {
for (int i = 0; i < map_pb->lane_size(); ++i) {
auto* lane = map_pb->mutable_lane(i);
lane->clear_left_sample();
lane->clear_right_sample();
lane->clear_left_road_sample();
lane->clear_right_road_sample();
AINFO << "Downsampling lane " << lane->id().id();
DownsampleCurve(lane->mutable_central_curve());
DownsampleCurve(lane->mutable_left_boundary()->mutable_curve());
DownsampleCurve(lane->mutable_right_boundary()->mutable_curve());
}
}
static void OutputMap(const Map& map_pb) {
std::ofstream map_txt_file(FLAGS_output_dir + "/sim_map.txt");
map_txt_file << map_pb.DebugString();
map_txt_file.close();
std::ofstream map_bin_file(FLAGS_output_dir + "/sim_map.bin");
std::string map_str;
map_pb.SerializeToString(&map_str);
map_bin_file << map_str;
map_bin_file.close();
}
int main(int32_t argc, char** argv) {
google::InitGoogleLogging(argv[0]);
FLAGS_alsologtostderr = true;
FLAGS_v = 3;
google::ParseCommandLineFlags(&argc, &argv, true);
Map map_pb;
const auto map_file = apollo::hdmap::BaseMapFile();
if (absl::EndsWith(map_file, ".xml")) {
ACHECK(OpendriveAdapter::LoadData(map_file, &map_pb));
} else {
ACHECK(GetProtoFromFile(map_file, &map_pb)) << "Fail to open: " << map_file;
}
DownsampleMap(&map_pb);
OutputMap(map_pb);
AINFO << "sim_map generated at:" << FLAGS_output_dir;
return 0;
}
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/tools/BUILD | load("@rules_cc//cc:defs.bzl", "cc_binary")
load("//tools/install:install.bzl", "install")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
install(
name = "install",
targets = [
":map_tool",
":map_xysl",
":refresh_default_end_way_point",
":sim_map_generator",
":proto_map_generator",
":bin_map_generator",
":quaternion_euler",
],
runtime_dest = "modules/map/tools",
deps = [
"//modules/map/tools/map_datachecker/proto:py_pb_map_tool"
]
)
cc_binary(
name = "map_tool",
srcs = ["map_tool.cc"],
deps = [
"//cyber",
"//modules/common/configs:config_gflags",
"//modules/map/hdmap:hdmap_util",
"//modules/common_msgs/map_msgs:map_cc_proto",
"@com_github_gflags_gflags//:gflags",
],
)
cc_binary(
name = "map_xysl",
srcs = ["map_xysl.cc"],
deps = [
"//modules/common/configs:config_gflags",
"//modules/common/util",
"//modules/map/hdmap:hdmap_util",
"@com_github_gflags_gflags//:gflags",
],
)
cc_binary(
name = "refresh_default_end_way_point",
srcs = ["refresh_default_end_way_point.cc"],
deps = [
"//cyber",
"//modules/map/hdmap:hdmap_util",
"//modules/common_msgs/routing_msgs:poi_cc_proto",
"//modules/common_msgs/routing_msgs:routing_cc_proto",
],
)
cc_binary(
name = "sim_map_generator",
srcs = ["sim_map_generator.cc"],
deps = [
"//cyber",
"//modules/common_msgs/map_msgs:map_cc_proto",
"//modules/common/configs:config_gflags",
"//modules/common/util",
"//modules/map/hdmap:hdmap_util",
"//modules/map/hdmap/adapter:opendrive_adapter",
"@com_github_gflags_gflags//:gflags",
"@com_google_absl//:absl",
],
)
cc_binary(
name = "proto_map_generator",
srcs = ["proto_map_generator.cc"],
deps = [
"//cyber",
"//modules/map/hdmap:hdmap_util",
"//modules/map/hdmap/adapter:opendrive_adapter",
"//modules/common_msgs/map_msgs:map_cc_proto",
"@com_github_gflags_gflags//:gflags",
],
)
cc_binary(
name = "bin_map_generator",
srcs = ["bin_map_generator.cc"],
deps = [
"//cyber",
"//modules/map/hdmap:hdmap_util",
"//modules/common_msgs/map_msgs:map_cc_proto",
"@com_github_gflags_gflags//:gflags",
],
)
cc_binary(
name = "quaternion_euler",
srcs = ["quaternion_euler.cc"],
deps = [
"//modules/common/math",
"//modules/common/util",
"@com_github_gflags_gflags//:gflags",
],
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/tools/map_tool.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "gflags/gflags.h"
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "modules/common/configs/config_gflags.h"
#include "modules/map/hdmap/hdmap_util.h"
#include "modules/common_msgs/map_msgs/map.pb.h"
DEFINE_double(x_offset, 587318.4866268333, "x offset");
DEFINE_double(y_offset, 4141146.110116891, "y offset");
DEFINE_string(output_dir, "/tmp/", "output map directory");
using apollo::hdmap::Map;
static void ShiftMap(Map* map_pb) {
for (auto& lane : *(map_pb->mutable_lane())) {
for (auto& segment : *(lane.mutable_central_curve()->mutable_segment())) {
for (auto& point : *(segment.mutable_line_segment()->mutable_point())) {
point.set_x(point.x() + FLAGS_x_offset);
point.set_y(point.y() + FLAGS_y_offset);
}
}
for (auto& segment :
*(lane.mutable_left_boundary()->mutable_curve()->mutable_segment())) {
for (auto& point : *(segment.mutable_line_segment()->mutable_point())) {
point.set_x(point.x() + FLAGS_x_offset);
point.set_y(point.y() + FLAGS_y_offset);
}
}
for (auto& segment :
*(lane.mutable_right_boundary()->mutable_curve()->mutable_segment())) {
