repo_id stringlengths 19 138 | file_path stringlengths 32 200 | content stringlengths 1 12.9M | __index_level_0__ int64 0 0 |
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apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/alignment.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/proto/collection_error_code.pb.h"
#include "modules/map/tools/map_datachecker/server/common.h"
namespace apollo {
namespace hdmap {
typedef struct BadOrGoodPoseInfo {
BadOrGoodPoseInfo() : start_time(-1.0), end_time(-1.0), pose_count(0) {}
double start_time;
double end_time;
int pose_count;
} BadOrGoodPoseInfo;
class Alignment {
public:
explicit Alignment(std::shared_ptr<JsonConf> sp_conf)
: return_state_(ErrorCode::SUCCESS),
sp_conf_(sp_conf),
sp_good_pose_info_(std::make_shared<BadOrGoodPoseInfo>()),
sp_bad_pose_info_(std::make_shared<BadOrGoodPoseInfo>()) {}
virtual ~Alignment() {}
virtual ErrorCode Process(const std::vector<FramePose>& poses) = 0;
virtual void Reset() = 0;
virtual double GetProgress() const { return progress_; }
virtual void SetStartTime(double start_time) { start_time_ = start_time; }
virtual void SetEndTime(double end_time) { end_time_ = end_time; }
virtual void UpdateBadPoseInfo(const FramePose& pose) {
UpdatePoseInfo(pose, sp_bad_pose_info_);
}
virtual void ClearBadPoseInfo() { ClearPoseInfo(sp_bad_pose_info_); }
virtual void UpdateGoodPoseInfo(const FramePose& pose) {
UpdatePoseInfo(pose, sp_good_pose_info_);
}
virtual void ClearGoodPoseInfo() { ClearPoseInfo(sp_good_pose_info_); }
virtual bool IsGoodPose(const std::vector<FramePose>& poses, int pose_index) {
if (pose_index <= 0 || pose_index >= static_cast<int>(poses.size())) {
AINFO << "params error. poses size:" << poses.size()
<< ",pose_index:" << pose_index;
return false;
}
unsigned int position_type = poses[pose_index].position_type;
float diff_age = poses[pose_index].diff_age;
double local_std = poses[pose_index].local_std;
if (sp_conf_->position_type_range.find(position_type) !=
sp_conf_->position_type_range.end() &&
diff_age >= sp_conf_->diff_age_range.first &&
diff_age <= sp_conf_->diff_age_range.second &&
local_std <= sp_conf_->local_std_upper_limit) {
return true;
}
return false;
}
ErrorCode GetReturnState() const { return return_state_; }
protected:
void UpdatePoseInfo(const FramePose& pose,
std::shared_ptr<BadOrGoodPoseInfo> sp_pose_info) {
if (sp_pose_info == nullptr) {
AERROR << "sp_pose_info is nullptr";
return;
}
BadOrGoodPoseInfo& pose_info = *sp_pose_info;
if (pose_info.pose_count == 0) {
pose_info.start_time = pose.time_stamp;
++pose_info.pose_count;
AINFO << "update start time: " << pose_info.start_time
<< ",pose count: " << pose_info.pose_count;
} else {
pose_info.end_time = pose.time_stamp;
++pose_info.pose_count;
AINFO << "update start time: " << pose_info.start_time
<< ",pose count: " << pose_info.pose_count;
}
}
void ClearPoseInfo(std::shared_ptr<BadOrGoodPoseInfo> sp_pose_info) {
if (sp_pose_info == nullptr) {
AERROR << "sp_pose_info is nullptr";
return;
}
BadOrGoodPoseInfo& pose_info = *sp_pose_info;
pose_info.start_time = -1.0;
pose_info.end_time = -1.0;
pose_info.pose_count = 0;
}
int TimeToIndex(const std::vector<FramePose>& poses, double time) {
size_t size = poses.size();
if (size == 0 || time <= 0) {
return -1;
}
for (size_t i = 0; i < size; ++i) {
if (poses[i].time_stamp >= time) {
return static_cast<int>(i);
}
}
return static_cast<int>(size);
}
protected:
double progress_;
double last_progress_;
double start_time_;
double end_time_;
int start_index_;
double end_index_;
ErrorCode return_state_;
std::shared_ptr<JsonConf> sp_conf_ = nullptr;
// BadOrGoodPoseInfo _bad_pose_info, _good_pose_info;
std::shared_ptr<BadOrGoodPoseInfo> sp_good_pose_info_ = nullptr;
std::shared_ptr<BadOrGoodPoseInfo> sp_bad_pose_info_ = 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/common.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/common.h"
#include "cyber/cyber.h"
namespace apollo {
namespace hdmap {
std::shared_ptr<JsonConf> ParseJson(std::string conf_path) {
AINFO << "parsing json config";
boost::filesystem::path path(conf_path);
if (!boost::filesystem::exists(path)) {
AERROR << "json config file " << conf_path << " does not exist";
return nullptr;
}
std::shared_ptr<JsonConf> conf(new JsonConf);
boost::property_tree::ptree pt;
try {
boost::property_tree::read_json(conf_path, pt);
conf->use_system_time = pt.get<bool>("use_system_time");
conf->topic_rate_tolerance = pt.get<double>("topic_rate_tolerance");
boost::property_tree::ptree children2 = pt.get_child("topic_list");
for (auto it = children2.begin(); it != children2.end(); ++it) {
conf->topic_list.push_back(
std::make_pair(it->first, it->second.get_value<double>()));
}
conf->solution_status = pt.get<unsigned int>("solution_status");
boost::property_tree::ptree position_type = pt.get_child("position_type");
for (auto it = position_type.begin(); it != position_type.end(); ++it) {
conf->position_type_range.insert(it->second.get_value<unsigned int>());
}
conf->local_std_upper_limit = pt.get<double>("local_std_upper_limit");
boost::property_tree::ptree diff_age = pt.get_child("diff_age");
{
auto it = diff_age.begin();
conf->diff_age_range.first = it->second.get_value<float>();
++it;
conf->diff_age_range.second = it->second.get_value<float>();
}
conf->channel_check_trigger_gap = pt.get<int>("channel_check_trigger_gap");
conf->alignment_featch_pose_sleep =
pt.get<int>("alignment_featch_pose_sleep");
conf->static_align_duration = pt.get<double>("static_align_duration");
conf->static_align_tolerance = pt.get<double>("static_align_tolerance");
conf->static_align_dist_thresh = pt.get<double>("static_align_dist_thresh");
conf->eight_angle = pt.get<double>("eight_angle");
conf->eight_duration = pt.get<double>("eight_duration");
conf->eight_vel = pt.get<double>("eight_vel");
conf->eight_bad_pose_tolerance = pt.get<int>("eight_bad_pose_tolerance");
conf->laps_frames_thresh = pt.get<int>("laps_frames_thresh");
conf->laps_alpha_err_thresh = pt.get<double>("laps_alpha_err_thresh");
conf->laps_time_err_thresh = pt.get<double>("laps_time_err_thresh");
conf->laps_search_diameter = pt.get<int>("laps_search_diameter");
conf->laps_number = pt.get<int>("laps_number");
conf->laps_number_additional = pt.get<int>("laps_number_additional");
conf->laps_rate_thresh = pt.get<double>("laps_rate_thresh");
} catch (const boost::property_tree::json_parser_error& e) {
AERROR << e.what();
return nullptr;
} catch (const std::exception& e) {
AERROR << e.what();
return nullptr;
}
return conf;
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/worker_cyber_node.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 "cyber/cyber.h"
#include "modules/common_msgs/sensor_msgs/gnss_best_pose.pb.h"
namespace apollo {
namespace hdmap {
class MapDataCheckerAgent;
class MapDataCheckerCyberNode
: public std::enable_shared_from_this<MapDataCheckerCyberNode> {
public:
using GnssBestPose_t = apollo::drivers::gnss::GnssBestPose;
public:
MapDataCheckerCyberNode(std::shared_ptr<MapDataCheckerAgent> agent,
bool *init_success);
inline std::shared_ptr<MapDataCheckerCyberNode> GetWorkerCyberNode() {
return shared_from_this();
}
private:
int CreateChannelSubscriber();
private:
std::shared_ptr<apollo::cyber::Node> node_ = nullptr;
std::shared_ptr<apollo::cyber::Reader<GnssBestPose_t>> bestgnsspos_reader_ =
nullptr;
std::shared_ptr<MapDataCheckerAgent> agent_ = 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/channel_verify_agent.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 <mutex>
#include <string>
#include <utility>
#include <vector>
#include "grpc++/grpc++.h"
#include "modules/map/tools/map_datachecker/proto/collection_error_code.pb.h"
#include "modules/map/tools/map_datachecker/proto/collection_service.pb.h"
#include "modules/map/tools/map_datachecker/server/channel_verify.h"
namespace apollo {
namespace hdmap {
enum class ChannelVerifyAgentState { IDLE, RUNNING };
class ChannelVerifyAgent {
public:
explicit ChannelVerifyAgent(std::shared_ptr<JsonConf> sp_conf);
grpc::Status ProcessGrpcRequest(grpc::ServerContext *context,
ChannelVerifyRequest *request,
ChannelVerifyResponse *response);
private:
void StartCheck(ChannelVerifyRequest *request,
ChannelVerifyResponse *response);
void AsyncCheck(const std::string &records_path);
void DoCheck(const std::string &records_path);
void CheckResult(ChannelVerifyRequest *request,
ChannelVerifyResponse *response);
void StopCheck(ChannelVerifyRequest *request,
ChannelVerifyResponse *response);
void Reset();
void SetState(ChannelVerifyAgentState state);
ChannelVerifyAgentState GetState() const;
int AddTopicLack(VerifyResult *result, const std::string &record_path,
std::vector<std::string> const &lack_channels);
int AddInadequateRate(
VerifyResult *result, std::string const &record_path,
std::map<std::string, std::pair<double, double>> const &inadequate_rate);
FrameRate *FindRates(VerifyResult *result, const std::string &channel);
private:
ChannelVerifyAgentState state_;
std::mutex stop_mutex_;
bool need_stop_;
bool stopped_;
std::shared_ptr<JsonConf> sp_conf_ = nullptr;
std::shared_ptr<ChannelVerify> sp_channel_checker_ = nullptr;
CheckedResult sp_check_result_ = nullptr;
std::thread::id check_thread_id_;
};
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/alignment_agent.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 <chrono>
#include <memory>
#include <thread>
#include <vector>
#include "grpc++/grpc++.h"
#include "modules/map/tools/map_datachecker/proto/collection_error_code.pb.h"
#include "modules/map/tools/map_datachecker/proto/collection_service.pb.h"
#include "modules/map/tools/map_datachecker/server/eight_route.h"
#include "modules/map/tools/map_datachecker/server/pose_collection_agent.h"
#include "modules/map/tools/map_datachecker/server/static_align.h"
namespace apollo {
namespace hdmap {
typedef State AlignmentAgentState;
template <typename ALIGNMENT_TYPE, typename REQUEST_TYPE,
typename RESPONSE_TYPE>
class AlignmentAgent {
public:
AlignmentAgent(
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;
}
void Reset() {
sp_alignment_ = std::make_shared<ALIGNMENT_TYPE>(sp_conf_);
state_ = AlignmentAgentState::IDLE;
need_stop_ = false;
}
grpc::Status ProcessGrpcRequest(grpc::ServerContext *context,
REQUEST_TYPE *request,
RESPONSE_TYPE *response) {
AINFO << "AlignmentAgent request: " << request->DebugString();
switch (request->cmd()) {
case CmdType::START:
AINFO << "AlignmentAgent start";
AlignmentStart(request, response);
break;
case CmdType::CHECK:
AINFO << "AlignmentAgent check";
AlignmentCheck(request, response);
break;
case CmdType::STOP:
AINFO << "AlignmentAgent stop";
AlignmentStop(request, response);
break;
default:
response->set_code(ErrorCode::ERROR_REQUEST);
response->set_progress(sp_alignment_->GetProgress());
AERROR << "command error";
}
AINFO << "AlignmentAgent progress: " << response->progress();
return grpc::Status::OK;
}
int AlignmentStart(REQUEST_TYPE *request, RESPONSE_TYPE *response) {
if (AlignmentAgentState::RUNNING == GetState()) {
AINFO << "AlignmentAgent is running. do need start again";
response->set_code(ErrorCode::ERROR_REPEATED_START);
response->set_progress(0.0);
return 0;
}
Reset();
AsyncStartAlignment();
response->set_code(ErrorCode::SUCCESS);
response->set_progress(0.0);
return 0;
}
int AsyncStartAlignment() {
SetState(AlignmentAgentState::RUNNING);
std::thread alignment_thread([=]() {
sp_alignment_->SetStartTime(UnixNow());
AINFO << "set state RUNNING";
while (!need_stop_ && !apollo::cyber::IsShutdown()) {
std::shared_ptr<std::vector<FramePose>> sp_poses = GetPoses();
if (sp_poses == nullptr) {
AINFO << "error, pose pointer is null";
return;
}
sp_alignment_->Process(*sp_poses);
ErrorCode code = sp_alignment_->GetReturnState();
if (code == ErrorCode::ERROR_VERIFY_NO_GNSSPOS ||
code == ErrorCode::ERROR_GNSS_SIGNAL_FAIL) {
AERROR << "Some error occurred, while loop will exit";
break;
}
AINFO << "get progress:" << sp_alignment_->GetProgress();
if (fabs(1 - sp_alignment_->GetProgress()) < 1e-8) {
AINFO << "alignment progress reached 1.0, thread exit";
break;
}
AINFO << "sleep " << sp_conf_->alignment_featch_pose_sleep << " sec";
auto seconds =
std::chrono::seconds(sp_conf_->alignment_featch_pose_sleep);
std::this_thread::sleep_for(seconds);
}
stopped_ = true;
AINFO << "Align thread complete";
});
alignment_thread.detach();
return 0;
}
std::shared_ptr<std::vector<FramePose>> GetPoses() const {
if (sp_pose_collection_agent_ == nullptr) {
return nullptr;
}
return sp_pose_collection_agent_->GetPoses();
}
int AlignmentCheck(REQUEST_TYPE *request, RESPONSE_TYPE *response) {
if (AlignmentAgentState::IDLE == GetState()) {
AINFO << "AlignmentAgent is idle. this call will be refused";
response->set_code(ErrorCode::ERROR_CHECK_BEFORE_START);
response->set_progress(0.0);
return 0;
}
if (sp_alignment_ == nullptr) {
AINFO << "sp_alignment_ is null, check later";
response->set_code(ErrorCode::SUCCESS);
response->set_progress(0.0);
return 0;
}
ErrorCode code = sp_alignment_->GetReturnState();
double progress = sp_alignment_->GetProgress();
response->set_code(code);
response->set_progress(progress);
if (code == ErrorCode::ERROR_VERIFY_NO_GNSSPOS ||
code == ErrorCode::ERROR_GNSS_SIGNAL_FAIL) {
stopped_ = true;
SetState(AlignmentAgentState::IDLE);
return -1;
}
return 0;
}
int AlignmentStop(REQUEST_TYPE *request, RESPONSE_TYPE *response) {
response->set_code(ErrorCode::SUCCESS);
if (sp_alignment_ == nullptr) {
response->set_progress(0.0);
} else {
response->set_progress(sp_alignment_->GetProgress());
need_stop_ = true;
}
SetState(AlignmentAgentState::IDLE);
return 0;
}
void SetState(AlignmentAgentState state) { state_ = state; }
AlignmentAgentState GetState() const { return state_; }
private:
std::shared_ptr<JsonConf> sp_conf_ = nullptr;
std::shared_ptr<ALIGNMENT_TYPE> sp_alignment_ = nullptr;
std::shared_ptr<PoseCollectionAgent> sp_pose_collection_agent_ = nullptr;
AlignmentAgentState state_;
bool need_stop_;
bool stopped_;
};
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/worker_gflags.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 "gflags/gflags.h"
namespace apollo {
namespace hdmap {
// worker address
DECLARE_string(map_datachecker_host);
DECLARE_string(map_datachecker_port);
// Cybertron topics
DECLARE_string(topic_bestgnsspos);
DECLARE_string(conf_json);
} // 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.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/eight_route.h"
#include <cmath>
#include <vector>
namespace apollo {
namespace hdmap {
EightRoute::EightRoute(std::shared_ptr<JsonConf> sp_conf) : Alignment(sp_conf) {
Reset();
}
void EightRoute::Reset() {
progress_ = 0.0;
last_progress_ = 0;
}
bool EightRoute::IsEightRoutePose(const std::vector<FramePose>& poses,
int pose_index) {
if (poses.empty() || pose_index <= 0 ||
pose_index >= static_cast<int>(poses.size())) {
AINFO << "params error, poses size: " << poses.size()
<< ", pose_index: " << pose_index;
return true;
}
double yaw = GetYaw(poses[pose_index - 1].tx, poses[pose_index - 1].ty,
poses[pose_index].tx, poses[pose_index].ty);
double yaw_diff = fabs(last_yaw_ - yaw);
last_yaw_ = yaw;
yaw_diff = yaw_diff < 180 ? yaw_diff : 360 - yaw_diff;
double xdiff = poses[pose_index].tx - poses[pose_index - 1].tx;
double ydiff = poses[pose_index].ty - poses[pose_index - 1].ty;
double zdiff = poses[pose_index].tz - poses[pose_index - 1].tz;
double dist = std::sqrt(xdiff * xdiff + ydiff * ydiff + zdiff * zdiff);
double during =
poses[pose_index].time_stamp - poses[pose_index - 1].time_stamp;
if (during < 0) {
AINFO << "skip back pose is bad pose";
return false;
}
double vel = dist / during;
AINFO << poses[pose_index].time_stamp << ", yaw_diff:" << yaw_diff
<< ", dist: " << dist << ", during: " << during << ", vel: " << vel;
if (yaw_diff > sp_conf_->eight_angle && vel > sp_conf_->eight_vel) {
return true;
}
return false;
}
double EightRoute::GetGoodPoseDuring() {
if (sp_good_pose_info_ == nullptr || sp_good_pose_info_->start_time < 0 ||
sp_good_pose_info_->end_time < 0) {
return 0.0;
}
return sp_good_pose_info_->end_time - sp_good_pose_info_->start_time;
}
double EightRoute::GetEightRouteProgress(const std::vector<FramePose>& poses) {
int size = static_cast<int>(poses.size());
int start_index = TimeToIndex(poses, start_time_);
// select first good pose
while (start_index < size) {
if (IsGoodPose(poses, start_index) &&
IsEightRoutePose(poses, start_index)) {
AINFO << "find first good pose.index:" << start_index;
break;
}
++start_index;
}
if (start_index >= size) {
AINFO << "not find first good pose, start_time: " << start_time_
<< ", start_index: " << start_index << ", pose size: " << size;
return 0.0;
}
if (start_index + 1 >= size) {
AINFO << "not have enough poses, wait for a moment";
return 0.0;
}
last_yaw_ = GetYaw(poses[start_index].tx, poses[start_index].ty,