for (auto& point : *(segment.mutable_line_segment()->mutable_point())) {
point.set_x(point.x() + FLAGS_x_offset);
point.set_y(point.y() + FLAGS_y_offset);
}
}
}
for (auto& stop_sign : *(map_pb->mutable_stop_sign())) {
for (auto& stop_line : *(stop_sign.mutable_stop_line())) {
for (auto& segment : *(stop_line.mutable_segment())) {
for (auto& point : *(segment.mutable_line_segment()->mutable_point())) {
point.set_x(point.x() + FLAGS_x_offset);
point.set_y(point.y() + FLAGS_y_offset);
}
}
}
}
}
static void OutputMap(const Map& map_pb) {
const std::string txt_file = FLAGS_output_dir + "/base_map.txt";
const std::string bin_file = FLAGS_output_dir + "/base_map.bin";
ACHECK(apollo::cyber::common::SetProtoToASCIIFile(map_pb, txt_file));
ACHECK(apollo::cyber::common::SetProtoToBinaryFile(map_pb, bin_file));
}
int main(int32_t argc, char** argv) {
google::InitGoogleLogging(argv[0]);
FLAGS_alsologtostderr = true;
FLAGS_v = 3;
google::ParseCommandLineFlags(&argc, &argv, true);
Map map_pb;
const auto map_file = apollo::hdmap::BaseMapFile();
ACHECK(apollo::cyber::common::GetProtoFromFile(map_file, &map_pb))
<< "Fail to open:" << map_file;
ShiftMap(&map_pb);
OutputMap(map_pb);
AINFO << "modified map at:" << FLAGS_output_dir;
}
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/tools/quaternion_euler.cc | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "gflags/gflags.h"
#include "cyber/common/log.h"
#include "modules/common/math/euler_angles_zxy.h"
#include "modules/common/math/quaternion.h"
DEFINE_double(qx, 0, "quaternion x");
DEFINE_double(qy, 0, "quaternion y");
DEFINE_double(qz, 0, "quaternion z");
DEFINE_double(qw, 0, "quaternion w");
int main(int32_t argc, char** argv) {
google::InitGoogleLogging(argv[0]);
FLAGS_alsologtostderr = true;
FLAGS_v = 3;
google::ParseCommandLineFlags(&argc, &argv, true);
apollo::common::math::EulerAnglesZXY<double> euler(FLAGS_qw, FLAGS_qx,
FLAGS_qy, FLAGS_qz);
AINFO << "roll: " << euler.roll() << " pitch:" << euler.pitch()
<< " yaw:" << euler.yaw();
AINFO << "heading: "
<< apollo::common::math::QuaternionToHeading(FLAGS_qw, FLAGS_qx,
FLAGS_qy, FLAGS_qz)
<< " heading degree: "
<< 180.0 / M_PI *
apollo::common::math::QuaternionToHeading(FLAGS_qw, FLAGS_qx,
FLAGS_qy, FLAGS_qz);
}
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/tools/proto_map_generator.cc | /* Copyright 2017 The Apollo Authors. All Rights Reserved.
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
=========================================================================*/
#include "gflags/gflags.h"
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "modules/map/hdmap/adapter/opendrive_adapter.h"
#include "modules/map/hdmap/hdmap_util.h"
#include "modules/common_msgs/map_msgs/map.pb.h"
/**
* A map tool to transform opendrive map to pb map
*/
DEFINE_string(output_dir, "/tmp", "output map directory");
int main(int argc, char **argv) {
google::InitGoogleLogging(argv[0]);
FLAGS_alsologtostderr = true;
google::ParseCommandLineFlags(&argc, &argv, true);
const auto map_filename = FLAGS_map_dir + "/base_map.xml";
apollo::hdmap::Map pb_map;
ACHECK(
apollo::hdmap::adapter::OpendriveAdapter::LoadData(map_filename, &pb_map))
<< "fail to load data from : " << map_filename;
const std::string output_ascii_file = FLAGS_output_dir + "/base_map.txt";
ACHECK(apollo::cyber::common::SetProtoToASCIIFile(pb_map, output_ascii_file))
<< "failed to output ASCII format base map";
const std::string output_bin_file = FLAGS_output_dir + "/base_map.bin";
ACHECK(apollo::cyber::common::SetProtoToBinaryFile(pb_map, output_bin_file))
<< "failed to output binary format base map";
pb_map.Clear();
ACHECK(apollo::cyber::common::GetProtoFromFile(output_bin_file, &pb_map))
<< "failed to load map";
AINFO << "load map success";
return 0;
}
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/proto/collection_check_message.proto | // Define Collection map-data check messages
syntax = "proto2";
package apollo.hdmap;
import "modules/map/tools/map_datachecker/proto/collection_error_code.proto";
enum CmdType {
START = 1;
CHECK = 2;
STOP = 3;
}
enum DataType {
MAP_MAKING = 1;
MAP_CHECKOUT = 2;
}
message VerifyRange {
optional double start_time = 1; // verify data's start timestamp
optional double end_time = 2; // verify data's end timestamp
}
message LoopResult {
required bool is_reached = 1;
optional double loop_num = 2; // is_reached==false, indicate current laps
}
message TopicResult {
repeated string topic_lack = 1;
}
message FrameRate {
optional string topic = 1;
optional double expected_rate = 2;
optional double current_rate = 3;
repeated string bad_record_name =
4; // record path file name, maybe more than one.
}
message VerifyResult {
optional TopicResult topics = 1;
repeated FrameRate rates = 2;
}
// ChannelVerify API, multi-service used
message ChannelVerifyRequest {
optional CmdType cmd = 1;
optional string collect_id = 2;
optional string path = 3;
}
message ChannelVerifyResponse {
optional ErrorCode code = 1;
optional VerifyResult result = 2;
}
// LoopsVerify API, multi-service used
message LoopsVerifyRequest {
optional CmdType cmd = 1;
optional DataType type = 2;
repeated VerifyRange range = 3; // used by map-worker. verify data's
// timestamp ranges, maybe has more than one.
}
message LoopsVerifyResponse {
optional ErrorCode code = 1;
optional double progress = 2;
optional LoopResult loop_result = 3; // usable when progress==1
}
// DynamicAlign API, multi-service used
message DynamicAlignRequest {
optional CmdType cmd = 1;
}
message DynamicAlignResponse {
optional ErrorCode code = 1;
optional double progress = 2;
}
// StaticAlign API, multi-service used
message StaticAlignRequest {
optional CmdType cmd = 1;
}
message StaticAlignResponse {
optional ErrorCode code = 1;
optional double progress = 2;
}
// EightRoute API, multi-service used
message EightRouteRequest {
optional CmdType cmd = 1;
}
message EightRouteResponse {
optional ErrorCode code = 1;
optional double progress = 2;
}
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/proto/collection_error_code.proto | syntax = "proto2";
package apollo.hdmap;
enum ErrorCode {
// common: x
SUCCESS = 0;
ERROR = 1;
ERROR_REQUEST = 2; // invalid request parameter
ERROR_SERVICE_NO_RESPONSE = 3; // cybertron services no response
ERROR_REPEATED_START = 4;
ERROR_CHECK_BEFORE_START = 5;
// APP fetch: 10x
ERROR_GPSBIN_LACK = 101; // gpsbin in car is lack or not complete.
ERROR_DISKINFO_ERROR = 102;
ERROR_DISK_UNMOUNT = 103;
ERROR_SPEED_LACK = 105;
WARNING_ODOMETER_LACK = 106;
ERROR_RTKSTATUS_EMPTY = 107;
// map-datachecker: 20x
ERROR_MAPGRPC_NOT_CONNECT = 201;
// map-datachecher: dynamic_align: 21x
WARNING_NOT_STRAIGHT =
212; // heading too large, need warning straight driving.
WARNING_PROGRESS_ROLLBACK = 213; // progress rollback because turn a corner.
// map-datachecher: eight_route: 22x
ERROR_NOT_EIGHT_ROUTE = 221; // heading is not an eight route.
// map-datachecher: data_verify: 23x
ERROR_CHANNEL_VERIFY_TOPIC_LACK = 231; // some topic lack in channel_verify.
ERROR_CHANNEL_VERIFY_RATES_ABNORMAL = 232; // some topic rates abnormal
ERROR_VERIFY_NO_RECORDERS =
233; // data verify has/find no recorders in disks.
ERROR_LOOPS_NOT_REACHED = 234; // loops is not enough 5/6
ERROR_VERIFY_NO_GNSSPOS = 235; // cybertron has no gnsspos callback.
// map-datachecker: static_align: 24x
ERROR_NOT_STATIC = 241; // car is not static.