poses[start_index + 1].tx, poses[start_index + 1].ty);
int not_eight_count = 0;
for (int i = start_index + 2; i < size; ++i) {
if (!IsGoodPose(poses, i)) {
AINFO << "not good pose";
return 0.0;
}
if (!IsEightRoutePose(poses, i)) {
++not_eight_count;
AINFO << "not eight route pose";
if (not_eight_count > sp_conf_->eight_bad_pose_tolerance) {
AINFO << "not-eight pose count reached upper limitation";
return_state_ = ErrorCode::ERROR_NOT_EIGHT_ROUTE;
return 0.0;
}
} else {
not_eight_count = 0;
}
AINFO << "good pose";
UpdateGoodPoseInfo(poses[i]);
// ClearBadPoseInfo();
}
double eight_route_during = GetGoodPoseDuring();
if (eight_route_during < 1e-8) {
AINFO << "num of eight route good pose too small, during: "
<< eight_route_during;
return_state_ = ErrorCode::SUCCESS;
return 0.0;
}
return_state_ = ErrorCode::SUCCESS;
double progress = eight_route_during / sp_conf_->eight_duration;
if (progress >= 1.0) {
progress = 1.0;
}
ClearGoodPoseInfo();
return progress;
}
ErrorCode EightRoute::Process(const std::vector<FramePose>& poses) {
AINFO << "[EightRoute::process] begin";
size_t size = poses.size();
if (size <= 1) {
return_state_ = ErrorCode::ERROR_VERIFY_NO_GNSSPOS;
return return_state_;
}
progress_ = GetEightRouteProgress(poses);
if (return_state_ != ErrorCode::SUCCESS) {
AINFO << "get_eight_route_progress failed.";
return return_state_;
}
if (progress_ < last_progress_) {
return_state_ = ErrorCode::ERROR_NOT_EIGHT_ROUTE;
return return_state_;
}
AINFO << "[EightRoute::process] end, progress:" << progress_;
return_state_ = ErrorCode::SUCCESS;
return return_state_;
}
double EightRoute::GetProgress() const { return progress_; }
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/worker_gflags.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/worker_gflags.h"
namespace apollo {
namespace hdmap {
// Server address
DEFINE_string(map_datachecker_host, "127.0.0.1", "the grpc server host");
DEFINE_string(map_datachecker_port, "50100", "the grpc server port");
// Cybertron topics
DEFINE_string(topic_bestgnsspos, "/apollo/sensor/gnss/best_pose", "");
// configure file
DEFINE_string(conf_json,
"/apollo/modules/map/tools/map_datachecker/server/conf/"
"map-datachecker.json",
"configure file");
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/worker_agent.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 <utility>
#include <vector>
#include "grpc++/grpc++.h"
#include "modules/map/tools/map_datachecker/proto/collection_service.grpc.pb.h"
#include "modules/map/tools/map_datachecker/proto/collection_service.pb.h"
#include "modules/map/tools/map_datachecker/server/alignment_agent.h"
#include "modules/map/tools/map_datachecker/server/channel_verify_agent.h"
#include "modules/map/tools/map_datachecker/server/common.h"
#include "modules/map/tools/map_datachecker/server/loops_verify_agent.h"
#include "modules/map/tools/map_datachecker/server/pose_collection.h"
namespace apollo {
namespace hdmap {
class MapDataCheckerAgent final
: public std::enable_shared_from_this<MapDataCheckerAgent>,
public CollectionCheckerService::Service {
public:
using STATIC_ALIGN_AGENT_TYPE =
AlignmentAgent<StaticAlign, StaticAlignRequest, StaticAlignResponse>;
using EIGHT_ROUTE_AGENT_TYPE =
AlignmentAgent<EightRoute, EightRouteRequest, EightRouteResponse>;
public:
MapDataCheckerAgent();
inline std::shared_ptr<MapDataCheckerAgent> GetWorkerAgent() {
return shared_from_this();
}
std::shared_ptr<PoseCollectionAgent> GetSpPoseCollectionAgent();
grpc::Status ServiceChannelVerify(grpc::ServerContext *context,
ChannelVerifyRequest *request,
ChannelVerifyResponse *response);
grpc::Status ServiceStaticAlign(grpc::ServerContext *context,
StaticAlignRequest *request,
StaticAlignResponse *response);
grpc::Status ServiceEightRoute(grpc::ServerContext *context,
EightRouteRequest *request,
EightRouteResponse *response);
grpc::Status ServiceLoopsVerify(grpc::ServerContext *context,
LoopsVerifyRequest *request,
LoopsVerifyResponse *response);
private:
std::shared_ptr<JsonConf> sp_conf_ = nullptr;
std::shared_ptr<PoseCollectionAgent> sp_pose_collection_agent_ = nullptr;
std::shared_ptr<ChannelVerifyAgent> sp_channel_checker_agent_ = nullptr;
std::shared_ptr<STATIC_ALIGN_AGENT_TYPE> sp_static_align_agent_ = nullptr;
std::shared_ptr<EIGHT_ROUTE_AGENT_TYPE> sp_eight_route_agent_ = nullptr;
std::shared_ptr<LoopsVerifyAgent> sp_loops_verify_agent_ = 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/channel_verify.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.h"
#include <unordered_map>
#include <boost/algorithm/string/classification.hpp>
#include <boost/algorithm/string/split.hpp>
#include <boost/filesystem.hpp>
#include "cyber/cyber.h"
#include "cyber/proto/record.pb.h"
#include "cyber/record/record_viewer.h"
namespace apollo {
namespace hdmap {
ChannelVerify::ChannelVerify(std::shared_ptr<JsonConf> sp_conf)
: sp_conf_(sp_conf) {
Reset();
}
void ChannelVerify::Reset() {
return_state_ = ErrorCode::SUCCESS;
checked_records_.clear();
sp_vec_check_result_ =
std::make_shared<std::vector<OneRecordChannelCheckResult>>();
}
ErrorCode ChannelVerify::Check(
const std::string& record_dir_or_record_full_path) {
std::vector<std::string> records_path;
records_path = GetRecordsPath(record_dir_or_record_full_path);
if (records_path.empty()) {
AINFO << "have no data file to check";
return_state_ = ErrorCode::ERROR_VERIFY_NO_RECORDERS;
return return_state_;
}
IncrementalCheck(records_path);
return_state_ = ErrorCode::SUCCESS;
return return_state_;
}
std::shared_ptr<std::vector<OneRecordChannelCheckResult>>
ChannelVerify::get_check_result() const {
return sp_vec_check_result_;
}
int ChannelVerify::IncrementalCheck(
const std::vector<std::string>& records_path) {
std::vector<std::string> not_check_records_path;
AINFO << "all records path:";
for (size_t i = 0; i < records_path.size(); ++i) {
AINFO << "[" << i << "]: " << records_path[i];
if (IsRecordFile(records_path[i]) && !IsRecordChecked(records_path[i])) {
not_check_records_path.push_back(records_path[i]);
}
}
AINFO << "not_check_records_path:";
for (size_t i = 0; i < not_check_records_path.size(); ++i) {
AINFO << "[" << i << "]: " << not_check_records_path[i];
OneRecordChannelCheckResult check_result =
CheckRecordChannels(not_check_records_path[i]);
if (check_result.record_path.empty()) {
continue;
}
sp_vec_check_result_->push_back(check_result);
}
return 0;
}
bool ChannelVerify::IsRecordFile(const std::string& record_path) const {
if (!boost::filesystem::exists(record_path)) {
AINFO << "path [" << record_path << "] does not exist";
return false;
}
if (!boost::filesystem::is_regular_file(record_path)) {
AINFO << "path [" << record_path << "] is not a regular file";
return false;
}
// To avoid disk overhead caused by opening files twice, the real
// file checking is placed in the function [ChannelVerify::get_record_info]
return true;
}
std::vector<std::string> ChannelVerify::GetRecordsPath(
const std::string& record_dir_or_record_full_path) const {
// record_dir_or_record_full_path is record fullpath or
// directory which contains some records
std::vector<std::string> records_path;
// 1. check record_dir_or_record_full_path is valid or not
boost::filesystem::path path(record_dir_or_record_full_path);
if (!boost::filesystem::exists(path)) {
AINFO << "record path [" << record_dir_or_record_full_path
<< "] does not exist";
return records_path;
}
if (IsRecordFile(record_dir_or_record_full_path)) {
records_path.push_back(record_dir_or_record_full_path);
} else if (boost::filesystem::is_directory(path)) {
using dit_t = boost::filesystem::directory_iterator;
dit_t end;
for (dit_t it(record_dir_or_record_full_path); it != end; ++it) {
if (IsRecordFile(it->path().string())) {
records_path.push_back(it->path().string());
}
}
}
return records_path;
}
bool ChannelVerify::IsRecordChecked(const std::string& record_path) {
return !checked_records_.insert(record_path).second;
}
std::shared_ptr<CyberRecordInfo> ChannelVerify::GetRecordInfo(
const std::string& record_path) const {
if (!IsRecordFile(record_path)) {
AINFO << "get_record_info failed.[" << record_path
<< "] is not record file";
return nullptr;
}
std::shared_ptr<CyberRecordInfo> sp_record_info(new CyberRecordInfo);
std::shared_ptr<apollo::cyber::record::RecordReader> sp_reader =
std::make_shared<apollo::cyber::record::RecordReader>(record_path);
if (sp_reader == nullptr || !sp_reader->IsValid()) {
AINFO << "open record [" << record_path << "] failed";
return nullptr;
}
std::shared_ptr<apollo::cyber::record::RecordViewer> sp_viewer(
new apollo::cyber::record::RecordViewer(sp_reader));
sp_record_info->path = record_path;
sp_record_info->start_time = sp_viewer->begin_time();
sp_record_info->end_time = sp_viewer->end_time();
sp_record_info->duration =
static_cast<double>((sp_viewer->end_time() - sp_viewer->begin_time())) /
1e9;
std::set<std::string> channel_list = sp_reader->GetChannelList();
for (auto it = channel_list.begin(); it != channel_list.end(); ++it) {
const std::string& channel_name = *it;
CyberRecordChannel channel;
channel.channel_name = channel_name;
channel.msgnum = sp_reader->GetMessageNumber(channel_name);
channel.msg_type = sp_reader->GetMessageType(channel_name);
sp_record_info->channels.push_back(channel);
}
return sp_record_info;
}
OneRecordChannelCheckResult ChannelVerify::CheckRecordChannels(
const std::string& record_path) {
OneRecordChannelCheckResult check_result;
std::shared_ptr<CyberRecordInfo> sp_record_info = GetRecordInfo(record_path);
if (sp_record_info == nullptr) {
return check_result;
}
std::vector<CyberRecordChannel>& channels = sp_record_info->channels;
std::vector<std::pair<std::string, double>>& topic_list =
sp_conf_->topic_list;
check_result.record_path = record_path;
check_result.start_time = sp_record_info->start_time;
for (size_t i = 0; i < topic_list.size(); ++i) {
std::string& channel_in_list = topic_list[i].first;
double channel_expected_rate = topic_list[i].second;
bool channel_in_list_found = false;
size_t j = 0;
for (j = 0; j < channels.size(); ++j) {
std::string& channel_in_record = channels[j].channel_name;
if (channel_in_record == channel_in_list) {
channel_in_list_found = true;
break;
}
}
if (!channel_in_list_found) { // topic
AINFO << record_path << " lacks [" << channel_in_list << "]";
check_result.lack_channels.push_back(channel_in_list);
} else { // rate
double actual_rate =
static_cast<double>((channels[j].msgnum)) / sp_record_info->duration;
if (actual_rate < 1e-8) {
actual_rate = 0.0;
AINFO << "msgnum:" << channels[j].msgnum
<< ",duration:" << sp_record_info->duration;
}
AINFO << record_path << " [" << channel_in_list
<< "] expected rate: " << channel_expected_rate
<< ", actual rate: " << actual_rate;
if (actual_rate <
channel_expected_rate * sp_conf_->topic_rate_tolerance) {
check_result.inadequate_rate[channel_in_list] =
std::make_pair(channel_expected_rate, actual_rate);
}
}
}
return check_result;
}
ErrorCode ChannelVerify::GetReturnState() const { return 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/worker_cyber_node.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/worker_cyber_node.h"
#include <memory>
#include <string>
#include "modules/map/tools/map_datachecker/server/worker_agent.h"
#include "modules/map/tools/map_datachecker/server/worker_gflags.h"
constexpr double kRADIANS_TO_DEGREES = 180.0 / M_PI;
constexpr double kDEGRESS_TO_RADIANS = M_PI / 180.0;
namespace apollo {
namespace hdmap {
MapDataCheckerCyberNode::MapDataCheckerCyberNode(
std::shared_ptr<MapDataCheckerAgent> agent, bool *init_success) {
if (!agent) {
AFATAL << "MapDataCheckerAgent pointer is nullptr";
*init_success = false;
return;
}
agent_ = agent->GetWorkerAgent();
node_ = apollo::cyber::CreateNode(std::string("cybernode_map_datachecker"));
if (!node_) {
AFATAL << "Create cybertron node failed.";
*init_success = false;
return;
}
// Readers
CreateChannelSubscriber();
*init_success = true;
AINFO << "map-datachecker cyber node create successfully";
}
int MapDataCheckerCyberNode::CreateChannelSubscriber() {
AINFO << "create bestgnsspos reader, topic: " << FLAGS_topic_bestgnsspos;
bestgnsspos_reader_ = node_->CreateReader<GnssBestPose_t>(
FLAGS_topic_bestgnsspos,
[this](const std::shared_ptr<const GnssBestPose_t> &msg) {
agent_->GetSpPoseCollectionAgent()->OnBestgnssposCallback(msg);
});
if (!bestgnsspos_reader_) {
AFATAL << "create bestgnsspos reader error";
return -1;
}
return 0;
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/static_align.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/alignment.h"
#include "modules/map/tools/map_datachecker/server/common.h"
namespace apollo {
namespace hdmap {
enum class StaticAlignDetectMethod {
RANSAC,
DYNAMIC_CENTROID,
};
typedef struct Point3d {
Point3d() : x(0.0), y(0.0), z(0.0) {}
double x, y, z;
} Point3d;
typedef struct Centroid3D {
Centroid3D() : count(0), start_time(0.0), end_time(0.0) {}
Point3d center;
int count;
double start_time, end_time;
} Centroid3D;
class StaticAlign : public Alignment {
public:
explicit StaticAlign(std::shared_ptr<JsonConf> sp_conf);
ErrorCode Process(const std::vector<FramePose>& poses);
private:
void Reset();
double GetStaticAlignProgress(const std::vector<FramePose>& poses);
double StaticAlignRansac(const std::vector<FramePose>& poses);
double StaticAlignDynamicCentroid(const std::vector<FramePose>& poses);
double GetCentroidTimeDuring();
void UpdateDynamicCentroid(const FramePose& pose);
bool IsStaticPose(const FramePose& pose);
void UpdateGoodPoseInfo(const FramePose& pose);
private:
StaticAlignDetectMethod static_align_detect_method_;
Centroid3D dynamic_centroid_;
};
} // 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.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.h"
namespace apollo {
namespace hdmap {
PoseCollection::PoseCollection(std::shared_ptr<JsonConf> sp_conf) {
sp_conf_ = sp_conf;
Reset();
}
void PoseCollection::Reset() {
sp_poses_ = std::make_shared<std::vector<FramePose>>();
}
void PoseCollection::Collect(const FramePose& pose) {
if (sp_poses_ == nullptr) {
sp_poses_ = std::make_shared<std::vector<FramePose>>();
}
sp_poses_->push_back(pose);
}
std::shared_ptr<std::vector<FramePose>> PoseCollection::GetPoses() const {
return sp_poses_;
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/worker.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 <string>
#include "grpc++/grpc++.h"
namespace apollo {
namespace hdmap {
class Mapdatachecker {
public:
Mapdatachecker() {}
~Mapdatachecker() {}
bool Init();
bool Start();
bool Stop();
void Report();
private:
std::string grpc_address_;
};
} // 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_agent.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 <mutex>
#include <vector>
#include "modules/common_msgs/sensor_msgs/gnss_best_pose.pb.h"
#include "modules/map/tools/map_datachecker/server/common.h"
#include "modules/map/tools/map_datachecker/server/pj_transformer.h"
#include "modules/map/tools/map_datachecker/server/pose_collection.h"
namespace apollo {
namespace hdmap {
class PoseCollectionAgent {
public:
explicit PoseCollectionAgent(std::shared_ptr<JsonConf> sp_conf);
void OnBestgnssposCallback(
const std::shared_ptr<const apollo::drivers::gnss::GnssBestPose>
&bestgnsspos);
std::shared_ptr<std::vector<FramePose>> GetPoses() const;
private:
void Reset();
private:
std::mutex mutex_;
std::shared_ptr<PoseCollection> sp_pose_collection_ = nullptr;
std::shared_ptr<JsonConf> sp_conf_ = nullptr;
std::shared_ptr<PJTransformer> sp_pj_transformer_ = 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/common.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 <cmath>
#include <ctime>
#include <iostream>
#include <memory>
#include <set>
#include <string>
#include <utility>
#include <vector>
#include <boost/filesystem.hpp>
#include <boost/property_tree/json_parser.hpp>
#include <boost/property_tree/ptree.hpp>
#include "cyber/cyber.h"
namespace apollo {
namespace hdmap {
constexpr double kRADIANS_TO_DEGREES = 180.0 / M_PI;
constexpr double kDEGRESS_TO_RADIANS = M_PI / 180.0;
typedef unsigned char uchar;
struct FramePose {
double time_stamp; // unix time
double tx, ty, tz;
double qx, qy, qz, qw;
double latitude, longitude, altitude;
double velx, vely, velz;
double roll, pitch, azimuth;
unsigned int ins_status;
unsigned int solution_status;
unsigned int position_type;
float diff_age;
double local_std;
};
enum class State { IDLE, RUNNING };
struct JsonConf {
std::vector<std::pair<std::string, double>> topic_list;
bool use_system_time;
double topic_rate_tolerance;
unsigned int solution_status;
std::set<unsigned int> position_type_range;
std::pair<float, float> diff_age_range;
double local_std_upper_limit;
/*Period of channel check trigger. The unit is seconds.*/
int channel_check_trigger_gap;
/*Period of alignment, The unit is seconds.