ERROR_GNSS_SIGNAL_FAIL = 242; // gnss signal is broken | fail
// task handler: 30x
SUCCESS_TASK_EMPTY =
301; // indicate this collect task has no recorders before
SUCCESS_TASK_STOCK =
302; // indicate this collect task has collected some recorders already
}
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/proto/BUILD | ## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_grpc_library", "py_proto_library")
load("@com_github_grpc_grpc//bazel:cc_grpc_library.bzl", "cc_grpc_library")
load("//tools/install:install.bzl", "install", "install_files")
package(default_visibility = ["//visibility:public"])
install_files(
name = "py_pb_map_tool",
dest = "map/python/modules/map/tools/map_datachecker/proto",
files = [
":collection_check_message_py_pb2",
":collection_error_code_py_pb2",
":collection_service_py_pb2"
]
)
cc_proto_library(
name = "collection_check_message_cc_proto",
deps = [
":collection_check_message_proto",
],
)
proto_library(
name = "collection_check_message_proto",
srcs = ["collection_check_message.proto"],
deps = [
":collection_error_code_proto",
],
)
py_proto_library(
name = "collection_check_message_py_pb2",
deps = [
":collection_check_message_proto",
":collection_error_code_py_pb2",
],
)
cc_proto_library(
name = "collection_error_code_cc_proto",
deps = [
":collection_error_code_proto",
],
)
proto_library(
name = "collection_error_code_proto",
srcs = ["collection_error_code.proto"],
)
py_proto_library(
name = "collection_error_code_py_pb2",
deps = [
":collection_error_code_proto",
],
)
cc_grpc_library(
name = "collection_service_cc_grpc",
srcs = [":collection_service_proto"],
grpc_only = True,
deps = [":collection_service_cc_proto"],
)
cc_proto_library(
name = "collection_service_cc_proto",
deps = [
":collection_service_proto",
],
)
proto_library(
name = "collection_service_proto",
srcs = ["collection_service.proto"],
deps = [
":collection_check_message_proto",
],
)
py_grpc_library(
name = "collection_service_py_pb2_grpc",
srcs = [":collection_service_proto"],
deps = [":collection_service_py_pb2"],
)
py_proto_library(
name = "collection_service_py_pb2",
deps = [
":collection_service_proto",
":collection_check_message_py_pb2",
],
)
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/proto/collection_service.proto | syntax = "proto2";
package apollo.hdmap;
import "modules/map/tools/map_datachecker/proto/collection_check_message.proto";
// MAP
service CollectionCheckerService {
rpc ServiceDynamicAlign(DynamicAlignRequest) returns (DynamicAlignResponse) {}
rpc ServiceStaticAlign(StaticAlignRequest) returns (StaticAlignResponse) {}
rpc ServiceEightRoute(EightRouteRequest) returns (EightRouteResponse) {}
rpc ServiceChannelVerify(ChannelVerifyRequest)
returns (ChannelVerifyResponse) {}
rpc ServiceLoopsVerify(LoopsVerifyRequest) returns (LoopsVerifyResponse) {}
}
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/channel_verify_agent.cc | /******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/map/tools/map_datachecker/server/channel_verify_agent.h"
#include <chrono>
#include <map>
#include <string>
#include <thread>
#include <utility>
#include <vector>
namespace apollo {
namespace hdmap {
ChannelVerifyAgent::ChannelVerifyAgent(std::shared_ptr<JsonConf> sp_conf) {
sp_conf_ = sp_conf;
sp_channel_checker_ = nullptr;
sp_check_result_ = nullptr;
}
void ChannelVerifyAgent::Reset() {
std::lock_guard<std::mutex> guard(stop_mutex_);
need_stop_ = false;
stopped_ = false;
sp_channel_checker_ = std::make_shared<ChannelVerify>(sp_conf_);
sp_check_result_ = nullptr;
SetState(ChannelVerifyAgentState::IDLE);
}
grpc::Status ChannelVerifyAgent::ProcessGrpcRequest(
grpc::ServerContext *context, ChannelVerifyRequest *request,
ChannelVerifyResponse *response) {
AINFO << "ChannelVerifyAgent Request: " << request->DebugString();
switch (request->cmd()) {
case CmdType::START:
AINFO << "ChannelVerifyAgent start";
StartCheck(request, response);
break;
case CmdType::CHECK:
AINFO << "ChannelVerifyAgent check";
CheckResult(request, response);
break;
case CmdType::STOP:
AINFO << "ChannelVerifyAgent stop";
StopCheck(request, response);
break;
default:
response->set_code(ErrorCode::ERROR_REQUEST);
AERROR << "command error";
}
AINFO << "ChannelVerifyAgent progress: " << response->DebugString();
return grpc::Status::OK;
}
void ChannelVerifyAgent::StartCheck(ChannelVerifyRequest *request,
ChannelVerifyResponse *response) {
if (GetState() == ChannelVerifyAgentState::RUNNING) {
AINFO << "ChannelVerify is RUNNING, do not need start again";
response->set_code(ErrorCode::ERROR_REPEATED_START);
return;
}
Reset();
std::string records_path = request->path();
AsyncCheck(records_path);
response->set_code(ErrorCode::SUCCESS);
}
void ChannelVerifyAgent::AsyncCheck(const std::string &records_path) {
SetState(ChannelVerifyAgentState::RUNNING);
std::thread doctor_strange([=]() {
check_thread_id_ = std::this_thread::get_id();
int wait_sec = sp_conf_->channel_check_trigger_gap;
while (true) {
{
std::lock_guard<std::mutex> guard(stop_mutex_);
if (need_stop_) {
break;
}
DoCheck(records_path);
AINFO << "thread check done";
}
std::this_thread::sleep_for(std::chrono::seconds(wait_sec));
if (std::this_thread::get_id() != check_thread_id_) {
break;
}
}
stopped_ = true;
});
doctor_strange.detach();
AINFO << "ChannelVerifyAgent::async_check exit";
}
void ChannelVerifyAgent::DoCheck(const std::string &records_path) {
if (sp_channel_checker_ == nullptr) {
sp_channel_checker_ = std::make_shared<ChannelVerify>(sp_conf_);
}
SetState(ChannelVerifyAgentState::RUNNING);
sp_channel_checker_->Check(records_path);
sp_check_result_ = sp_channel_checker_->get_check_result();
}
int ChannelVerifyAgent::AddTopicLack(
VerifyResult *result, const std::string &record_path,
std::vector<std::string> const &lack_channels) {
TopicResult *topics = result->mutable_topics();
for (const std::string &channel : lack_channels) {
topics->add_topic_lack(channel);
AINFO << record_path << " lack topic: " << channel;
}
return static_cast<int>(lack_channels.size());
}
FrameRate *ChannelVerifyAgent::FindRates(VerifyResult *result,
const std::string &channel) {
for (FrameRate &rate : *result->mutable_rates()) {
if (rate.topic() == channel) {
return &rate;
}
}
return nullptr;
}
int ChannelVerifyAgent::AddInadequateRate(
VerifyResult *result, std::string const &record_path,
std::map<std::string, std::pair<double, double>> const &inadequate_rate) {
for (auto it = inadequate_rate.begin(); it != inadequate_rate.end(); ++it) {
const std::string &channel = it->first;
double expected_rate = it->second.first;
double current_rate = it->second.second;
FrameRate *rate = FindRates(result, channel);
if (rate == nullptr) {
rate = result->add_rates();
rate->add_bad_record_name(record_path);
rate->set_topic(channel);
rate->set_expected_rate(expected_rate);
rate->set_current_rate(current_rate);
} else {
rate->set_current_rate(current_rate);
rate->add_bad_record_name(record_path);
}
}
return result->rates_size();
}
void ChannelVerifyAgent::CheckResult(ChannelVerifyRequest *request,
ChannelVerifyResponse *response) {
if (GetState() == ChannelVerifyAgentState::IDLE) {
AINFO << "ChannelVerify is not RUNNING, it should start first";
response->set_code(ErrorCode::ERROR_CHECK_BEFORE_START);
return;
}
if (sp_channel_checker_ == nullptr || sp_check_result_ == nullptr) {
AINFO << "check result is null. check later";
response->set_code(ErrorCode::SUCCESS);
return;
}
if (sp_channel_checker_->GetReturnState() != ErrorCode::SUCCESS) {
response->set_code(sp_channel_checker_->GetReturnState());
return;
}
response->set_code(ErrorCode::SUCCESS);
VerifyResult *result = response->mutable_result();
for (CheckResultIterator it = sp_check_result_->begin();
it != sp_check_result_->end(); ++it) {
int res = 0;
// write rate
res = AddInadequateRate(result, it->record_path, it->inadequate_rate);
if (res > 0) {
response->set_code(ErrorCode::ERROR_CHANNEL_VERIFY_RATES_ABNORMAL);
}
// write topic lack
res = AddTopicLack(result, it->record_path, it->lack_channels);
if (res > 0) {
response->set_code(ErrorCode::ERROR_CHANNEL_VERIFY_TOPIC_LACK);
}
}
}
void ChannelVerifyAgent::StopCheck(ChannelVerifyRequest *request,
ChannelVerifyResponse *response) {
std::lock_guard<std::mutex> guard(stop_mutex_);
need_stop_ = true;
response->set_code(ErrorCode::SUCCESS);
SetState(ChannelVerifyAgentState::IDLE);
VerifyResult *result = response->mutable_result();
if (sp_check_result_ == nullptr) {
return;
}
for (CheckResultIterator it = sp_check_result_->begin();
it != sp_check_result_->end(); ++it) {
int res = 0;
// write rate
res = AddInadequateRate(result, it->record_path, it->inadequate_rate);
if (res > 0) {
response->set_code(ErrorCode::ERROR_CHANNEL_VERIFY_RATES_ABNORMAL);
}
// write topic lack
res = AddTopicLack(result, it->record_path, it->lack_channels);
if (res > 0) {
response->set_code(ErrorCode::ERROR_CHANNEL_VERIFY_TOPIC_LACK);
}
}
}
void ChannelVerifyAgent::SetState(ChannelVerifyAgentState state) {
state_ = state;
}
ChannelVerifyAgentState ChannelVerifyAgent::GetState() const { return state_; }
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/main.cc | /******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "cyber/cyber.h"
#include "modules/map/tools/map_datachecker/server/worker.h"
int main(int argc, char** argv) {
google::ParseCommandLineFlags(&argc, &argv, true);
AINFO << "cyber init";
if (apollo::cyber::Init(argv[0])) {
AINFO << "init succeed";
} else {
AERROR << "init failed";
}
google::SetStderrLogging(FLAGS_minloglevel);
AINFO << "starting worker";
apollo::hdmap::Mapdatachecker worker;
if (!worker.Start()) {
AFATAL << "Start Mapdatachecker Failed!";
return -1;
}