Eight route maneuver is also included in the alignment process.*/
int alignment_featch_pose_sleep;
/*the time that static alignment must last. The unit is seconds.*/
double static_align_duration;
/*the maximum time that bad pose included in static alignment.
The unit is seconds.*/
double static_align_tolerance;
/*Maximum Motion Distance Tolerated by Static Alignment*/
double static_align_dist_thresh;
/*Angle threshold between adjacent frames in eight route. The unit is degree*/
double eight_angle;
/*the time that eight route must last，The unit is seconds.*/
double eight_duration;
/*Minimum speed should be achieved in eight route*/
double eight_vel;
/*The tolerance of bad pose in eight route. The unit is frame*/
int eight_bad_pose_tolerance;
/*Minimum frame number threshold for acquisition of multiple loops*/
int laps_frames_thresh;
/*The angle error of adjacent poses on the same trajectory should not be
greater than alpha_err_thresh. The unit is degree*/
double laps_alpha_err_thresh;
/*The time stamp interval of adjacent poses on the same track should not be
greater than time_err_thresh. The unit is minutes.*/
double laps_time_err_thresh;
/*The diameter of the searched square area*/
int laps_search_diameter;
/*loops to check*/
size_t laps_number;
/*additional loops to check*/
int laps_number_additional;
/*Proportional thresholds for all required points
in acquisition cycle checking*/
double laps_rate_thresh;
};
std::shared_ptr<JsonConf> ParseJson(std::string conf_path);
inline double GetYaw(double from_x, double from_y, double to_x, double to_y) {
double vecx = to_x - from_x;
double vecy = to_y - from_y;
double alpha = acos(vecy / sqrt(vecx * vecx + vecy * vecy));
if (vecx < 0) {
alpha = 2 * M_PI - alpha;
}
return kRADIANS_TO_DEGREES * alpha;
}
inline double UnixNow() { return apollo::cyber::Time::Now().ToSecond(); }
} // 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.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/laps_checker.h"
#include <algorithm>
#include <cmath>
#include <fstream>
#include <iostream>
#include <limits>
#include <boost/property_tree/json_parser.hpp>
#include <boost/property_tree/ptree.hpp>
namespace apollo {
namespace hdmap {
LapsChecker::LapsChecker(const std::vector<FramePose> &poses, int laps_to_check,
std::shared_ptr<JsonConf> sp_conf)
: poses_(poses), sp_conf_(sp_conf) {
laps_to_check_ = laps_to_check;
maxx_ = 0.0;
maxy_ = 0.0;
minx_ = 0.0;
miny_ = 0.0;
possible_max_laps_ = (laps_to_check_ + 1) * 10;
confidence_.resize(possible_max_laps_ + 1, 0.0);
finished_ = false;
return_state_ = ErrorCode::SUCCESS;
AINFO << "instance has " << poses.size() << " poses";
AINFO << "confidence size: " << possible_max_laps_ + 1;
}
int LapsChecker::SetProgress(double p) {
progress_ = p;
return 0;
}
double LapsChecker::GetProgress() const { return progress_; }
size_t LapsChecker::GetLap() const { return lap_; }
double LapsChecker::GetConfidence() {
double res = 0.0;
lap_ = laps_to_check_;
for (size_t i = 0; i < confidence_.size(); ++i) {
AINFO << "confidence[" << i << "]: " << confidence_[i];
}
AINFO << "laps to check: " << laps_to_check_;
for (size_t i = laps_to_check_; i < confidence_.size(); ++i) {
res += confidence_[i];
}
AINFO << "current confidence: " << res
<< ",confidence thresh:" << sp_conf_->laps_rate_thresh;
if (res < sp_conf_->laps_rate_thresh) {
if (confidence_.empty()) {
AINFO << "some problems induce lap problem";
return 0.0;
}
res = confidence_[0];
lap_ = 0;
for (size_t i = 1; i < confidence_.size(); ++i) {
if (i == laps_to_check_) {
continue;
}
if (confidence_[i] > res) {
lap_ = i;
res = confidence_[i];
}
}
}
return res;
}
ErrorCode LapsChecker::Check() {
if (poses_.empty()) {
return_state_ = ErrorCode::ERROR_VERIFY_NO_GNSSPOS;
return return_state_;
}
DoCheck();
finished_ = true;
return return_state_;
}
void LapsChecker::DoCheck() {
AINFO << "do_check";
SetProgress(0.0);
int ret = 0;
AINFO << "check->check_params";
ret = CheckParams();
if (ret < 0) {
AINFO << "check_params failed";
}
SetProgress(0.1);
AINFO << "check->setup_grids_map";
ret = SetupGridsMap();
if (ret < 0) {
AINFO << "setup_grids_map failed";
}
SetProgress(0.5);
AINFO << "check->setup_grids_map done";
AINFO << "check->check_laps";
ret = CheckLaps();
if (ret < 0) {
AINFO << "check_laps failed";
}
SetProgress(1.0);
AINFO << "check->check_laps done";
AINFO << "do_check done";
}
int LapsChecker::CheckParams() {
int n_pose = static_cast<int>(poses_.size());
if (n_pose < sp_conf_->laps_frames_thresh) {
return -1;
}
return 0;
}
int LapsChecker::SetupGridsMap() {
AINFO << "setup_grids_map->get_min_max";
GetMinMax();
AINFO << "setup_grids_map->do_setup_grids_map";
int ret = DoSetupGridsMap();
if (ret < 0) {
AINFO << "do_setup_grids_map failed";
return -1;
}
AINFO << "setup_grids_map done";
return 0;
}
int LapsChecker::CheckLaps() {
int height = static_cast<int>(grids_map_.size());
if (height <= 2 || height > 1000000) {
AINFO << "grids_map_ size error. height = " << height;
return -1;
}
int width = static_cast<int>(grids_map_[0].size());
if (width <= 2 || width >= 1000000) {
AINFO << "grids_map_ size error. width = " << width;
return -1;
}
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
Grid &grid = grids_map_[y][x];
size_t t_size = grid.size();
if (t_size == 0) {
continue;
}
for (size_t i = 0; i < t_size; ++i) {
std::vector<double> stamps;
GatherTimestamps(&stamps, grid[i].alpha, x, y);
if (stamps.empty()) {
continue;
}
std::sort(stamps.begin(), stamps.end());
double thresh_in_sec = sp_conf_->laps_time_err_thresh * 60;
size_t segment = 1;
for (size_t j = 1; j < stamps.size(); ++j) {
if (stamps[j] - stamps[j - 1] > thresh_in_sec) {
segment++;
}
}
if (segment <= possible_max_laps_) {
confidence_[segment] += 1;
}
}
}
}
double all = 0.0;
for (size_t i = 0; i < confidence_.size(); ++i) {
all += confidence_[i];
}
if (all == 0.0) {
AINFO << "there seems no poses";
return -1;
}
AINFO << "confidence size: " << confidence_.size();
for (size_t i = 0; i < confidence_.size(); ++i) {
confidence_[i] /= all;
}
return 0;
}
int LapsChecker::GatherTimestamps(std::vector<double> *sp_stamps, double alpha,
int center_x, int center_y) {
int search_d = sp_conf_->laps_search_diameter;
if ((search_d & 1) == 0) {
AINFO << "laps_search_diameter should be an odd";
return -1;
}
int search_r = (search_d >> 1);
size_t height = grids_map_.size(), width = grids_map_[0].size();
std::vector<double> &stamps = *sp_stamps;
stamps.clear();
const size_t start_y = std::max(0, center_y - search_r);
const size_t end_y =
std::min(static_cast<int>(height) - 1, center_y + search_r);
const size_t start_x = std::max(0, center_x - search_r);
const size_t end_x =
std::min(static_cast<int>(width) - 1, center_x + search_r);
for (size_t y = start_y; y <= end_y; y++) {
for (size_t x = start_x; x <= end_x; x++) {
Grid &grid = grids_map_[y][x];
for (size_t i = 0; i < grid.size(); ++i) {
if (std::abs(alpha - grid[i].alpha) < sp_conf_->laps_alpha_err_thresh) {
std::vector<int> &idxs = grid[i].idxs;
for (size_t j = 0; j < idxs.size(); ++j) {
if (idxs[j] >= static_cast<int>(poses_.size())) {
AINFO << "index error, index: " << idxs[j]
<< ", pose size: " << poses_.size();
} else {
stamps.push_back(poses_[idxs[j]].time_stamp);
}
}
}
}
}
}
return 0;
}
int LapsChecker::GetMinMax() {
minx_ = std::numeric_limits<double>::max();
miny_ = std::numeric_limits<double>::max();
maxx_ = std::numeric_limits<double>::min();
maxy_ = std::numeric_limits<double>::min();
size_t size = poses_.size();
AINFO << "get_min_max pose size: " << size;
for (size_t i = 0; i < size; ++i) {
double tx = poses_[i].tx, ty = poses_[i].ty;
if (tx < minx_) {
minx_ = tx;
}
if (tx > maxx_) {
maxx_ = tx;
}
if (ty < miny_) {
miny_ = ty;
}
if (ty > maxy_) {
maxy_ = ty;
}
}
return 0;
}
int LapsChecker::DoSetupGridsMap() {
size_t width = size_t(maxx_ - minx_ + 1);
size_t height = size_t(maxy_ - miny_ + 1);
AINFO << "grid map width: " << width << ", height: " << height;
size_t size = poses_.size();
if (1 >= size || 0 == height || 0 == width || height > 1000000 ||
width > 1000000) {
AINFO << "pose size: " << size << ", height: " << height
<< ", width: " << width;
AINFO << "pose size error or grid map size error";
return -1;
}
grids_map_.resize(height);
for (size_t i = 0; i < height; ++i) {
grids_map_[i].resize(width);
}
// first pose can not be used
for (size_t i = 1; i < size; ++i) {
int x = static_cast<int>(poses_[i].tx - minx_);
int y = static_cast<int>(poses_[i].ty - miny_);
PutPoseToGrid(static_cast<int>(i), y, x);
PutPoseToNeighborGrid(static_cast<int>(i));
}
return 0;
}
double LapsChecker::CalcAlpha(int pose_index) {
double vecx = poses_[pose_index].tx - poses_[pose_index - 1].tx;
double vecy = poses_[pose_index].ty - poses_[pose_index - 1].ty;
double alpha = acos(vecx / sqrt(vecx * vecx + vecy * vecy)) * 180 / M_PI;
if (alpha > 0) {
return alpha;
}
return 360 + alpha;
}
int LapsChecker::PutPoseToGrid(int pose_index, int grid_y, int grid_x) {
if (pose_index <= 0) {
return 0;
}
double alpha = CalcAlpha(pose_index);
if (std::isnan(alpha)) {
AERROR << "ignore static pose " << pose_index;
return 0;
}
Grid &grid = grids_map_[grid_y][grid_x];
size_t t_size = grid.size();
for (size_t j = 0; j < t_size; ++j) {
if (std::abs(alpha - grid[j].alpha) < sp_conf_->laps_alpha_err_thresh) {
grid[j].idxs.push_back(pose_index);
grid[j].alpha = (grid[j].alpha + alpha) / 2;
return 0;
}
}
GridMeta gm;
gm.alpha = alpha;
gm.idxs = {pose_index};
grid.push_back(gm);
return 0;
}
int LapsChecker::PutPoseToNeighborGrid(int pose_index) {
if (pose_index <= 0) {
return 0;
}
std::vector<int> x, y;
GetPassedGrid(pose_index, &x, &y);
for (size_t i = 0; i < x.size(); ++i) {
PutPoseToGrid(pose_index, y[i], x[i]);
}
return 0;
}
int LapsChecker::GetPassedGrid(int pose_index, std::vector<int> *sp_grid_x,
std::vector<int> *sp_grid_y) {
if (pose_index <= 0) {
return 0;
}
std::vector<int> &grid_x = *sp_grid_x;
std::vector<int> &grid_y = *sp_grid_y;
grid_x.clear();
grid_y.clear();
double x = poses_[pose_index].tx - minx_;
double y = poses_[pose_index].ty - miny_;
double last_x = poses_[pose_index - 1].tx - minx_;
double last_y = poses_[pose_index - 1].ty - miny_;
if (std::abs(x - last_x) < 1e-6) { // current trace is vertical
int start_y = static_cast<int>(std::min(y, last_y)) + 1;
int end_y = static_cast<int>(std::max(y, last_y));
int start_x = static_cast<int>(x);
while ((start_y++) < end_y) {
grid_x.push_back(start_x);
grid_y.push_back(start_y);
}
} else if (std::abs(y - last_y) < 1e-6) { // current trace is horizontal
int start_x = static_cast<int>(std::min(x, last_x));
int end_x = static_cast<int>(std::max(x, last_x));
int start_y = static_cast<int>(y);
while ((++start_x) < end_x) {
grid_x.push_back(start_x);
grid_y.push_back(start_y);
}
} else {
double k = Slope(last_x, last_y, x, y);
if (k > 99999999.0) {
AERROR << "slope error";
return -1;
}
int steps = static_cast<int>(std::abs(last_x - x));
int step = 0;
double xx = 0.0, yy = 0.0;
if (x < last_x) {
xx = x, yy = y;
} else {
xx = last_x, yy = last_y;
}
while ((step++) < steps) {
xx = xx + 1;
yy = yy + k;
grid_x.push_back(static_cast<int>(xx));
grid_y.push_back(static_cast<int>(yy));
}
}
return 0;
}
double LapsChecker::Slope(double x1, double y1, double x2, double y2) {
if (std::abs(x1 - x2) < 1e-6) {
return std::numeric_limits<double>::max();
}
if (std::abs(y1 - y2) < 1e-6) {
return 0.0;
}
return (y2 - y1) / (x2 - x1);
}
ErrorCode LapsChecker::GetReturnState() { return 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/static_align.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/static_align.h"
#include <vector>
namespace apollo {
namespace hdmap {
StaticAlign::StaticAlign(std::shared_ptr<JsonConf> sp_conf)
: Alignment(sp_conf) {
sp_conf_ = sp_conf;
static_align_detect_method_ = StaticAlignDetectMethod::DYNAMIC_CENTROID;
Reset();
}
void StaticAlign::Reset() {
progress_ = 0.0;
last_progress_ = 0.0;
start_time_ = -1.0;
end_time_ = -1.0;
start_index_ = -1;
end_index_ = -1;
sp_bad_pose_info_ = std::make_shared<BadOrGoodPoseInfo>();
sp_good_pose_info_ = std::make_shared<BadOrGoodPoseInfo>();
dynamic_centroid_ = Centroid3D();
}
bool StaticAlign::IsStaticPose(const FramePose& pose) {
if (dynamic_centroid_.count == 0) {
return true;
}
double move_dist_x = pose.tx - dynamic_centroid_.center.x;
double move_dist_y = pose.ty - dynamic_centroid_.center.y;
double move_dist_z = pose.tz - dynamic_centroid_.center.z;
double move_dist =
std::sqrt(move_dist_x * move_dist_x + move_dist_y * move_dist_y +
move_dist_z * move_dist_z);
AINFO << "dist thresh: " << sp_conf_->static_align_dist_thresh
<< ", dist: " << move_dist;
if (move_dist <= sp_conf_->static_align_dist_thresh) {
return true;
}
return false;
}
void StaticAlign::UpdateDynamicCentroid(const FramePose& pose) {
int count = dynamic_centroid_.count;
if (count == 0) {
dynamic_centroid_.start_time = pose.time_stamp;
} else {
dynamic_centroid_.end_time = pose.time_stamp;
}
AINFO << "cetroid start: " << dynamic_centroid_.start_time
<< ", end: " << dynamic_centroid_.end_time;
double x = dynamic_centroid_.center.x * count + pose.tx;
double y = dynamic_centroid_.center.y * count + pose.ty;
double z = dynamic_centroid_.center.z * count + pose.tz;
++count;
dynamic_centroid_.count = count;
dynamic_centroid_.center.x = x / count;
dynamic_centroid_.center.y = y / count;
dynamic_centroid_.center.z = z / count;
}
double StaticAlign::GetCentroidTimeDuring() {
if (dynamic_centroid_.start_time > 0 && dynamic_centroid_.end_time > 0) {
return dynamic_centroid_.end_time - dynamic_centroid_.start_time;
}
return 0.0;
}
void StaticAlign::UpdateGoodPoseInfo(const FramePose& pose) {
UpdateDynamicCentroid(pose);
}
double StaticAlign::StaticAlignDynamicCentroid(
const std::vector<FramePose>& poses) {
int start_index = TimeToIndex(poses, start_time_);
AINFO << "start_index:" << start_index << ",pose size:" << poses.size();
dynamic_centroid_ = Centroid3D();
for (int i = start_index + 1; i < static_cast<int>(poses.size()); ++i) {
if (!IsGoodPose(poses, i)) {
AINFO << "not good pose";
return_state_ = ErrorCode::ERROR_GNSS_SIGNAL_FAIL;
return 0.0;
}
if (!IsStaticPose(poses[i])) {
AINFO << "not static pose";
return_state_ = ErrorCode::ERROR_NOT_STATIC;
return 0.0;
}
UpdateGoodPoseInfo(poses[i]);
return_state_ = ErrorCode::SUCCESS;
}
double progress = GetCentroidTimeDuring() / sp_conf_->static_align_duration;
if (progress > 1.0) {
progress = 1.0;
}
return progress;
}
double StaticAlign::StaticAlignRansac(const std::vector<FramePose>& poses) {
// TODO(yuanyijun): implementation of selecting an center by RANSAC
return 0.0;
}
double StaticAlign::GetStaticAlignProgress(
const std::vector<FramePose>& poses) {
double progress = 0.0;
switch (static_align_detect_method_) {
case StaticAlignDetectMethod::DYNAMIC_CENTROID:
progress = StaticAlignDynamicCentroid(poses);
break;
case StaticAlignDetectMethod::RANSAC:
progress = StaticAlignRansac(poses);
break;
default:
break;
}
ClearGoodPoseInfo();
return progress;
}
ErrorCode StaticAlign::Process(const std::vector<FramePose>& poses) {
AINFO << "[StaticAlign::process] begin";
size_t size = poses.size();
if (size <= 1) {
AINFO << "system has no pose, exit process";
return_state_ = ErrorCode::ERROR_VERIFY_NO_GNSSPOS;
return return_state_;
}
progress_ = GetStaticAlignProgress(poses);
if (return_state_ != ErrorCode::SUCCESS) {
AINFO << "get_static_align_progress error, progress 0.0";
return return_state_;
}
AINFO << "[StaticAlign::process] end, progress:" << progress_;
return_state_ = ErrorCode::SUCCESS;
return 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/pj_transformer.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
#define ACCEPT_USE_OF_DEPRECATED_PROJ_API_H
#include <proj_api.h>
namespace apollo {
namespace hdmap {
class PJTransformer {
public:
explicit PJTransformer(int zone_id = 50);
~PJTransformer();
int LatlongToUtm(int64_t point_count, int point_offset, double *x, double *y,
double *z);
private:
projPJ pj_latlong_;
projPJ pj_utm_;
};
} // 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.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 <utility>
#include <vector>
#include "grpc++/grpc++.h"
#include "modules/map/tools/map_datachecker/proto/collection_service.pb.h"