apollo::cyber::WaitForShutdown();
return 0;
}
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/pose_collection_agent.cc | /******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/map/tools/map_datachecker/server/pose_collection_agent.h"
#include <vector>
#include "cyber/common/time_conversion.h"
#include "modules/map/tools/map_datachecker/server/pose_collection.h"
namespace apollo {
namespace hdmap {
PoseCollectionAgent::PoseCollectionAgent(std::shared_ptr<JsonConf> sp_conf) {
sp_pj_transformer_ = std::make_shared<PJTransformer>(50);
sp_conf_ = sp_conf;
Reset();
}
void PoseCollectionAgent::Reset() {
sp_pose_collection_ = std::make_shared<PoseCollection>(sp_conf_);
}
void PoseCollectionAgent::OnBestgnssposCallback(
const std::shared_ptr<const apollo::drivers::gnss::GnssBestPose>
&bestgnsspos) {
if (sp_pose_collection_ == nullptr) {
sp_pose_collection_ = std::make_shared<PoseCollection>(sp_conf_);
}
double time_stamp = apollo::cyber::common::GpsToUnixSeconds(
bestgnsspos->measurement_time()); // in seconds
FramePose pose;
if (sp_conf_->use_system_time) {
pose.time_stamp = UnixNow();
AINFO << "system time: " << pose.time_stamp;
} else {
pose.time_stamp = time_stamp;
}
pose.latitude = bestgnsspos->latitude();
pose.longitude = bestgnsspos->longitude();
pose.altitude = bestgnsspos->height_msl();
pose.solution_status = bestgnsspos->sol_status();
pose.position_type = bestgnsspos->sol_type();
pose.diff_age = bestgnsspos->differential_age();
double latitude_std = bestgnsspos->latitude_std_dev();
double longitude_std = bestgnsspos->longitude_std_dev();
double altitude_std = bestgnsspos->height_std_dev();
pose.local_std =
std::sqrt(latitude_std * latitude_std + longitude_std * longitude_std +
altitude_std * altitude_std);
pose.tx = pose.longitude * kDEGRESS_TO_RADIANS;
pose.ty = pose.latitude * kDEGRESS_TO_RADIANS;
pose.tz = pose.altitude;
sp_pj_transformer_->LatlongToUtm(1, 1, &pose.tx, &pose.ty, &pose.tz);
std::lock_guard<std::mutex> mutex_locker(mutex_);
static FILE *pose_file = fopen("poses.txt", "w");
static int count = 0;
fprintf(stderr, "%d:%lf %lf %lf %lf 0.0 0.0 0.0 0.0\n", ++count,
pose.time_stamp, pose.tx, pose.ty, pose.tz);
fprintf(pose_file, "%lf %lf %lf %lf 0.0 0.0 0.0 0.0\n", pose.time_stamp,
pose.tx, pose.ty, pose.tz);
fflush(pose_file);
sp_pose_collection_->Collect(pose);
}
std::shared_ptr<std::vector<FramePose>> PoseCollectionAgent::GetPoses() const {
if (sp_pose_collection_ == nullptr) {
return nullptr;
}
return sp_pose_collection_->GetPoses();
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/laps_checker.h | /******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include <map>
#include <memory>
#include <utility>
#include <vector>
#include "modules/map/tools/map_datachecker/proto/collection_error_code.pb.h"
#include "modules/map/tools/map_datachecker/server/common.h"
namespace apollo {
namespace hdmap {
struct GridMeta {
double alpha;
std::vector<int> idxs;
};
typedef std::vector<GridMeta> Grid;
class LapsChecker {
public:
LapsChecker(const std::vector<FramePose>& poses, int laps_to_check,
std::shared_ptr<JsonConf> sp_conf);
ErrorCode Check();
double GetProgress() const;
double GetConfidence();
size_t GetLap() const;
ErrorCode GetReturnState();
private:
void DoCheck();
int SetupGridsMap();
int CheckLaps();
int CheckParams();
int GetMinMax();
int DoSetupGridsMap();
double CalcAlpha(int pose_index);
int PutPoseToGrid(int pose_index, int grid_y, int grid_x);
int PutPoseToNeighborGrid(int pose_index);
int GetPassedGrid(int pose_index, std::vector<int>* sp_grid_x,
std::vector<int>* sp_grid_y);
double Slope(double x1, double y1, double x2, double y2);
int GatherTimestamps(std::vector<double>* sp_stamps, double alpha,
int center_x, int center_y);
inline int SetProgress(double p);
public:
const std::vector<FramePose>& poses_;
double maxx_, maxy_, minx_, miny_;
std::vector<std::vector<Grid>> grids_map_;
bool finished_;
private:
std::vector<double> confidence_;
double progress_;
size_t laps_to_check_;
size_t possible_max_laps_;
size_t lap_;
std::shared_ptr<JsonConf> sp_conf_;
ErrorCode return_state_;
};
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/loops_verify_agent.cc | /******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/map/tools/map_datachecker/server/loops_verify_agent.h"
#include <limits>
#include <utility>
#include <vector>
namespace apollo {
namespace hdmap {
LoopsVerifyAgent::LoopsVerifyAgent(
std::shared_ptr<JsonConf> sp_conf,
std::shared_ptr<PoseCollectionAgent> sp_pose_collection_agent) {
sp_conf_ = sp_conf;
sp_pose_collection_agent_ = sp_pose_collection_agent;
}
grpc::Status LoopsVerifyAgent::ProcessGrpcRequest(
grpc::ServerContext *context, LoopsVerifyRequest *request,
LoopsVerifyResponse *response) {
AINFO << "LoopsVerifyAgent request is: " << request->DebugString();
switch (request->cmd()) {
case CmdType::START:
StartVerify(request, response);
break;
case CmdType::CHECK:
CheckVerify(request, response);
break;
case CmdType::STOP:
StopVerify(request, response);
break;
default:
response->set_progress(0.0);
response->set_code(ErrorCode::ERROR_REQUEST);
AERROR << "command error";
}
AINFO << "LoopsVerifyAgent response is: " << response->DebugString();
return grpc::Status::OK;
}
void LoopsVerifyAgent::StartVerify(LoopsVerifyRequest *request,
LoopsVerifyResponse *response) {
AINFO << "Call StartVerify";
if (GetState() == LoopsVerifyAgentState::RUNNING) {
AINFO << "Verify is working, do not need start again";
response->set_progress(0.0);
response->set_code(ErrorCode::ERROR_REPEATED_START);
}
std::shared_ptr<std::vector<std::pair<double, double>>> sp_range =
get_verify_range(request);
double loops_to_check = static_cast<double>(GetLoopsToCheck(request));
std::thread loop_verify_thread(
[=]() { this->DoStartVerify(sp_range, loops_to_check); });
loop_verify_thread.detach();
SetState(LoopsVerifyAgentState::RUNNING);
response->set_code(ErrorCode::SUCCESS);
response->set_progress(0.0);
}
void LoopsVerifyAgent::CheckVerify(LoopsVerifyRequest *request,
LoopsVerifyResponse *response) {
AINFO << "Call CheckVerify";
if (GetState() == LoopsVerifyAgentState::IDLE) {
AINFO << "Verify does not work, start first";
response->set_progress(0.0);
response->set_code(ErrorCode::ERROR_CHECK_BEFORE_START);
return;
}
if (sp_laps_checker_ == nullptr) {
AINFO << "sp_laps_checker_ is preparing, check later";
response->set_progress(0.0);
response->set_code(ErrorCode::SUCCESS);
return;
}
if (sp_laps_checker_->GetReturnState() != 0) {
response->set_progress(0.0);
response->set_code(sp_laps_checker_->GetReturnState());
return;
}
double progress = sp_laps_checker_->GetProgress();
response->set_progress(progress);
response->set_code(ErrorCode::SUCCESS);
if (std::abs(1.0 - progress) < 1e-8) {
double confidence = sp_laps_checker_->GetConfidence();
size_t lap = sp_laps_checker_->GetLap();
AINFO << "acquired lap: " << lap << ", conf: " << confidence;
LoopResult *loop_result = response->mutable_loop_result();
loop_result->set_loop_num(static_cast<double>(lap));
bool is_reached = lap >= GetLoopsToCheck(request);
loop_result->set_is_reached(is_reached);
DataType data_type = request->type();
if (data_type == DataType::MAP_CHECKOUT) {
if (is_reached) {
loop_result->set_loop_num(
static_cast<double>(sp_conf_->laps_number_additional));
} else {
loop_result->set_loop_num(
lap - sp_conf_->laps_number >= 0
? static_cast<double>(lap - sp_conf_->laps_number)
: 0.0);
}
}
}
}
void LoopsVerifyAgent::StopVerify(LoopsVerifyRequest *request,
LoopsVerifyResponse *response) {
AINFO << "call StopVerify";
response->set_code(ErrorCode::SUCCESS);
SetState(LoopsVerifyAgentState::IDLE);
if (sp_laps_checker_ == nullptr) {
response->set_progress(0.0);
return;
}
response->set_progress(sp_laps_checker_->GetProgress());
if (std::abs(1.0 - sp_laps_checker_->GetProgress()) < 1e-8) {
double conf = sp_laps_checker_->GetConfidence();
size_t lap = sp_laps_checker_->GetLap();
AINFO << "acquired lap: " << lap << ", conf: " << conf;
LoopResult *loop_result = response->mutable_loop_result();
loop_result->set_loop_num(static_cast<double>(lap));
bool is_reached = lap >= GetLoopsToCheck(request);
loop_result->set_is_reached(is_reached);
DataType data_type = request->type();
if (data_type == DataType::MAP_CHECKOUT) {
if (is_reached) {
loop_result->set_loop_num(
static_cast<double>(sp_conf_->laps_number_additional));
} else {
loop_result->set_loop_num(
lap - sp_conf_->laps_number >= 0
? static_cast<double>(lap - sp_conf_->laps_number)
: 0.0);
}
}
}
}
std::shared_ptr<std::vector<std::pair<double, double>>>
LoopsVerifyAgent::get_verify_range(LoopsVerifyRequest *request) {
std::shared_ptr<std::vector<std::pair<double, double>>> sp_range(
new std::vector<std::pair<double, double>>());
for (const VerifyRange &range : request->range()) {
sp_range->push_back(std::make_pair(range.start_time(), range.end_time()));
}
return sp_range;
}
size_t LoopsVerifyAgent::GetLoopsToCheck(LoopsVerifyRequest *request) {
size_t loops_to_check = 0;
DataType data_type = request->type();
if (data_type == DataType::MAP_MAKING) {
loops_to_check += sp_conf_->laps_number;
} else if (data_type == DataType::MAP_CHECKOUT) {
loops_to_check += sp_conf_->laps_number;
loops_to_check += sp_conf_->laps_number_additional;
}
return loops_to_check;
}
double LoopsVerifyAgent::GetRangeIndex(
std::shared_ptr<std::vector<std::pair<double, double>>> sp_range,
std::vector<bool> *sp_range_index,
std::shared_ptr<std::vector<FramePose>> sp_vec_poses) {
if (sp_range == nullptr) {
AINFO << "error, sp_range is null";
return -1.0;
}
std::vector<std::pair<double, double>> &range = *sp_range;
size_t size = range.size();
double min_time = std::numeric_limits<double>::max();