#include "modules/map/tools/map_datachecker/server/laps_checker.h"
#include "modules/map/tools/map_datachecker/server/pose_collection_agent.h"
namespace apollo {
namespace hdmap {
enum class LoopsVerifyAgentState { IDLE, RUNNING };
class LoopsVerifyAgent {
public:
LoopsVerifyAgent(
std::shared_ptr<JsonConf> sp_conf,
std::shared_ptr<PoseCollectionAgent> sp_pose_collection_agent);
grpc::Status ProcessGrpcRequest(grpc::ServerContext *context,
LoopsVerifyRequest *request,
LoopsVerifyResponse *response);
private:
void StartVerify(LoopsVerifyRequest *request, LoopsVerifyResponse *response);
void CheckVerify(LoopsVerifyRequest *request, LoopsVerifyResponse *response);
void StopVerify(LoopsVerifyRequest *request, LoopsVerifyResponse *response);
std::shared_ptr<std::vector<std::pair<double, double>>> get_verify_range(
LoopsVerifyRequest *request);
size_t GetLoopsToCheck(LoopsVerifyRequest *request);
int GetPosesToCheck(
std::shared_ptr<std::vector<std::pair<double, double>>> sp_range,
std::vector<FramePose> *poses);
int DoStartVerify(
std::shared_ptr<std::vector<std::pair<double, double>>> sp_range,
double loops_to_check);
double GetRangeIndex(
std::shared_ptr<std::vector<std::pair<double, double>>> sp_range,
std::vector<bool> *range_index,
std::shared_ptr<std::vector<FramePose>> sp_vec_poses);
void SetState(LoopsVerifyAgentState state);
LoopsVerifyAgentState GetState();
private:
std::shared_ptr<JsonConf> sp_conf_ = nullptr;
std::shared_ptr<PoseCollectionAgent> sp_pose_collection_agent_ = nullptr;
std::shared_ptr<LapsChecker> sp_laps_checker_ = nullptr;
LoopsVerifyAgentState 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/BUILD | load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
cc_binary(
name = "map_datachecker_server",
srcs = ["main.cc"],
deps = [
":worker",
"//cyber",
],
)
cc_library(
name = "channel_verify",
srcs = ["channel_verify.cc"],
hdrs = ["channel_verify.h"],
deps = [
":common",
"//cyber",
"//modules/map/tools/map_datachecker/proto:collection_error_code_cc_proto",
"@boost",
],
)
cc_library(
name = "channel_verify_agent",
srcs = ["channel_verify_agent.cc"],
hdrs = ["channel_verify_agent.h"],
deps = [
":channel_verify",
"//modules/map/tools/map_datachecker/proto:collection_error_code_cc_proto",
"//modules/map/tools/map_datachecker/proto:collection_service_cc_grpc",
"@com_github_grpc_grpc//:grpc++",
],
)
cc_library(
name = "common",
srcs = ["common.cc"],
hdrs = ["common.h"],
deps = [
"//cyber",
"@boost",
],
)
cc_library(
name = "eight_route",
srcs = ["eight_route.cc"],
hdrs = [
"alignment.h",
"eight_route.h",
],
deps = [
":common",
":worker_gflags",
"//cyber",
"//modules/map/tools/map_datachecker/proto:collection_error_code_cc_proto",
"@com_github_grpc_grpc//:grpc++",
],
)
cc_library(
name = "laps_checker",
srcs = ["laps_checker.cc"],
hdrs = ["laps_checker.h"],
deps = [
":common",
"//modules/map/tools/map_datachecker/proto:collection_error_code_cc_proto",
"@boost",
],
)
cc_library(
name = "loops_verify_agent",
srcs = ["loops_verify_agent.cc"],
hdrs = ["loops_verify_agent.h"],
deps = [
":laps_checker",
":pose_collection_agent",
"//modules/map/tools/map_datachecker/proto:collection_service_cc_grpc",
"@com_github_grpc_grpc//:grpc++",
],
)
cc_library(
name = "pj_transformer",
srcs = ["pj_transformer.cc"],
hdrs = ["pj_transformer.h"],
deps = [
"//cyber",
"@proj",
],
)
cc_library(
name = "pose_collection",
srcs = ["pose_collection.cc"],
hdrs = ["pose_collection.h"],
deps = [
":common",
],
)
cc_library(
name = "pose_collection_agent",
srcs = ["pose_collection_agent.cc"],
hdrs = ["pose_collection_agent.h"],
deps = [
":common",
":pj_transformer",
":pose_collection",
"//cyber",
"//modules/common_msgs/sensor_msgs:gnss_best_pose_cc_proto",
],
)
cc_library(
name = "static_align",
srcs = ["static_align.cc"],
hdrs = [
"alignment.h",
"static_align.h",
],
deps = [
":common",
"//modules/map/tools/map_datachecker/proto:collection_error_code_cc_proto",
],
)
cc_library(
name = "worker",
srcs = ["worker.cc"],
hdrs = ["worker.h"],
deps = [
":eight_route",
":static_align",
":worker_agent",
":worker_cyber_node",
":worker_gflags",
"//cyber",
"@com_github_grpc_grpc//:grpc++",
],
)
cc_library(
name = "worker_agent",
srcs = ["worker_agent.cc"],
hdrs = [
"alignment_agent.h",
"worker_agent.h",
],
deps = [
":channel_verify_agent",
":common",
":eight_route",
":loops_verify_agent",
":pose_collection",
":static_align",
"//modules/map/tools/map_datachecker/proto:collection_error_code_cc_proto",
"//modules/map/tools/map_datachecker/proto:collection_service_cc_grpc",
"@com_github_grpc_grpc//:grpc++",
],
)
cc_library(
name = "worker_cyber_node",
srcs = ["worker_cyber_node.cc"],
hdrs = ["worker_cyber_node.h"],
deps = [
":worker_agent",
":worker_gflags",
"//cyber",
"//modules/common_msgs/sensor_msgs:gnss_best_pose_cc_proto",
"//modules/map/tools/map_datachecker/proto:collection_error_code_cc_proto",
"//modules/map/tools/map_datachecker/proto:collection_service_cc_grpc",
],
)
cc_library(
name = "worker_gflags",
srcs = ["worker_gflags.cc"],
hdrs = ["worker_gflags.h"],
deps = [
"@com_github_gflags_gflags//:gflags",
],
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/channel_verify.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 <set>
#include <string>
#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 CyberRecordChannel {
std::string channel_name;
uint64_t msgnum;
std::string msg_type;
};
struct CyberRecordInfo {
std::string path;
double duration; // the unit is seconds
uint64_t start_time;
uint64_t end_time;
std::vector<CyberRecordChannel> channels;
};
struct OneRecordChannelCheckResult {
std::string record_path;
uint64_t start_time = 0;
std::vector<std::string> lack_channels;
// inadequate_rate: channel_name <---> (expected_rate, actual_rate)
std::map<std::string, std::pair<double, double>> inadequate_rate;
};
typedef std::shared_ptr<std::vector<OneRecordChannelCheckResult>> CheckedResult;
typedef std::vector<OneRecordChannelCheckResult>::iterator CheckResultIterator;
class ChannelVerify {
public:
explicit ChannelVerify(std::shared_ptr<JsonConf> sp_conf);
ErrorCode Check(const std::string& record_dir_or_record_full_path);
std::shared_ptr<std::vector<OneRecordChannelCheckResult>> get_check_result()
const;
ErrorCode GetReturnState() const;
private:
bool IsRecordFile(const std::string& path) const;
std::shared_ptr<CyberRecordInfo> GetRecordInfo(
const std::string& record_path) const;
int IncrementalCheck(const std::vector<std::string>& records_path);
std::vector<std::string> GetRecordsPath(
const std::string& record_dir_or_record_full_path) const;
bool IsRecordChecked(const std::string& record_path);
OneRecordChannelCheckResult CheckRecordChannels(
const std::string& record_path);
void Reset();
private:
std::shared_ptr<JsonConf> sp_conf_ = nullptr;
CheckedResult sp_vec_check_result_ = nullptr;
ErrorCode return_state_;
std::set<std::string> checked_records_;
};
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/pj_transformer.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/pj_transformer.h"
#include <iostream>
#include <sstream>
#include "cyber/cyber.h"
namespace apollo {
namespace hdmap {
PJTransformer::PJTransformer(int zone_id) {
// init projPJ
std::stringstream stream;
stream << "+proj=utm +zone=" << zone_id << " +ellps=WGS84" << std::endl;
pj_utm_ = pj_init_plus(stream.str().c_str());
if (pj_utm_ == nullptr) {
AERROR << "proj4 init failed!" << stream.str() << std::endl;
return;
}
pj_latlong_ = pj_init_plus("+proj=latlong +ellps=WGS84");
if (pj_latlong_ == nullptr) {
AERROR << "proj4 pj_latlong init failed!";
return;
}
AINFO << "proj4 init success" << std::endl;
}
PJTransformer::~PJTransformer() {
if (pj_latlong_) {
pj_free(pj_latlong_);
pj_latlong_ = nullptr;
}
if (pj_utm_) {
pj_free(pj_utm_);
pj_utm_ = nullptr;
}
}
int PJTransformer::LatlongToUtm(int64_t point_count, int point_offset,
double *x, double *y, double *z) {
if (!pj_latlong_ || !pj_utm_) {
AERROR << "pj_latlong_:" << pj_latlong_ << "pj_utm_:" << pj_utm_
<< std::endl;
return -1;
}
return pj_transform(pj_latlong_, pj_utm_, point_count, point_offset, x, y, z);
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/worker.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/worker.h"
#include <memory>
#include "grpc++/grpc++.h"
#include "cyber/cyber.h"
#include "modules/map/tools/map_datachecker/server/worker_agent.h"
#include "modules/map/tools/map_datachecker/server/worker_cyber_node.h"
#include "modules/map/tools/map_datachecker/server/worker_gflags.h"
namespace apollo {
namespace hdmap {
bool Mapdatachecker::Init() {
grpc_address_ = FLAGS_map_datachecker_host + ":" + FLAGS_map_datachecker_port;
return true;
}
bool Mapdatachecker::Start() {
AINFO << "Mapdatachecker::Start";
Init();
AINFO << "creating agent";
std::shared_ptr<MapDataCheckerAgent> agent =
std::make_shared<MapDataCheckerAgent>();
AINFO << "creating node";
bool cyber_node_inited = false;
std::shared_ptr<MapDataCheckerCyberNode> cyber_node =
std::make_shared<MapDataCheckerCyberNode>(agent, &cyber_node_inited);
if (!cyber_node_inited) {
AFATAL << "Error in create MapDataCheckerCyberNode";
apollo::cyber::WaitForShutdown();
apollo::cyber::Clear();
return false;
}
AINFO << "register service";
grpc::ServerBuilder builder;
builder.AddListeningPort(grpc_address_, grpc::InsecureServerCredentials());
builder.RegisterService(agent.get());
std::unique_ptr<grpc::Server> server(builder.BuildAndStart());
AINFO << "Server listening on " << grpc_address_;
apollo::cyber::WaitForShutdown();
apollo::cyber::Clear();
return true;
}
bool Mapdatachecker::Stop() { return true; }
void Mapdatachecker::Report() {}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/worker_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/worker_agent.h"
#include <memory>
#include "grpc++/grpc++.h"
namespace apollo {
namespace hdmap {
MapDataCheckerAgent::MapDataCheckerAgent() {
sp_conf_ = ParseJson(FLAGS_conf_json);
assert(sp_conf_ != nullptr);
sp_pose_collection_agent_ = std::make_shared<PoseCollectionAgent>(sp_conf_);
sp_channel_checker_agent_ = std::make_shared<ChannelVerifyAgent>(sp_conf_);
sp_static_align_agent_ = std::make_shared<STATIC_ALIGN_AGENT_TYPE>(
sp_conf_, sp_pose_collection_agent_);
sp_eight_route_agent_ = std::make_shared<EIGHT_ROUTE_AGENT_TYPE>(
sp_conf_, sp_pose_collection_agent_);
sp_loops_verify_agent_ =
std::make_shared<LoopsVerifyAgent>(sp_conf_, sp_pose_collection_agent_);
AINFO << "MapDataCheckerAgent create successfully";
}
std::shared_ptr<PoseCollectionAgent>
MapDataCheckerAgent::GetSpPoseCollectionAgent() {
return sp_pose_collection_agent_;
}
grpc::Status MapDataCheckerAgent::ServiceChannelVerify(
grpc::ServerContext *context, ChannelVerifyRequest *request,
ChannelVerifyResponse *response) {
return sp_channel_checker_agent_->ProcessGrpcRequest(context, request,
response);
}
grpc::Status MapDataCheckerAgent::ServiceStaticAlign(
grpc::ServerContext *context, StaticAlignRequest *request,
StaticAlignResponse *response) {
return sp_static_align_agent_->ProcessGrpcRequest(context, request, response);
}
grpc::Status MapDataCheckerAgent::ServiceEightRoute(
grpc::ServerContext *context, EightRouteRequest *request,
EightRouteResponse *response) {
return sp_eight_route_agent_->ProcessGrpcRequest(context, request, response);
}
grpc::Status MapDataCheckerAgent::ServiceLoopsVerify(
grpc::ServerContext *context, LoopsVerifyRequest *request,
LoopsVerifyResponse *response) {
return sp_loops_verify_agent_->ProcessGrpcRequest(context, request, response);
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker/server | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/conf/map-datachecker.conf | --map_datachecker_host=127.0.0.1
--map_datachecker_port=50100
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker/server | apollo_public_repos/apollo/modules/map/tools/map_datachecker/server/conf/map-datachecker.json | {
"topic_list": {
"/apollo/sensor/gnss/best_pose": 0.9,
"/apollo/sensor/velodyne16/VelodyneScanUnified": 9.0,
"/apollo/sensor/velodyne64/VelodyneScanUnified": 9.0,
"/apollo/sensor/camera/traffic/image_short": 6.0,
"/apollo/sensor/camera/traffic/image_long": 6.0,
"/apollo/sensor/gnss/odometry": 99
},
"use_system_time": false,
"topic_rate_tolerance": 1.0,
"channel_check_trigger_gap": 60,
"solution_status": 0,
"position_type": [48, 49, 50],
"diff_age": [0, 60],
"local_std_upper_limit": 0.15,
"alignment_featch_pose_sleep": 1,
"static_align_duration": 30,
"static_align_tolerance": 5,
"static_align_dist_thresh": 0.15,
"dynamic_align_turn_angle": 60,
"dynamic_align_straight_angle": 30,
"dynamic_align_vel": 5,
"dynamic_align_duration": 120,
"dynamic_align_bad_pose_tolerance": 20,
"dynamic_align_segment": 1,
"dynamic_align_dist_per_segment": 100,
"eight_angle": 1,
"eight_duration": 60,
"eight_vel": 1.0,
"eight_bad_pose_tolerance": 3,
"laps_frames_thresh": 1000,
"laps_alpha_err_thresh": 60,
"laps_time_err_thresh": 0.2,
"laps_search_diameter": 15,
"laps_number": 5,
"laps_number_additional": 1,
"laps_rate_thresh": 0.8,
"laps_inspva_downsample_freq": 10
}
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/client/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/client/client.h"
#include "modules/map/tools/map_datachecker/client/client_gflags.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 Client";
apollo::hdmap::Client client;
if (client.Run() != 0) {
AFATAL << "Start Client Failed!";
return -1;
}
return 0;
}
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/client/client_common.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 <string>
#include <vector>
#include "cyber/cyber.h"
#include "grpc++/grpc++.h"
namespace apollo {
namespace hdmap {
#ifndef SYSTEM_OUTPUT_STREAM
#define SYSTEM_OUTPUT_STREAM stderr
#define SYS_STREAM SYSTEM_OUTPUT_STREAM
#endif
#ifndef CLIENT_OUTPUT_STREAM
#define CLIENT_OUTPUT_STREAM stdout
#define USER_STREAM CLIENT_OUTPUT_STREAM
#endif
std::vector<std::string> GetFileLines(const std::string& path);
inline double UnixNow() { return apollo::cyber::Time::Now().ToSecond(); }
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/client/client.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 <string>
#include "modules/map/tools/map_datachecker/client/client_gflags.h"
namespace apollo {
namespace hdmap {
class Client {
public:
Client();
int Run();
private:
int RecordCheckStage();
int StaticAlignStage();
int EightRouteStage();
int DataCollectStage();
int LoopsCheckStage();
int CleanStage();
private:
std::string data_collect_time_flag_file_;
std::string channel_checker_stop_flag_file_;
};
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/client/client_loops_check.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 <string>
#include <utility>
#include <vector>
#include "cyber/cyber.h"
#include "modules/map/tools/map_datachecker/client/client_common.h"
#include "modules/map/tools/map_datachecker/client/client_gflags.h"
#include "modules/map/tools/map_datachecker/client/exception_handler.h"
#include "modules/map/tools/map_datachecker/proto/collection_service.grpc.pb.h"
namespace apollo {
namespace hdmap {
class LoopsChecker {
public:
explicit LoopsChecker(const std::string& time_flag_file);
int SyncStart(bool* reached);
private:
std::vector<std::pair<double, double>> GetTimeRanges();
int PeriodicCheck(bool* reached);
int GrpcStub(LoopsVerifyRequest* request, LoopsVerifyResponse* response);
int Start(const std::vector<std::pair<double, double>>& time_ranges);
int Check(double* progress, bool* reached);
int Stop();
private:
std::unique_ptr<CollectionCheckerService::Stub> service_stub_;
const std::string& time_flag_file_;
int check_period_;
};
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/client/client_loops_check.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/client/client_loops_check.h"
#include <utility>
#include <boost/algorithm/string.hpp>
#include "grpc++/grpc++.h"
#include "yaml-cpp/yaml.h"
namespace apollo {
namespace hdmap {
LoopsChecker::LoopsChecker(const std::string& time_flag_file)
: time_flag_file_(time_flag_file) {
YAML::Node node = YAML::LoadFile(FLAGS_client_conf_yaml);
std::string server_addr =
node["grpc_host_port"]["grpc_host"].as<std::string>() + ":" +