double max_time = std::numeric_limits<double>::min();
for (size_t i = 0; i < size; ++i) {
if (range[i].first >= range[i].second) {
AINFO << "range error, [" << range[i].first << "," << range[i].second
<< "]";
continue;
}
if (range[i].first < min_time) {
min_time = range[i].first;
}
if (range[i].second > max_time) {
max_time = range[i].second;
}
}
AINFO << "[get_range_index] min_time:" << min_time << ", max_time"
<< max_time;
std::vector<bool> &range_index = *sp_range_index;
if (size == 0 || max_time <= 0) {
AINFO << "time range vector size is 0 or time range error";
if (sp_vec_poses->size() > 0) {
AINFO << "set index to check all poses";
min_time = sp_vec_poses->front().time_stamp;
max_time = sp_vec_poses->back().time_stamp;
int index_size = static_cast<int>(max_time - min_time + 1);
range_index.resize(index_size, true);
}
} else {
AINFO << "time range vector size > 0";
int index_size = static_cast<int>(max_time - min_time + 1);
range_index.resize(index_size, false);
for (int i = 0; i < static_cast<int>(size); ++i) {
int start_time = static_cast<int>(range[i].first - min_time);
int end_time = static_cast<int>(range[i].second - min_time);
for (int j = start_time; j <= end_time; ++j) {
range_index[j] = true;
}
}
}
AINFO << "returned min_time:" << min_time;
return min_time;
}
int LoopsVerifyAgent::GetPosesToCheck(
std::shared_ptr<std::vector<std::pair<double, double>>> sp_range,
std::vector<FramePose> *sp_poses) {
if (sp_pose_collection_agent_ == nullptr) {
AINFO << "error, sp_pose_collection_agent is null";
return -1;
}
std::shared_ptr<std::vector<FramePose>> sp_vec_poses =
sp_pose_collection_agent_->GetPoses();
if (sp_vec_poses == nullptr || sp_vec_poses->size() == 0) {
AINFO << "error, no pose";
return -1;
}
std::vector<bool> range_index;
double min_time = GetRangeIndex(sp_range, &range_index, sp_vec_poses);
if (min_time == std::numeric_limits<double>::max() || range_index.empty()) {
AINFO << "min_time: " << min_time
<< ", range_index size: " << range_index.size();
return -1;
}
std::vector<FramePose> &vec_poses = *sp_vec_poses;
size_t pose_size = vec_poses.size();
size_t range_size = range_index.size();
std::vector<FramePose> &poses = *sp_poses;
poses.clear();
for (size_t i = 0; i < pose_size; ++i) {
int time = static_cast<int>(vec_poses[i].time_stamp - min_time);
if (time >= static_cast<int>(range_size)) {
break;
}
if (time >= 0 && range_index[time]) {
poses.push_back(vec_poses[i]);
}
}
return 0;
}
int LoopsVerifyAgent::DoStartVerify(
std::shared_ptr<std::vector<std::pair<double, double>>> sp_range,
double loops_to_check) {
clock_t start = clock();
std::vector<FramePose> all_poses;
GetPosesToCheck(sp_range, &all_poses);
sp_laps_checker_ = std::shared_ptr<LapsChecker>(
new LapsChecker(all_poses, static_cast<int>(loops_to_check), sp_conf_));
sp_laps_checker_->Check();
double duration = (static_cast<double>(clock() - start)) / CLOCKS_PER_SEC;
AINFO << "checking laps cost " << duration << " seconds";
return 0;
}
void LoopsVerifyAgent::SetState(LoopsVerifyAgentState state) { state_ = state; }
LoopsVerifyAgentState LoopsVerifyAgent::GetState() { return state_; }
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/pose_collection.h | /******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include <memory>
#include <vector>
#include "modules/map/tools/map_datachecker/server/common.h"
namespace apollo {
namespace hdmap {
enum class PoseCollectionState { IDLE, RUNNING };
class PoseCollection {
public:
explicit PoseCollection(std::shared_ptr<JsonConf> sp_conf);
void Collect(const FramePose& pose);
std::shared_ptr<std::vector<FramePose>> GetPoses() const;
private:
void Reset();
private:
std::shared_ptr<std::vector<FramePose>> sp_poses_ = nullptr;
std::shared_ptr<JsonConf> sp_conf_ = nullptr;
};
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/eight_route.h | /******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include <memory>
#include <vector>
#include "grpc++/grpc++.h"
#include "cyber/cyber.h"
#include "modules/map/tools/map_datachecker/server/alignment.h"
#include "modules/map/tools/map_datachecker/server/common.h"
#include "modules/map/tools/map_datachecker/server/worker_gflags.h"
namespace apollo {
namespace hdmap {
// TODO(yuanyijun): change EightRoute to FigureEight
class EightRoute : public Alignment {
public:
explicit EightRoute(std::shared_ptr<JsonConf> sp_conf);
ErrorCode Process(const std::vector<FramePose>& poses);
double GetProgress() const;
private:
void Reset();
bool IsEightRoutePose(const std::vector<FramePose>& poses, int pose_index);
double GetGoodPoseDuring();
double GetEightRouteProgress(const std::vector<FramePose>& poses);
private:
double progress_;
double last_yaw_;
};
} // namespace hdmap
} // namespace apollo
| 0 |
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