node["grpc_host_port"]["grpc_port"].as<std::string>();
check_period_ = node["loops_check"]["check_period"].as<int>();
service_stub_ = CollectionCheckerService::NewStub(
grpc::CreateChannel(server_addr, grpc::InsecureChannelCredentials()));
}
int LoopsChecker::SyncStart(bool* reached) {
std::vector<std::pair<double, double>> time_ranges = GetTimeRanges();
size_t pair_count = time_ranges.size();
if (pair_count == 0) {
AINFO << "there is no time range";
return -1;
}
int ret = Start(time_ranges);
if (ret != 0) {
AINFO << "loops check start failed";
fprintf(USER_STREAM, "loops check start failed\n");
return -1;
}
return PeriodicCheck(reached);
}
int LoopsChecker::PeriodicCheck(bool* reached) {
int ret = 0;
while (true) {
double progress = 0.0;
ret = Check(&progress, reached);
if (ret != 0) {
AERROR << "loops check failed";
break;
}
AINFO << "loops check progress: [" << progress << "]";
fprintf(USER_STREAM, "loops check progress: %.2lf%%\n", progress * 100);
if (fabs(progress - 1.0) < 1e-8) {
break;
}
std::this_thread::sleep_for(std::chrono::seconds(check_period_));
}
if (ret != 0) {
return -1;
}
ret = Stop();
if (ret != 0) {
AERROR << "loops check stop failed";
return -1;
}
return 0;
}
std::vector<std::pair<double, double>> LoopsChecker::GetTimeRanges() {
std::vector<std::pair<double, double>> result;
std::vector<std::pair<double, double>> empty;
std::vector<std::string> lines = GetFileLines(time_flag_file_);
size_t record_count = lines.size();
if (record_count == 0 || (record_count & 1) != 0) {
AINFO << "record_count should be even number";
fprintf(USER_STREAM,
"The command start and stop should be appear in pairs\n");
return empty;
}
for (size_t i = 0; i < record_count; i += 2) {
std::vector<std::string> split_str;
boost::split(split_str, lines[i], boost::is_any_of(" ,\t\n"));
double start_time = 0.0;
sscanf(split_str[0].c_str(), "%lf", &start_time);
if (split_str[1] != "start") {
AERROR << "state machine was broken";
fprintf(USER_STREAM,
"The data collect command start and stop should be appear in "
"pairs\n");
return empty;
}
boost::split(split_str, lines[i + 1], boost::is_any_of(" ,\t\n"));
double end_time = 0.0;
sscanf(split_str[0].c_str(), "%lf", &end_time);
if (split_str[1] != "stop") {
AERROR << "state machine was broken";
fprintf(USER_STREAM,
"The data collect command start and stop should be appear in "
"pairs\n");
return empty;
}
result.push_back(std::make_pair(start_time, end_time));
}
return result;
}
int LoopsChecker::GrpcStub(LoopsVerifyRequest* request,
LoopsVerifyResponse* response) {
grpc::ClientContext context;
grpc::Status status;
status = service_stub_->ServiceLoopsVerify(&context, *request, response);
if (status.error_code() == grpc::StatusCode::UNAVAILABLE) {
AERROR << "FATAL Error. Map grpc service is UNAVAILABLE.";
fprintf(USER_STREAM, "You should start server first\n");
return -1;
}
ErrorCode error_code = response->code();
if (error_code != ErrorCode::SUCCESS) {
return ExceptionHandler::ExceptionHandlerFun(error_code);
}
return 0;
}
int LoopsChecker::Start(
const std::vector<std::pair<double, double>>& time_ranges) {
LoopsVerifyRequest request;
request.set_cmd(CmdType::START);
for (size_t i = 0; i < time_ranges.size(); i++) {
VerifyRange* range = request.add_range();
range->set_start_time(time_ranges[i].first);
range->set_end_time(time_ranges[i].second);
AINFO << "range[" << i << "] is [" << time_ranges[i].first << ","
<< time_ranges[i].second << "]";
}
LoopsVerifyResponse response;
return GrpcStub(&request, &response);
}
int LoopsChecker::Check(double* progress, bool* reached) {
LoopsVerifyRequest request;
request.set_cmd(CmdType::CHECK);
AINFO << "loops check request: "
<< "cmd: [" << request.cmd() << "]";
LoopsVerifyResponse response;
int ret = GrpcStub(&request, &response);
*progress = response.progress();
if (response.has_loop_result() && response.loop_result().has_is_reached()) {
*reached = response.loop_result().is_reached();
}
return ret;
}
int LoopsChecker::Stop() {
LoopsVerifyRequest request;
request.set_cmd(CmdType::STOP);
AINFO << "loops check request: "
<< "cmd: [" << request.cmd() << "]";
LoopsVerifyResponse response;
return GrpcStub(&request, &response);
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/client/client_gflags.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 "gflags/gflags.h"
namespace apollo {
namespace hdmap {
DECLARE_string(stage);
DECLARE_string(cmd);
DECLARE_string(record_path);
DECLARE_string(client_conf_yaml);
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/client/exception_handler.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/client/exception_handler.h"
#include "cyber/cyber.h"
#include "modules/map/tools/map_datachecker/client/client_common.h"
#include "modules/map/tools/map_datachecker/proto/collection_error_code.pb.h"
namespace apollo {
namespace hdmap {
int ExceptionHandler::ExceptionHandlerFun(ErrorCode error_code) {
int ret = 0;
switch (error_code) {
case ErrorCode::SUCCESS:
AINFO << "ErrorCode::SUCCESS";
fprintf(USER_STREAM, "SUCCESS\n");
break;
case ErrorCode::ERROR_REPEATED_START:
AINFO << "ErrorCode::ERROR_CHECK_BEFORE_START";
fprintf(USER_STREAM,
"Do not start repeated. This request will be ignored\n");
break;
case ErrorCode::ERROR_CHECK_BEFORE_START:
AINFO << "ErrorCode::ERROR_CHECK_BEFORE_START";
fprintf(USER_STREAM,
"Start command should be called before check. This request will "
"be ignored\n");
break;
case ErrorCode::ERROR_REQUEST:
AINFO << "ErrorCode::ERROR_REQUEST";
fprintf(USER_STREAM, "Request error. This request will be ignored\n");
break;
case ErrorCode::ERROR_GNSS_SIGNAL_FAIL:
AINFO << "ErrorCode::ERROR_GNSS_SIGNAL_FAIL."
<< "Please check if area is spacious";
fprintf(USER_STREAM,
"ERROR: GNSS signal do not meet the requirements, please make "
"sure area is spacious\n");
ret = -1;
break;
case ErrorCode::ERROR_VERIFY_NO_GNSSPOS:
AINFO << "ErrorCode::ERROR_VERIFY_NO_GNSSPOS."
<< "Please check if channel /apollo/sensor/gnss/best_pose exists "
"in system";
fprintf(USER_STREAM,
"ERROR:System has no channel /apollo/sensor/gnss/best_pose, you "
"may need to reboot system\n");
ret = -1;
break;
case ErrorCode::ERROR_NOT_STATIC:
AINFO << "ErrorCode::ERROR_NOT_STATIC. Please keep the car still";
fprintf(USER_STREAM, "ERROR:Please keep the car still\n");
ret = -1;
break;
case ErrorCode::ERROR_NOT_EIGHT_ROUTE:
AINFO << "ErrorCode::ERROR_NOT_EIGHT_ROUTE. "
<< "Please keep the car 8-like maneuver";
fprintf(USER_STREAM, "WARNING:Please keep the car 8-like maneuver\n");
break;
case ErrorCode::ERROR_LOOPS_NOT_REACHED:
AINFO << "ErrorCode.ERROR_LOOPS_NOT_REACHED";
fprintf(USER_STREAM,
"WARNING:Collection time do not meet the requirements. "
"Supplementary data collection may be required\n");
ret = -1;
break;
case ErrorCode::ERROR_CHANNEL_VERIFY_TOPIC_LACK:
AINFO << "ErrorCode.ERROR_CHANNEL_VERIFY_TOPIC_LACK";
fprintf(USER_STREAM, "ERROR: Missing topic\n");
ret = -1;
break;
case ErrorCode::ERROR_CHANNEL_VERIFY_RATES_ABNORMAL:
AINFO << "ErrorCode.ERROR_CHANNEL_VERIFY_RATES_ABNORMAL";
fprintf(USER_STREAM, "ERROR: Missing topic\n");
ret = -1;
break;
case ErrorCode::ERROR_VERIFY_NO_RECORDERS:
AINFO << "ErrorCode.ERROR_VERIFY_NO_RECORDERS";
fprintf(USER_STREAM, "ERROR: Missing record\n");
ret = -1;
break;
default:
AINFO << "This branch should never be reached. If this happened, please "
"open an issue. code: "
<< error_code;
fprintf(USER_STREAM,
"ERROR:This branch should never be reached. If this happened, "
"please open an issue\n");
break;
}
return ret;
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/client/client_gflags.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/client/client_gflags.h"
namespace apollo {
namespace hdmap {
DEFINE_string(stage, "", "data acquisition stage");
DEFINE_string(cmd, "start", "command corresponding to stage");
DEFINE_string(record_path, "", "record path");
DEFINE_string(
client_conf_yaml,
"/apollo/modules/map/tools/map_datachecker/client/conf/client.yaml",
"client configurations");
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/client/client.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/client/client.h"
#include <string>
#include <vector>
#include <boost/algorithm/string.hpp>
#include <boost/filesystem.hpp>
#include "yaml-cpp/yaml.h"
#include "cyber/cyber.h"
#include "modules/map/tools/map_datachecker/client/client_alignment.h"
#include "modules/map/tools/map_datachecker/client/client_channel_checker.h"
#include "modules/map/tools/map_datachecker/client/client_common.h"
#include "modules/map/tools/map_datachecker/client/client_loops_check.h"
namespace apollo {
namespace hdmap {
Client::Client() {
YAML::Node node = YAML::LoadFile(FLAGS_client_conf_yaml);
std::string bin_path = boost::filesystem::current_path().string();
data_collect_time_flag_file_ =
bin_path + "/" + node["time_flag_file"].as<std::string>();
channel_checker_stop_flag_file_ =
bin_path + "/" +
node["channel_check"]["stop_flag_file"].as<std::string>();
AINFO << "bin_path: " << bin_path
<< ", data_collect_time_flag_file_: " << data_collect_time_flag_file_
<< ", channel_checker_stop_flag_file_: "
<< channel_checker_stop_flag_file_;
}
int Client::Run() {
std::string stage = FLAGS_stage;
AINFO << "stage [" << stage << "]";
int ret = 0;
if ("record_check" == stage) {
ret = RecordCheckStage();
} else if ("static_align" == stage) {
ret = StaticAlignStage();
} else if ("eight_route" == stage) {
ret = EightRouteStage();
} else if ("data_collect" == stage) {
ret = DataCollectStage();
} else if ("loops_check" == stage) {
ret = LoopsCheckStage();
} else if ("clean" == stage) {
ret = CleanStage();
}
return ret;
}
int Client::RecordCheckStage() {
std::string cmd = FLAGS_cmd;
ChannelChecker channel_checker(channel_checker_stop_flag_file_);
AINFO << "cmd [" << cmd << "]";
if ("start" == cmd) {
std::string record_path = FLAGS_record_path;
AINFO << "record_path [" << record_path << "]";
if (!boost::filesystem::exists(record_path)) {
AERROR << "record_path does not exist";
return -1;
}
int ret = 0;
ret = channel_checker.SyncStart(record_path);
if (ret != 0) {
AERROR << "SyncStart channel chacker failed, record_path [" << record_path
<< "]";
return -1;
}
} else {
int ret = 0;
ret = channel_checker.SyncStop();
if (ret != 0) {
AERROR << "SyncStop channel chacker failed";
return -1;
}
}
return 0;
}
int Client::StaticAlignStage() {
std::string cmd = FLAGS_cmd;
AINFO << "cmd [" << cmd << "]";
StaticAlign static_align;
if ("start" == cmd) {
int ret = 0;
ret = static_align.SyncStart();
if (ret != 0) {
AERROR << "SyncStart static align failed";
return -1;
} else {
AINFO << "Static aligh succeed";
fprintf(USER_STREAM,
"Static aligh succeed. Next, you may want to run: bash client.sh "
"-- stage eight_route\n");
}
} else {
int ret = 0;
ret = static_align.SyncStop();
if (ret != 0) {
AERROR << "SyncStop static align failed";
return -1;
}
}
return 0;
}
int Client::EightRouteStage() {
std::string cmd = FLAGS_cmd;
AINFO << "cmd [" << cmd << "]";
EightRoute eight_route;
if ("start" == cmd) {
int ret = 0;
ret = eight_route.SyncStart();
if (ret != 0) {
AERROR << "SyncStart static align failed";
return -1;
} else {
AINFO << "Eight route succeed";
fprintf(USER_STREAM,
"Eight route succeed. Next, you may want to run: bash client.sh "
"--stage data_collect\n");
}
} else {
int ret = 0;
ret = eight_route.SyncStop();
if (ret != 0) {
AERROR << "SyncStop static align failed";
return -1;
}
}
return 0;
}
int Client::DataCollectStage() {
std::string cmd = FLAGS_cmd;
AINFO << "cmd [" << cmd << "]";
std::vector<std::string> lines = GetFileLines(data_collect_time_flag_file_);
std::ofstream time_file_handler(data_collect_time_flag_file_);
double now = UnixNow();
if (cmd == "start") {
if (lines.empty()) {
time_file_handler << now << " start\n";
AINFO << "write [" << now << " start] to file "
<< data_collect_time_flag_file_;
fprintf(USER_STREAM,
"Start success. At the end of the collection, you should run: "
"bash client.sh data_collect stop\n");
} else {
std::string& the_last_line = lines.back();
std::vector<std::string> s;
boost::split(s, the_last_line, boost::is_any_of(" ,\t\n"));
if (s[1] == "start") {
AINFO << "This progress has been already started, this command will be "
"ignored";
fprintf(USER_STREAM,
"This progress has been already started, this command will be "
"ignored\n");
} else {
time_file_handler << now << " start\n";
AINFO << "write [" << now << " start] to file "
<< data_collect_time_flag_file_;
fprintf(USER_STREAM,
"Start success. At the end of the collection, you should run: "
"bash client.sh --stage data_collect --cmd stop\n");
}
}
} else if (cmd == "stop") {
if (lines.empty()) {
AINFO << "Start first, this command will be ignored";
} else {
std::string& the_last_line = lines.back();
std::vector<std::string> s;
boost::split(s, the_last_line, boost::is_any_of(" ,\t\n"));
if (s[1] == "start") {
time_file_handler << now << " stop\n";
AINFO << "write [" << now << " stop] to file "
<< data_collect_time_flag_file_;
fprintf(USER_STREAM,
"Stop success. Next you may want to run: bash client.sh "
"loops_check start\n");
} else {
AINFO << "This progress has been already stopped, this command will be "
"ignored";
fprintf(USER_STREAM,
"This progress has been already stopped, this command will be "
"ignored\n");
}
}
} else {
AINFO << "Error command, expected command are [start|stop], current "
"command is ["
<< cmd << "]";
fprintf(USER_STREAM,
"Error command, expected command are [start|stop], current command "
"is [%s]\n",
cmd.c_str());
}
return 0;
}
int Client::LoopsCheckStage() {
LoopsChecker loops_checker(data_collect_time_flag_file_);
bool reached = false;
int ret = loops_checker.SyncStart(&reached);
if (ret != 0) {
AINFO << "loops_check failed";
return -1;
}
if (reached) {
AINFO << "loops meet requirements";
fprintf(USER_STREAM,
"Loops meet requirements. Next you may want to run: bash client.sh "
"--stage eight_route\n");
} else {
AINFO << "loops do not meet requirements";
fprintf(USER_STREAM,
"Next you may need to run: bash client.sh --stage data_collect\n");
}
return 0;
}
int Client::CleanStage() {
if (boost::filesystem::exists(data_collect_time_flag_file_)) {
boost::filesystem::remove(data_collect_time_flag_file_);
AINFO << "removed " << data_collect_time_flag_file_;
}
if (boost::filesystem::exists(channel_checker_stop_flag_file_)) {
boost::filesystem::remove(channel_checker_stop_flag_file_);
AINFO << "removed " << channel_checker_stop_flag_file_;
}
fprintf(USER_STREAM, "clean done\n");
return 0;
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/client/client_alignment.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 <string>
#include <typeinfo>
#include "grpc++/grpc++.h"
#include "yaml-cpp/yaml.h"
#include "cyber/cyber.h"
#include "modules/map/tools/map_datachecker/client/client_common.h"
#include "modules/map/tools/map_datachecker/client/client_gflags.h"
#include "modules/map/tools/map_datachecker/client/exception_handler.h"
#include "modules/map/tools/map_datachecker/proto/collection_service.grpc.pb.h"
namespace apollo {
namespace hdmap {
template <typename REQUEST_TYPE, typename RESPONSE_TYPE>
class Alignment {
public:
Alignment() {
YAML::Node node = YAML::LoadFile(FLAGS_client_conf_yaml);
std::string server_addr =
node["grpc_host_port"]["grpc_host"].as<std::string>() + ":" +
node["grpc_host_port"]["grpc_port"].as<std::string>();
check_period_ = node["alignment"]["check_period"].as<int>();
service_stub_ = CollectionCheckerService::NewStub(
grpc::CreateChannel(server_addr, grpc::InsecureChannelCredentials()));
}
int SyncStart() {
int ret = Start();
if (ret != 0) {
AERROR << "start alignment failed";
return -1;
}
return PeriodicCheck();
}
int SyncStop() {
// stop server
return Stop();
}
int PeriodicCheck() {
int ret = 0;
while (true) {
double progress = 0.0;
ret = Check(&progress);
if (ret != 0) {
AERROR << "alignment check failed";
break;
}
AINFO << "alignment check progress: [" << progress << "]";
fprintf(USER_STREAM, "alignment progress: %.2lf%%\n", progress * 100);
if (fabs(progress - 1.0) < 1e-8) {
AINFO << "diff " << fabs(progress - 1.0);
break;
}
std::this_thread::sleep_for(std::chrono::seconds(check_period_));
}
if (ret != 0) {
return -1;
}
ret = Stop();
if (ret != 0) {
AERROR << "alignment stop failed";
return -1;
}
return 0;
}
int GrpcStub(REQUEST_TYPE* request, RESPONSE_TYPE* response) {
grpc::Status status = GrpcAlignmentStub(request, response);
if (status.error_code() == grpc::StatusCode::UNAVAILABLE) {
AERROR << "FATAL Error. Map grpc service is UNAVAILABLE.";
fprintf(USER_STREAM, "You should start server first\n");
return -1;
}
AINFO << "response error code: " << response->code();
if (response->code() != ErrorCode::SUCCESS) {
return ExceptionHandler::ExceptionHandlerFun(response->code());
}
return 0;
}
private:
int Start() {
REQUEST_TYPE request;
request.set_cmd(CmdType::START);
AINFO << "alignment request: "
<< "cmd: [" << request.cmd() << "]";
RESPONSE_TYPE response;
return GrpcStub(&request, &response);
}
int Check(double* progress) {
REQUEST_TYPE request;
request.set_cmd(CmdType::CHECK);
AINFO << "alignment request: "
<< "cmd: [" << request.cmd() << "]";
RESPONSE_TYPE response;
int ret = GrpcStub(&request, &response);
*progress = response.progress();
return ret;
}
int Stop() {
REQUEST_TYPE request;
request.set_cmd(CmdType::STOP);
AINFO << "alignment request: "
<< "cmd: [" << request.cmd() << "]";
RESPONSE_TYPE response;
return GrpcStub(&request, &response);
}
private:
int check_period_;
protected:
std::unique_ptr<CollectionCheckerService::Stub> service_stub_;
virtual grpc::Status GrpcAlignmentStub(REQUEST_TYPE* request,
RESPONSE_TYPE* response) = 0;
};
class StaticAlign : public Alignment<StaticAlignRequest, StaticAlignResponse> {
grpc::Status GrpcAlignmentStub(StaticAlignRequest* request,
StaticAlignResponse* response) {
grpc::ClientContext context;
return service_stub_->ServiceStaticAlign(&context, *request, response);
}
};
class EightRoute : public Alignment<EightRouteRequest, EightRouteResponse> {
grpc::Status GrpcAlignmentStub(EightRouteRequest* request,
EightRouteResponse* response) {
grpc::ClientContext context;
return service_stub_->ServiceEightRoute(&context, *request, response);
}
};
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/client/client_channel_checker.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/client/client_channel_checker.h"
#include <chrono>
#include <fstream>
#include <memory>
#include <string>
#include <boost/filesystem.hpp>
#include "grpc++/grpc++.h"
#include "yaml-cpp/yaml.h"
#include "cyber/cyber.h"
#include "modules/map/tools/map_datachecker/client/client_common.h"
#include "modules/map/tools/map_datachecker/client/client_gflags.h"
#include "modules/map/tools/map_datachecker/client/exception_handler.h"
#include "modules/map/tools/map_datachecker/proto/collection_service.grpc.pb.h"
namespace apollo {
namespace hdmap {
ChannelChecker::ChannelChecker(const std::string& stop_flag_file)
: stop_flag_file_(stop_flag_file) {
YAML::Node node = YAML::LoadFile(FLAGS_client_conf_yaml);
std::string server_addr =
node["grpc_host_port"]["grpc_host"].as<std::string>() + ":" +
node["grpc_host_port"]["grpc_port"].as<std::string>();
check_period_ = node["channel_check"]["check_period"].as<int>();
service_stub_ = CollectionCheckerService::NewStub(
grpc::CreateChannel(server_addr, grpc::InsecureChannelCredentials()));
}
int ChannelChecker::SyncStart(const std::string& record_path) {
if (!boost::filesystem::exists(record_path)) {
AERROR << "record_path [" << record_path << "]does not exist";
return -1;
}
int ret = Start(record_path);
if (ret != 0) {
AERROR << "start check channel failed, record_path [" << record_path << "]";
return -1;
}
return PeriodicCheck();
}
int ChannelChecker::SyncStop() {
// stop client
std::ofstream ofs(stop_flag_file_);
if (!ofs) {
AERROR << "Create Flag File [" << stop_flag_file_ << "] Failed";
return -1;
}
ofs.close();
// stop server
return Stop();
}
int ChannelChecker::PeriodicCheck() {
int ret = 0;
while (!boost::filesystem::exists(stop_flag_file_)) {
ret = Check();
if (ret != 0) {
break;
}
AINFO << "channel checker sleep " << check_period_ << " seconds";
std::this_thread::sleep_for(std::chrono::seconds(check_period_));
}
if (ret == 0) {
AINFO << "detected stop flag file, periodically checking will exit";
} else {
AINFO << "periodically checking will exit because of some errors";
}
return ret;
}
int ChannelChecker::GrpcStub(ChannelVerifyRequest* request,
ChannelVerifyResponse* response) {
grpc::ClientContext context;
grpc::Status status;
status = service_stub_->ServiceChannelVerify(&context, *request, response);
if (status.error_code() == grpc::StatusCode::UNAVAILABLE) {
AERROR << "FATAL Error. Map grpc service is UNAVAILABLE.";
fprintf(USER_STREAM, "You should start server first\n");
return -1;
}
ErrorCode error_code = response->code();
if (error_code != ErrorCode::SUCCESS) {
return ExceptionHandler::ExceptionHandlerFun(error_code);
}
return 0;
}
int ChannelChecker::Start(const std::string& record_path) {
ChannelVerifyRequest request;
request.set_path(record_path);
request.set_cmd(CmdType::START);
AINFO << "channel check request: "
<< "record_path: [" << request.path() << "], "
<< "cmd: [" << request.cmd() << "]";
ChannelVerifyResponse response;
return GrpcStub(&request, &response);
}
int ChannelChecker::Check() {
ChannelVerifyRequest request;
request.set_cmd(CmdType::CHECK);
AINFO << "channel check request: "
<< "cmd: [" << request.cmd() << "]";
ChannelVerifyResponse response;
int ret = GrpcStub(&request, &response);
if (ret != 0) {
ProcessAbnormal(&response);
}
return ret;
}
int ChannelChecker::Stop() {
ChannelVerifyRequest request;
request.set_cmd(CmdType::STOP);
AINFO << "channel check request: "
<< "cmd: [" << request.cmd() << "]";
ChannelVerifyResponse response;
return GrpcStub(&request, &response);
}
int ChannelChecker::ProcessAbnormal(ChannelVerifyResponse* response) {
ErrorCode code = response->code();
if (code == ErrorCode::ERROR_CHANNEL_VERIFY_RATES_ABNORMAL) {
if (response->has_result()) {
const VerifyResult& result = response->result();
for (int i = 0; i < result.rates_size(); ++i) {
const FrameRate& rate = result.rates(i);
fprintf(USER_STREAM, "Channels with insufficient frame rate:%s\n",
rate.topic().c_str());
fprintf(USER_STREAM, "-expected_rate:%lf\n", rate.expected_rate());
fprintf(USER_STREAM, "-current_rate:%lf\n", rate.current_rate());
fprintf(USER_STREAM, "-bad_record_name:\n");
for (int j = 0; j < rate.bad_record_name_size(); ++j) {
fprintf(USER_STREAM, "--%s\n", rate.bad_record_name(j).c_str());
}
}
} else {
AERROR << "response content from server is inconsistent";
return -1;
}
} else if (code == ErrorCode::ERROR_CHANNEL_VERIFY_TOPIC_LACK) {
if (response->has_result() && response->result().has_topics()) {
const TopicResult& topics = response->result().topics();
fprintf(USER_STREAM, "Missing channel(s):\n");
for (int i = 0; i < topics.topic_lack_size(); ++i) {
fprintf(USER_STREAM, "-%s:\n", topics.topic_lack(i).c_str());
}
} else {
AERROR << "response content from server is inconsistent";
return -1;
}
}
return 0;
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/client/BUILD | load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
cc_binary(
name = "map_datachecker_client",
srcs = ["main.cc"],
deps = [
":client",
":client_gflags",
"@boost",
"@com_github_grpc_grpc//:grpc++",
],
)
cc_library(
name = "client",
srcs = ["client.cc"],
hdrs = [
"client.h",
"client_alignment.h",
],
deps = [
":client_channel_checker",
":client_common",
":client_gflags",
":client_loops_check",
"//cyber",
"@boost",
"@com_github_grpc_grpc//:grpc++",
"@com_github_jbeder_yaml_cpp//:yaml-cpp",
],
)
cc_library(
name = "client_channel_checker",
srcs = ["client_channel_checker.cc"],
hdrs = ["client_channel_checker.h"],
deps = [
":client_common",
":client_gflags",
":exception_handler",
"//cyber",
"//modules/map/tools/map_datachecker/proto:collection_service_cc_grpc",
"@boost",
"@com_github_grpc_grpc//:grpc++",
"@com_github_jbeder_yaml_cpp//:yaml-cpp",
],
)
cc_library(
name = "client_common",
srcs = ["client_common.cc"],
hdrs = ["client_common.h"],
deps = [
"//cyber",
"@boost",
"@com_github_grpc_grpc//:grpc++",
],
)
cc_library(
name = "client_gflags",
srcs = ["client_gflags.cc"],
hdrs = ["client_gflags.h"],
deps = [
"@com_github_gflags_gflags//:gflags",
],
)
cc_library(
name = "client_loops_check",
srcs = ["client_loops_check.cc"],
hdrs = ["client_loops_check.h"],
deps = [
":client_common",
":client_gflags",
":exception_handler",
"//cyber",
"//modules/map/tools/map_datachecker/proto:collection_service_cc_grpc",
"@boost",
"@com_github_grpc_grpc//:grpc++",
"@com_github_jbeder_yaml_cpp//:yaml-cpp",
],
)
cc_library(
name = "exception_handler",
srcs = ["exception_handler.cc"],
hdrs = ["exception_handler.h"],
deps = [
":client_common",
"//cyber",
"//modules/map/tools/map_datachecker/proto:collection_error_code_cc_proto",
],
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/client/client_channel_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 <memory>
#include <string>
#include "modules/map/tools/map_datachecker/client/client_gflags.h"
#include "modules/map/tools/map_datachecker/proto/collection_service.grpc.pb.h"
namespace apollo {
namespace hdmap {
class ChannelChecker {
public:
explicit ChannelChecker(const std::string& stop_flag_file);
int SyncStart(const std::string& record_path);
int SyncStop();
int PeriodicCheck();
int GrpcStub(ChannelVerifyRequest* request, ChannelVerifyResponse* response);
private:
int Start(const std::string& record_path);
int Check();
int Stop();
int ProcessAbnormal(ChannelVerifyResponse* response);
private:
std::unique_ptr<CollectionCheckerService::Stub> service_stub_;
int check_period_;
const std::string& stop_flag_file_;
};
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/client/client_common.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/client/client_common.h"
#include <fstream>
#include <string>
#include <vector>
#include <boost/algorithm/string.hpp>
#include "grpc++/grpc++.h"
namespace apollo {
namespace hdmap {
std::vector<std::string> GetFileLines(const std::string& path) {
std::ifstream file_handler(path);
std::string line;
std::vector<std::string> lines;
while (std::getline(file_handler, line)) {
lines.emplace_back(line);
}
file_handler.close();
return lines;
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker | apollo_public_repos/apollo/modules/map/tools/map_datachecker/client/exception_handler.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 "modules/map/tools/map_datachecker/proto/collection_error_code.pb.h"
namespace apollo {
namespace hdmap {
class ExceptionHandler {
public:
static int ExceptionHandlerFun(ErrorCode error_code);
};
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker/client | apollo_public_repos/apollo/modules/map/tools/map_datachecker/client/conf/state_machine.yaml | # state:
# static_align:
stages:
- "record_check_start"
- "static_align_befor_collect_data"
- "eight_route_befor_collect_data"
- "loops_check"
- "eight_route_after_collect_data"
- "static_align_after_collect_data"
- "record_check_end"
flow:
record_check_start:
exception:
ERROR_VERIFY_NO_RECORDERS: "self"
static_align_befor_collect_data:
exception:
ERROR_VERIFY_NO_GNSSPOS: "record_check_start"
ERROR_GNSS_SIGNAL_FAIL: "self"
ERROR_NOT_STATIC: "self"
eight_route_befor_collect_data:
exception:
ERROR_VERIFY_NO_GNSSPOS: "record_check_start"
ERROR_NOT_EIGHT_ROUTE: "self"
loops_check:
exception:
ERROR_LOOPS_NOT_REACHED: "self"
eight_route_after_collect_data:
exception:
ERROR_VERIFY_NO_GNSSPOS: "record_check_start"
ERROR_NOT_EIGHT_ROUTE: "self"
static_align_after_collect_data:
exception:
ERROR_VERIFY_NO_GNSSPOS: "record_check_start"
ERROR_GNSS_SIGNAL_FAIL: "self"
ERROR_NOT_STATIC: "self"
record_check_end:
null | 0 |
apollo_public_repos/apollo/modules/map/tools/map_datachecker/client | apollo_public_repos/apollo/modules/map/tools/map_datachecker/client/conf/client.yaml | grpc_host_port: &grpc_host_port
grpc_host: "127.0.0.1"
grpc_port: "50100"
channel_check:
check_period: 10
stop_flag_file: "channel_check.stop"
alignment:
check_period: 1
loops_check:
check_period: 1
time_flag_file: "collect.time"
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/pnc_map/route_segments_test.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/map/pnc_map/route_segments.h"
#include "gflags/gflags.h"
#include "gtest/gtest.h"
#include "cyber/common/file.h"
#include "modules/map/hdmap/hdmap_util.h"
namespace apollo {
namespace hdmap {
DEFINE_string(test_map_file,
"modules/map/data/sunnyvale_loop/base_map_test.bin",
"The test map file");
DEFINE_string(
test_routing_file,
"modules/map/pnc_map/testdata/sample_sunnyvale_loop_routing.pb.txt",
"The test map file");
class RouteSegmentsTest : public ::testing::Test {
public:
static void SetUpTestCase() {
AINFO << "map file: " << FLAGS_test_map_file;
if (hdmap_.LoadMapFromFile(FLAGS_test_map_file) != 0) {
AERROR << "Failed to load map: " << FLAGS_test_map_file;
ACHECK(false);
}
}
static hdmap::HDMap hdmap_;
};
hdmap::HDMap RouteSegmentsTest::hdmap_;
TEST_F(RouteSegmentsTest, GetProjection) {
auto lane1 = hdmap_.GetLaneById(hdmap::MakeMapId("9_1_-1"));
RouteSegments route_segments;
route_segments.emplace_back(lane1, 5, 10);
LaneWaypoint waypoint;
auto point = lane1->GetSmoothPoint(3);
common::SLPoint sl;
EXPECT_FALSE(route_segments.GetProjection(point, &sl, &waypoint));
point = lane1->GetSmoothPoint(5);
EXPECT_TRUE(route_segments.GetProjection(point, &sl, &waypoint));
EXPECT_EQ(lane1, waypoint.lane);
EXPECT_NEAR(5.0, waypoint.s, 1e-4);
EXPECT_NEAR(0.0, sl.s(), 1e-4);
EXPECT_NEAR(0.0, sl.l(), 1e-4);
point = lane1->GetSmoothPoint(8);
EXPECT_TRUE(route_segments.GetProjection(point, &sl, &waypoint));
EXPECT_EQ(lane1, waypoint.lane);
EXPECT_NEAR(8.0, waypoint.s, 1e-4);
EXPECT_NEAR(3.0, sl.s(), 1e-4);
EXPECT_NEAR(0.0, sl.l(), 1e-4);
point = lane1->GetSmoothPoint(15);
EXPECT_FALSE(route_segments.GetProjection(point, &sl, &waypoint));
auto lane2 = hdmap_.GetLaneById(hdmap::MakeMapId("13_1_-1"));
route_segments.emplace_back(lane2, 20, 30);
EXPECT_FALSE(route_segments.GetProjection(point, &sl, &waypoint));
point = lane2->GetSmoothPoint(0);
EXPECT_FALSE(route_segments.GetProjection(point, &sl, &waypoint));
point = lane2->GetSmoothPoint(25);
EXPECT_TRUE(route_segments.GetProjection(point, &sl, &waypoint));
EXPECT_EQ(lane2, waypoint.lane);
EXPECT_NEAR(25.0, waypoint.s, 1e-4);
EXPECT_NEAR(10.0, sl.s(), 1e-4);
EXPECT_NEAR(0.0, sl.l(), 1e-4);
point = lane2->GetSmoothPoint(31);
EXPECT_FALSE(route_segments.GetProjection(point, &sl, &waypoint));
}
TEST_F(RouteSegmentsTest, Stitch) {
auto lane1 = hdmap_.GetLaneById(hdmap::MakeMapId("9_1_-1"));
auto lane2 = hdmap_.GetLaneById(hdmap::MakeMapId("13_1_-1"));
{
RouteSegments seg1;
RouteSegments seg2;
seg1.emplace_back(lane1, 10, 20);
seg1.emplace_back(lane2, 10, 15);
seg2.emplace_back(lane2, 15, 20);
seg2.emplace_back(lane2, 20, 30);
EXPECT_TRUE(seg1.Stitch(seg2));
EXPECT_EQ(3, seg1.size());
EXPECT_EQ(lane1, seg1[0].lane);
EXPECT_FLOAT_EQ(10, seg1[0].start_s);
EXPECT_FLOAT_EQ(20, seg1[0].end_s);
EXPECT_EQ(lane2, seg1[1].lane);
EXPECT_FLOAT_EQ(10, seg1[1].start_s);
EXPECT_FLOAT_EQ(20, seg1[1].end_s);
EXPECT_EQ(lane2, seg1[2].lane);
EXPECT_FLOAT_EQ(20, seg1[2].start_s);
EXPECT_FLOAT_EQ(30, seg1[2].end_s);
}
{
RouteSegments seg1;
RouteSegments seg2;
seg1.emplace_back(lane1, 10, 20);
seg1.emplace_back(lane2, 10, 15);
seg2.emplace_back(lane2, 15, 20);
seg2.emplace_back(lane2, 20, 30);
EXPECT_TRUE(seg2.Stitch(seg1));
EXPECT_EQ(3, seg2.size());
EXPECT_EQ(lane1, seg2[0].lane);
EXPECT_FLOAT_EQ(10, seg2[0].start_s);
EXPECT_FLOAT_EQ(20, seg2[0].end_s);
EXPECT_EQ(lane2, seg2[1].lane);
EXPECT_FLOAT_EQ(10, seg2[1].start_s);
EXPECT_FLOAT_EQ(20, seg2[1].end_s);
EXPECT_EQ(lane2, seg2[2].lane);
EXPECT_FLOAT_EQ(20, seg2[2].start_s);
EXPECT_FLOAT_EQ(30, seg2[2].end_s);
}
}
TEST_F(RouteSegmentsTest, Shrink) {
auto lane1 = hdmap_.GetLaneById(hdmap::MakeMapId("9_1_-1"));
auto lane2 = hdmap_.GetLaneById(hdmap::MakeMapId("13_1_-1"));
{
RouteSegments seg;
seg.emplace_back(lane1, 10, 20);
seg.emplace_back(lane2, 15, 20);
seg.emplace_back(lane2, 20, 30);
auto point = lane2->GetSmoothPoint(15.0);
EXPECT_TRUE(seg.Shrink({point.x(), point.y()}, 5, 10));
EXPECT_EQ(3, seg.size());
EXPECT_EQ(lane1, seg[0].lane);
EXPECT_FLOAT_EQ(15, seg[0].start_s);
EXPECT_FLOAT_EQ(20, seg[0].end_s);
EXPECT_EQ(lane2, seg[1].lane);
EXPECT_FLOAT_EQ(15, seg[1].start_s);
EXPECT_FLOAT_EQ(20, seg[1].end_s);
EXPECT_FLOAT_EQ(20, seg[2].start_s);
EXPECT_FLOAT_EQ(25, seg[2].end_s);
}
{
RouteSegments seg;
seg.emplace_back(lane1, 10, 20);
seg.emplace_back(lane2, 15, 20);
seg.emplace_back(lane2, 20, 30);
auto point = lane2->GetSmoothPoint(15.0);
EXPECT_TRUE(seg.Shrink({point.x(), point.y()}, 50, 10));
EXPECT_EQ(3, seg.size());
EXPECT_EQ(lane1, seg[0].lane);
EXPECT_FLOAT_EQ(10, seg[0].start_s);
EXPECT_FLOAT_EQ(20, seg[0].end_s);
EXPECT_EQ(lane2, seg[1].lane);
EXPECT_FLOAT_EQ(15, seg[1].start_s);
EXPECT_FLOAT_EQ(20, seg[1].end_s);
EXPECT_EQ(lane2, seg[2].lane);
EXPECT_FLOAT_EQ(20, seg[2].start_s);
EXPECT_FLOAT_EQ(25, seg[2].end_s);
}
{
RouteSegments seg;
seg.emplace_back(lane1, 10, 20);
seg.emplace_back(lane2, 15, 20);
seg.emplace_back(lane2, 20, 30);
auto point = lane2->GetSmoothPoint(15.0);
EXPECT_TRUE(seg.Shrink({point.x(), point.y()}, -5, 50));
EXPECT_EQ(1, seg.size());
EXPECT_EQ(lane2, seg[0].lane);
EXPECT_FLOAT_EQ(20, seg[0].start_s);
EXPECT_FLOAT_EQ(30, seg[0].end_s);
}
{
RouteSegments seg;
seg.emplace_back(lane2, 10, 30);
auto point = lane2->GetSmoothPoint(20.0);
EXPECT_TRUE(seg.Shrink({point.x(), point.y()}, 5, 5));
EXPECT_EQ(1, seg.size());
EXPECT_EQ(lane2, seg[0].lane);
EXPECT_FLOAT_EQ(15, seg[0].start_s);
EXPECT_FLOAT_EQ(25, seg[0].end_s);
}
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/pnc_map/path.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/map/pnc_map/path.h"
#include <algorithm>
#include <limits>
#include <unordered_map>
#include "absl/strings/str_cat.h"
#include "absl/strings/str_join.h"
#include "cyber/common/log.h"
#include "modules/common/math/line_segment2d.h"
#include "modules/common/math/math_utils.h"
#include "modules/common/math/polygon2d.h"
#include "modules/common/util/string_util.h"
// https://nacto.org/publication/urban-street-design-guide/street-design-elements/lane-width/
DEFINE_double(default_lane_width, 3.048, "default lane width is about 10 feet");
namespace apollo {
namespace hdmap {
using apollo::common::math::Box2d;
using apollo::common::math::kMathEpsilon;
using apollo::common::math::LineSegment2d;
using apollo::common::math::Sqr;
using apollo::common::math::Vec2d;
using apollo::common::util::DebugStringFormatter;
using std::placeholders::_1;
namespace {
const double kSampleDistance = 0.25;
bool FindLaneSegment(const MapPathPoint& p1, const MapPathPoint& p2,
LaneSegment* const lane_segment) {
for (const auto& wp1 : p1.lane_waypoints()) {
for (const auto& wp2 : p2.lane_waypoints()) {
if (wp1.lane->id().id() == wp2.lane->id().id() && wp1.s < wp2.s) {
*lane_segment = LaneSegment(wp1.lane, wp1.s, wp2.s);
return true;
}
}
}
return false;
}
} // namespace
std::string LaneWaypoint::DebugString() const {
if (lane == nullptr) {
return "(lane is null)";
}
return absl::StrCat("id = ", lane->id().id(), " s = ", s);
}
LaneBoundaryType::Type LeftBoundaryType(const LaneWaypoint& waypoint) {
if (!waypoint.lane) {
return LaneBoundaryType::UNKNOWN;
}
for (const auto& type :
waypoint.lane->lane().left_boundary().boundary_type()) {
if (type.s() <= waypoint.s) {
if (type.types_size() > 0) {
return type.types(0);
} else {
return LaneBoundaryType::UNKNOWN;
}
}
}
return LaneBoundaryType::UNKNOWN;
}
LaneBoundaryType::Type RightBoundaryType(const LaneWaypoint& waypoint) {
if (!waypoint.lane) {
return LaneBoundaryType::UNKNOWN;
}
for (const auto& type :
waypoint.lane->lane().right_boundary().boundary_type()) {
if (type.s() <= waypoint.s) {
if (type.types_size() > 0) {
return type.types(0);
} else {
return LaneBoundaryType::UNKNOWN;
}
}
}
return LaneBoundaryType::UNKNOWN;
}
LaneWaypoint LeftNeighborWaypoint(const LaneWaypoint& waypoint) {
LaneWaypoint neighbor;
if (!waypoint.lane) {
return neighbor;
}
auto point = waypoint.lane->GetSmoothPoint(waypoint.s);
auto map_ptr = HDMapUtil::BaseMapPtr();
CHECK_NOTNULL(map_ptr);
for (const auto& lane_id :
waypoint.lane->lane().left_neighbor_forward_lane_id()) {
auto lane = map_ptr->GetLaneById(lane_id);
if (!lane) {
return neighbor;
}
double s = 0.0;
double l = 0.0;
if (!lane->GetProjection({point.x(), point.y()}, &s, &l)) {
continue;
}
if (s < -kSampleDistance || s > lane->total_length() + kSampleDistance) {
continue;
} else {
return LaneWaypoint(lane, s);
}
}
return neighbor;
}
void LaneSegment::Join(std::vector<LaneSegment>* segments) {
static constexpr double kSegmentDelta = 0.5;
std::size_t k = 0;
std::size_t i = 0;
while (i < segments->size()) {
std::size_t j = i;
while (j + 1 < segments->size() &&
segments->at(i).lane == segments->at(j + 1).lane) {
++j;
}
auto& segment_k = segments->at(k);
segment_k.lane = segments->at(i).lane;
segment_k.start_s = segments->at(i).start_s;
segment_k.end_s = segments->at(j).end_s;
if (segment_k.start_s < kSegmentDelta) {
segment_k.start_s = 0.0;
}
if (segment_k.end_s + kSegmentDelta >= segment_k.lane->total_length()) {
segment_k.end_s = segment_k.lane->total_length();
}
i = j + 1;
++k;
}
segments->resize(k);
segments->shrink_to_fit(); // release memory
}
LaneWaypoint RightNeighborWaypoint(const LaneWaypoint& waypoint) {
LaneWaypoint neighbor;
if (!waypoint.lane) {
return neighbor;
}
auto point = waypoint.lane->GetSmoothPoint(waypoint.s);
auto map_ptr = HDMapUtil::BaseMapPtr();
CHECK_NOTNULL(map_ptr);
for (const auto& lane_id :
waypoint.lane->lane().right_neighbor_forward_lane_id()) {
auto lane = map_ptr->GetLaneById(lane_id);
if (!lane) {
return neighbor;
}
double s = 0.0;
double l = 0.0;
if (!lane->GetProjection({point.x(), point.y()}, &s, &l)) {
continue;
}
if (s < -kSampleDistance || s > lane->total_length() + kSampleDistance) {
continue;
} else {
return LaneWaypoint(lane, s);
}
}
return neighbor;
}
std::string LaneSegment::DebugString() const {
if (lane == nullptr) {
return "(lane is null)";
}
return absl::StrCat("id = ", lane->id().id(), " start_s = ", start_s,
" end_s = ", end_s);
}
std::vector<MapPathPoint> MapPathPoint::GetPointsFromSegment(
const LaneSegment& segment) {
return GetPointsFromLane(segment.lane, segment.start_s, segment.end_s);
}
std::vector<MapPathPoint> MapPathPoint::GetPointsFromLane(LaneInfoConstPtr lane,
const double start_s,
const double end_s) {
std::vector<MapPathPoint> points;
if (start_s >= end_s) {
return points;
}
double accumulate_s = 0.0;
for (size_t i = 0; i < lane->points().size(); ++i) {
if (accumulate_s >= start_s && accumulate_s <= end_s) {
points.emplace_back(lane->points()[i], lane->headings()[i],
LaneWaypoint(lane, accumulate_s));
}
if (i < lane->segments().size()) {
const auto& segment = lane->segments()[i];
const double next_accumulate_s = accumulate_s + segment.length();
if (start_s > accumulate_s && start_s < next_accumulate_s) {
points.emplace_back(segment.start() + segment.unit_direction() *
(start_s - accumulate_s),
lane->headings()[i], LaneWaypoint(lane, start_s));
}
if (end_s > accumulate_s && end_s < next_accumulate_s) {
points.emplace_back(
segment.start() + segment.unit_direction() * (end_s - accumulate_s),
lane->headings()[i], LaneWaypoint(lane, end_s));
}
accumulate_s = next_accumulate_s;
}
if (accumulate_s > end_s) {
break;
}
}
return points;
}
void MapPathPoint::RemoveDuplicates(std::vector<MapPathPoint>* points) {
static constexpr double kDuplicatedPointsEpsilon = 1e-7;
static constexpr double limit =
kDuplicatedPointsEpsilon * kDuplicatedPointsEpsilon;
CHECK_NOTNULL(points);
int count = 0;
for (size_t i = 0; i < points->size(); ++i) {
if (count == 0 ||
(*points)[i].DistanceSquareTo((*points)[count - 1]) > limit) {
(*points)[count++] = (*points)[i];
} else {
(*points)[count - 1].add_lane_waypoints((*points)[i].lane_waypoints());
}
}
points->resize(count);
}
std::string MapPathPoint::DebugString() const {
return absl::StrCat(
"x = ", x_, " y = ", y_, " heading = ", heading_,
" lwp = "
"{(",
absl::StrJoin(lane_waypoints_, "), (", DebugStringFormatter()), ")}");
}
std::string Path::DebugString() const {
return absl::StrCat(
"num_points = ", num_points_,
" points = "
"{(",
absl::StrJoin(path_points_, "), (", DebugStringFormatter()),
")} "
"numlane_segments_ = ",
lane_segments_.size(),
" lane_segments = "
"{(",
absl::StrJoin(lane_segments_, "), (", DebugStringFormatter()), ")}");
}
std::string PathOverlap::DebugString() const {
return absl::StrCat(object_id, " ", start_s, " ", end_s);
}
Path::Path(const std::vector<MapPathPoint>& path_points)
: path_points_(path_points) {
Init();
}
Path::Path(std::vector<MapPathPoint>&& path_points)
: path_points_(std::move(path_points)) {
Init();
}
Path::Path(const std::vector<MapPathPoint>& path_points,
const std::vector<LaneSegment>& lane_segments)
: path_points_(path_points), lane_segments_(lane_segments) {
Init();
}
Path::Path(std::vector<MapPathPoint>&& path_points,
std::vector<LaneSegment>&& lane_segments)
: path_points_(std::move(path_points)),
lane_segments_(std::move(lane_segments)) {
Init();
}
Path::Path(const std::vector<MapPathPoint>& path_points,
const std::vector<LaneSegment>& lane_segments,
const double max_approximation_error)
: path_points_(path_points), lane_segments_(lane_segments) {
Init();
if (max_approximation_error > 0.0) {
use_path_approximation_ = true;
approximation_ = PathApproximation(*this, max_approximation_error);
}
}
Path::Path(const std::vector<LaneSegment>& segments)
: lane_segments_(segments) {
for (const auto& segment : lane_segments_) {
const auto points = MapPathPoint::GetPointsFromLane(
segment.lane, segment.start_s, segment.end_s);
path_points_.insert(path_points_.end(), points.begin(), points.end());
}
MapPathPoint::RemoveDuplicates(&path_points_);
CHECK_GE(path_points_.size(), 2U);
Init();
}
Path::Path(std::vector<LaneSegment>&& segments)
: lane_segments_(std::move(segments)) {
for (const auto& segment : lane_segments_) {
const auto points = MapPathPoint::GetPointsFromLane(
segment.lane, segment.start_s, segment.end_s);
path_points_.insert(path_points_.end(), points.begin(), points.end());
}
MapPathPoint::RemoveDuplicates(&path_points_);
CHECK_GE(path_points_.size(), 2U);
Init();
}
Path::Path(std::vector<MapPathPoint>&& path_points,
std::vector<LaneSegment>&& lane_segments,
const double max_approximation_error)
: path_points_(std::move(path_points)),
lane_segments_(std::move(lane_segments)) {
Init();
if (max_approximation_error > 0.0) {
use_path_approximation_ = true;
approximation_ = PathApproximation(*this, max_approximation_error);
}
}
void Path::Init() {
InitPoints();
InitLaneSegments();
InitPointIndex();
InitWidth();
InitOverlaps();
}
void Path::InitPoints() {
num_points_ = static_cast<int>(path_points_.size());
CHECK_GE(num_points_, 2);
accumulated_s_.clear();
accumulated_s_.reserve(num_points_);
segments_.clear();
segments_.reserve(num_points_);
unit_directions_.clear();
unit_directions_.reserve(num_points_);
double s = 0.0;
for (int i = 0; i < num_points_; ++i) {
accumulated_s_.push_back(s);
Vec2d heading;
if (i + 1 >= num_points_) {
heading = path_points_[i] - path_points_[i - 1];
} else {
segments_.emplace_back(path_points_[i], path_points_[i + 1]);
heading = path_points_[i + 1] - path_points_[i];
// TODO(All): use heading.length when all adjacent lanes are guarantee to
// be connected.
s += heading.Length();
}
heading.Normalize();
unit_directions_.push_back(heading);
}
length_ = s;
num_sample_points_ = static_cast<int>(length_ / kSampleDistance) + 1;
num_segments_ = num_points_ - 1;
CHECK_EQ(accumulated_s_.size(), static_cast<size_t>(num_points_));
CHECK_EQ(unit_directions_.size(), static_cast<size_t>(num_points_));
CHECK_EQ(segments_.size(), static_cast<size_t>(num_segments_));
}
void Path::InitLaneSegments() {
if (lane_segments_.empty()) {
for (int i = 0; i + 1 < num_points_; ++i) {
LaneSegment lane_segment;
if (FindLaneSegment(path_points_[i], path_points_[i + 1],
&lane_segment)) {
lane_segments_.push_back(lane_segment);
}
}
}
LaneSegment::Join(&lane_segments_);
if (lane_segments_.empty()) {
return;
}
lane_accumulated_s_.resize(lane_segments_.size());
lane_accumulated_s_[0] = lane_segments_[0].Length();
for (std::size_t i = 1; i < lane_segments_.size(); ++i) {
lane_accumulated_s_[i] =
lane_accumulated_s_[i - 1] + lane_segments_[i].Length();
}
lane_segments_to_next_point_.clear();
lane_segments_to_next_point_.reserve(num_points_);
for (int i = 0; i + 1 < num_points_; ++i) {
LaneSegment lane_segment;
if (FindLaneSegment(path_points_[i], path_points_[i + 1], &lane_segment)) {
lane_segments_to_next_point_.push_back(lane_segment);
} else {
lane_segments_to_next_point_.push_back(LaneSegment());
}
}
CHECK_EQ(lane_segments_to_next_point_.size(),
static_cast<size_t>(num_segments_));
}
void Path::InitWidth() {
lane_left_width_.clear();
lane_left_width_.reserve(num_sample_points_);
lane_right_width_.clear();
lane_right_width_.reserve(num_sample_points_);
road_left_width_.clear();
road_left_width_.reserve(num_sample_points_);
road_right_width_.clear();
road_right_width_.reserve(num_sample_points_);
double s = 0;
for (int i = 0; i < num_sample_points_; ++i) {
const MapPathPoint point = GetSmoothPoint(s);
if (point.lane_waypoints().empty()) {
lane_left_width_.push_back(FLAGS_default_lane_width / 2.0);
lane_right_width_.push_back(FLAGS_default_lane_width / 2.0);
road_left_width_.push_back(FLAGS_default_lane_width / 2.0);
road_right_width_.push_back(FLAGS_default_lane_width / 2.0);
AWARN << "path point:" << point.DebugString() << " has invalid width.";
} else {
const LaneWaypoint waypoint = point.lane_waypoints()[0];
CHECK_NOTNULL(waypoint.lane);
double lane_left_width = 0.0;
double lane_right_width = 0.0;
waypoint.lane->GetWidth(waypoint.s, &lane_left_width, &lane_right_width);
lane_left_width_.push_back(lane_left_width - waypoint.l);
lane_right_width_.push_back(lane_right_width + waypoint.l);
double road_left_width = 0.0;
double road_right_width = 0.0;
waypoint.lane->GetRoadWidth(waypoint.s, &road_left_width,
&road_right_width);
road_left_width_.push_back(road_left_width - waypoint.l);
road_right_width_.push_back(road_right_width + waypoint.l);
}
s += kSampleDistance;
}
auto num_sample_points = static_cast<size_t>(num_sample_points_);
CHECK_EQ(lane_left_width_.size(), num_sample_points);
CHECK_EQ(lane_right_width_.size(), num_sample_points);
CHECK_EQ(road_left_width_.size(), num_sample_points);
CHECK_EQ(road_right_width_.size(), num_sample_points);
}
void Path::InitPointIndex() {
last_point_index_.clear();
last_point_index_.reserve(num_sample_points_);
double s = 0.0;
int last_index = 0;
for (int i = 0; i < num_sample_points_; ++i) {
while (last_index + 1 < num_points_ &&
accumulated_s_[last_index + 1] <= s) {
++last_index;
}
last_point_index_.push_back(last_index);
s += kSampleDistance;
}
CHECK_EQ(last_point_index_.size(), static_cast<size_t>(num_sample_points_));
}
void Path::GetAllOverlaps(GetOverlapFromLaneFunc GetOverlaps_from_lane,
std::vector<PathOverlap>* const overlaps) const {
if (overlaps == nullptr) {
return;
}
overlaps->clear();
std::unordered_map<std::string, std::vector<std::pair<double, double>>>
overlaps_by_id;
double s = 0.0;
for (const auto& lane_segment : lane_segments_) {
if (lane_segment.lane == nullptr) {
continue;
}
for (const auto& overlap : GetOverlaps_from_lane(*(lane_segment.lane))) {
const auto& overlap_info =
overlap->GetObjectOverlapInfo(lane_segment.lane->id());
if (overlap_info == nullptr) {
continue;
}
const auto& lane_overlap_info = overlap_info->lane_overlap_info();
if (lane_overlap_info.start_s() <= lane_segment.end_s &&
lane_overlap_info.end_s() >= lane_segment.start_s) {
const double ref_s = s - lane_segment.start_s;
const double adjusted_start_s =
std::max(lane_overlap_info.start_s(), lane_segment.start_s) + ref_s;
const double adjusted_end_s =
std::min(lane_overlap_info.end_s(), lane_segment.end_s) + ref_s;
for (const auto& object : overlap->overlap().object()) {
if (object.id().id() != lane_segment.lane->id().id()) {
overlaps_by_id[object.id().id()].emplace_back(adjusted_start_s,
adjusted_end_s);
}
}
}
}
s += lane_segment.end_s - lane_segment.start_s;
}
for (auto& overlaps_one_object : overlaps_by_id) {
const std::string& object_id = overlaps_one_object.first;
auto& segments = overlaps_one_object.second;
std::sort(segments.begin(), segments.end());
const double kMinOverlapDistanceGap = 1.5; // in meters.
for (const auto& segment : segments) {
if (!overlaps->empty() && overlaps->back().object_id == object_id &&
segment.first - overlaps->back().end_s <= kMinOverlapDistanceGap) {
overlaps->back().end_s =
std::max(overlaps->back().end_s, segment.second);
} else {
overlaps->emplace_back(object_id, segment.first, segment.second);
}
}
}
std::sort(overlaps->begin(), overlaps->end(),
[](const PathOverlap& overlap1, const PathOverlap& overlap2) {
return overlap1.start_s < overlap2.start_s;
});
}
const PathOverlap* Path::NextLaneOverlap(double s) const {
auto next = std::upper_bound(
lane_overlaps_.begin(), lane_overlaps_.end(), s,
[](double s, const PathOverlap& o) { return s < o.start_s; });
if (next == lane_overlaps_.end()) {
return nullptr;
} else {
return &(*next);
}
}
void Path::InitOverlaps() {
GetAllOverlaps(std::bind(&LaneInfo::cross_lanes, _1), &lane_overlaps_);
GetAllOverlaps(std::bind(&LaneInfo::signals, _1), &signal_overlaps_);
GetAllOverlaps(std::bind(&LaneInfo::yield_signs, _1), &yield_sign_overlaps_);
GetAllOverlaps(std::bind(&LaneInfo::stop_signs, _1), &stop_sign_overlaps_);
GetAllOverlaps(std::bind(&LaneInfo::crosswalks, _1), &crosswalk_overlaps_);
GetAllOverlaps(std::bind(&LaneInfo::junctions, _1), &junction_overlaps_);
GetAllOverlaps(std::bind(&LaneInfo::pnc_junctions, _1),
&pnc_junction_overlaps_);
GetAllOverlaps(std::bind(&LaneInfo::clear_areas, _1), &clear_area_overlaps_);
GetAllOverlaps(std::bind(&LaneInfo::speed_bumps, _1), &speed_bump_overlaps_);
GetAllOverlaps(std::bind(&LaneInfo::parking_spaces, _1),
&parking_space_overlaps_);
}
MapPathPoint Path::GetSmoothPoint(const InterpolatedIndex& index) const {
CHECK_GE(index.id, 0);
CHECK_LT(index.id, num_points_);
const MapPathPoint& ref_point = path_points_[index.id];
if (std::abs(index.offset) > kMathEpsilon) {
const Vec2d delta = unit_directions_[index.id] * index.offset;
MapPathPoint point({ref_point.x() + delta.x(), ref_point.y() + delta.y()},
ref_point.heading());
if (index.id < num_segments_ && !ref_point.lane_waypoints().empty()) {
const LaneSegment& lane_segment = lane_segments_to_next_point_[index.id];
auto ref_lane_waypoint = ref_point.lane_waypoints()[0];
if (lane_segment.lane != nullptr) {
for (const auto& lane_waypoint : ref_point.lane_waypoints()) {
if (lane_waypoint.lane->id().id() == lane_segment.lane->id().id()) {
ref_lane_waypoint = lane_waypoint;
break;
}
}
point.add_lane_waypoint(
LaneWaypoint(lane_segment.lane, lane_segment.start_s + index.offset,
ref_lane_waypoint.l));
}
}
if (point.lane_waypoints().empty() && !ref_point.lane_waypoints().empty()) {
point.add_lane_waypoint(ref_point.lane_waypoints()[0]);
}
return point;
} else {
return ref_point;
}
}
MapPathPoint Path::GetSmoothPoint(double s) const {
return GetSmoothPoint(GetIndexFromS(s));
}
double Path::GetSFromIndex(const InterpolatedIndex& index) const {
if (index.id < 0) {
return 0.0;
}
if (index.id >= num_points_) {
return length_;
}
return accumulated_s_[index.id] + index.offset;
}
InterpolatedIndex Path::GetIndexFromS(double s) const {
if (s <= 0.0) {
return {0, 0.0};
}
CHECK_GT(num_points_, 0);
if (s >= length_) {
return {num_points_ - 1, 0.0};
}
const int sample_id = static_cast<int>(s / kSampleDistance);
if (sample_id >= num_sample_points_) {
return {num_points_ - 1, 0.0};
}
const int next_sample_id = sample_id + 1;
int low = last_point_index_[sample_id];
int high = (next_sample_id < num_sample_points_
? std::min(num_points_, last_point_index_[next_sample_id] + 1)
: num_points_);
while (low + 1 < high) {
const int mid = (low + high) / 2;
if (accumulated_s_[mid] <= s) {
low = mid;
} else {
high = mid;
}
}
return {low, s - accumulated_s_[low]};
}
InterpolatedIndex Path::GetLaneIndexFromS(double s) const {
if (s <= 0.0) {
return {0, 0.0};
}
CHECK_GT(lane_segments_.size(), 0U);
if (s >= length_) {
return {static_cast<int>(lane_segments_.size() - 1),
lane_segments_.back().Length()};
}
auto iter = std::lower_bound(lane_accumulated_s_.begin(),
lane_accumulated_s_.end(), s);
if (iter == lane_accumulated_s_.end()) {
return {static_cast<int>(lane_segments_.size() - 1),
lane_segments_.back().Length()};
}
int index =
static_cast<int>(std::distance(lane_accumulated_s_.begin(), iter));
if (index == 0) {
return {index, s};
} else {
return {index, s - lane_accumulated_s_[index - 1]};
}
}
std::vector<hdmap::LaneSegment> Path::GetLaneSegments(
const double start_s, const double end_s) const {
std::vector<hdmap::LaneSegment> lanes;
if (start_s + kMathEpsilon > end_s) {
return lanes;
}
auto start_index = GetLaneIndexFromS(start_s);
if (start_index.offset + kMathEpsilon >=
lane_segments_[start_index.id].Length()) {
start_index.id += 1;
start_index.offset = 0;
}
const int num_lanes = static_cast<int>(lane_segments_.size());
if (start_index.id >= num_lanes) {
return lanes;
}
lanes.emplace_back(lane_segments_[start_index.id].lane, start_index.offset,
lane_segments_[start_index.id].Length());
auto end_index = GetLaneIndexFromS(end_s);
for (int i = start_index.id; i < end_index.id && i < num_lanes; ++i) {
lanes.emplace_back(lane_segments_[i]);
}
if (end_index.offset >= kMathEpsilon) {
lanes.emplace_back(lane_segments_[end_index.id].lane, 0, end_index.offset);
}
return lanes;
}
bool Path::GetNearestPoint(const Vec2d& point, double* accumulate_s,
double* lateral) const {
double distance = 0.0;
return GetNearestPoint(point, accumulate_s, lateral, &distance);
}
bool Path::GetNearestPoint(const Vec2d& point, double* accumulate_s,
double* lateral, double* min_distance) const {
if (!GetProjection(point, accumulate_s, lateral, min_distance)) {
return false;
}
if (*accumulate_s < 0.0) {
*accumulate_s = 0.0;
*min_distance = point.DistanceTo(path_points_[0]);
} else if (*accumulate_s > length_) {
*accumulate_s = length_;
*min_distance = point.DistanceTo(path_points_.back());
}
return true;
}
bool Path::GetProjection(const common::math::Vec2d& point, double* accumulate_s,
double* lateral) const {
double distance = 0.0;
return GetProjection(point, accumulate_s, lateral, &distance);
}
bool Path::GetProjectionWithHueristicParams(const Vec2d& point,
const double hueristic_start_s,
const double hueristic_end_s,
double* accumulate_s,
double* lateral,
double* min_distance) const {
if (segments_.empty()) {
return false;
}
if (accumulate_s == nullptr || lateral == nullptr ||
min_distance == nullptr) {
return false;
}
CHECK_GE(num_points_, 2);
*min_distance = std::numeric_limits<double>::infinity();
int start_interpolation_index = GetIndexFromS(hueristic_start_s).id;
int end_interpolation_index = static_cast<int>(
std::fmin(num_segments_, GetIndexFromS(hueristic_end_s).id + 1));
int min_index = start_interpolation_index;
for (int i = start_interpolation_index; i < end_interpolation_index; ++i) {
const double distance = segments_[i].DistanceSquareTo(point);
if (distance < *min_distance) {
min_index = i;
*min_distance = distance;
}
}
*min_distance = std::sqrt(*min_distance);
const auto& nearest_seg = segments_[min_index];
const auto prod = nearest_seg.ProductOntoUnit(point);
const auto proj = nearest_seg.ProjectOntoUnit(point);
if (min_index == 0) {
*accumulate_s = std::min(proj, nearest_seg.length());
if (proj < 0) {
*lateral = prod;
} else {
*lateral = (prod > 0.0 ? 1 : -1) * *min_distance;
}
} else if (min_index == num_segments_ - 1) {
*accumulate_s = accumulated_s_[min_index] + std::max(0.0, proj);
if (proj > 0) {
*lateral = prod;
} else {
*lateral = (prod > 0.0 ? 1 : -1) * *min_distance;
}
} else {
*accumulate_s = accumulated_s_[min_index] +
std::max(0.0, std::min(proj, nearest_seg.length()));
*lateral = (prod > 0.0 ? 1 : -1) * *min_distance;
}
return true;
}
bool Path::GetProjection(const Vec2d& point, double* accumulate_s,
double* lateral, double* min_distance) const {
if (segments_.empty()) {
return false;
}
if (accumulate_s == nullptr || lateral == nullptr ||
min_distance == nullptr) {
return false;
}
if (use_path_approximation_) {
return approximation_.GetProjection(*this, point, accumulate_s, lateral,
min_distance);
}
CHECK_GE(num_points_, 2);
*min_distance = std::numeric_limits<double>::infinity();
int min_index = 0;
for (int i = 0; i < num_segments_; ++i) {
const double distance = segments_[i].DistanceSquareTo(point);
if (distance < *min_distance) {
min_index = i;
*min_distance = distance;
}
}
*min_distance = std::sqrt(*min_distance);
const auto& nearest_seg = segments_[min_index];
const auto prod = nearest_seg.ProductOntoUnit(point);
const auto proj = nearest_seg.ProjectOntoUnit(point);
if (min_index == 0) {
*accumulate_s = std::min(proj, nearest_seg.length());
if (proj < 0) {
*lateral = prod;
} else {
*lateral = (prod > 0.0 ? 1 : -1) * *min_distance;
}
} else if (min_index == num_segments_ - 1) {
*accumulate_s = accumulated_s_[min_index] + std::max(0.0, proj);
if (proj > 0) {
*lateral = prod;
} else {
*lateral = (prod > 0.0 ? 1 : -1) * *min_distance;
}
} else {
*accumulate_s = accumulated_s_[min_index] +
std::max(0.0, std::min(proj, nearest_seg.length()));
*lateral = (prod > 0.0 ? 1 : -1) * *min_distance;
}
return true;
}
bool Path::GetHeadingAlongPath(const Vec2d& point, double* heading) const {
if (heading == nullptr) {
return false;
}
double s = 0;
double l = 0;
if (GetProjection(point, &s, &l)) {
*heading = GetSmoothPoint(s).heading();
return true;
}
return false;
}
double Path::GetLaneLeftWidth(const double s) const {
return GetSample(lane_left_width_, s);
}
double Path::GetLaneRightWidth(const double s) const {
return GetSample(lane_right_width_, s);
}
bool Path::GetLaneWidth(const double s, double* lane_left_width,
double* lane_right_width) const {
CHECK_NOTNULL(lane_left_width);
CHECK_NOTNULL(lane_right_width);
if (s < 0.0 || s > length_) {
return false;
}
*lane_left_width = GetSample(lane_left_width_, s);
*lane_right_width = GetSample(lane_right_width_, s);
return true;
}
double Path::GetRoadLeftWidth(const double s) const {
return GetSample(road_left_width_, s);
}
double Path::GetRoadRightWidth(const double s) const {
return GetSample(road_right_width_, s);
}
bool Path::GetRoadWidth(const double s, double* road_left_width,
double* road_right_width) const {
CHECK_NOTNULL(road_left_width);
CHECK_NOTNULL(road_right_width);
if (s < 0.0 || s > length_) {
return false;
}
*road_left_width = GetSample(road_left_width_, s);
*road_right_width = GetSample(road_right_width_, s);
return true;
}
double Path::GetSample(const std::vector<double>& samples,
const double s) const {
if (samples.empty()) {
return 0.0;
}
if (s <= 0.0) {
return samples[0];
}
const int idx = static_cast<int>(s / kSampleDistance);
if (idx >= num_sample_points_ - 1) {
return samples.back();
}
const double ratio = (s - idx * kSampleDistance) / kSampleDistance;
return samples[idx] * (1.0 - ratio) + samples[idx + 1] * ratio;
}
bool Path::IsOnPath(const Vec2d& point) const {
double accumulate_s = 0.0;
double lateral = 0.0;
if (!GetProjection(point, &accumulate_s, &lateral)) {
return false;
}
double lane_left_width = 0.0;
double lane_right_width = 0.0;
if (!GetLaneWidth(accumulate_s, &lane_left_width, &lane_right_width)) {
return false;
}
if (lateral < lane_left_width && lateral > -lane_right_width) {
return true;
}
return false;
}
bool Path::OverlapWith(const common::math::Box2d& box, double width) const {
if (use_path_approximation_) {
return approximation_.OverlapWith(*this, box, width);
}
const Vec2d center = box.center();
const double radius_sqr = Sqr(box.diagonal() / 2.0 + width) + kMathEpsilon;
for (const auto& segment : segments_) {
if (segment.DistanceSquareTo(center) > radius_sqr) {
continue;
}
if (box.DistanceTo(segment) <= width + kMathEpsilon) {
return true;
}
}
return false;
}
double PathApproximation::compute_max_error(const Path& path, const int s,
const int t) {
if (s + 1 >= t) {
return 0.0;
}
const auto& points = path.path_points();
const LineSegment2d segment(points[s], points[t]);
double max_distance_sqr = 0.0;
for (int i = s + 1; i < t; ++i) {
max_distance_sqr =
std::max(max_distance_sqr, segment.DistanceSquareTo(points[i]));
}
return sqrt(max_distance_sqr);
}
bool PathApproximation::is_within_max_error(const Path& path, const int s,
const int t) {
if (s + 1 >= t) {
return true;
}
const auto& points = path.path_points();
const LineSegment2d segment(points[s], points[t]);
for (int i = s + 1; i < t; ++i) {
if (segment.DistanceSquareTo(points[i]) > max_sqr_error_) {
return false;
}
}
return true;
}
void PathApproximation::Init(const Path& path) {
InitDilute(path);
InitProjections(path);
}
void PathApproximation::InitDilute(const Path& path) {
const int num_original_points = path.num_points();
original_ids_.clear();
int last_idx = 0;
while (last_idx < num_original_points - 1) {
original_ids_.push_back(last_idx);
int next_idx = last_idx + 1;
int delta = 2;
for (; last_idx + delta < num_original_points; delta *= 2) {
if (!is_within_max_error(path, last_idx, last_idx + delta)) {
break;
}
next_idx = last_idx + delta;
}
for (; delta > 0; delta /= 2) {
if (next_idx + delta < num_original_points &&
is_within_max_error(path, last_idx, next_idx + delta)) {
next_idx += delta;
}
}
last_idx = next_idx;
}
original_ids_.push_back(last_idx);
num_points_ = static_cast<int>(original_ids_.size());
if (num_points_ == 0) {
return;
}
segments_.clear();
segments_.reserve(num_points_ - 1);
for (int i = 0; i < num_points_ - 1; ++i) {
segments_.emplace_back(path.path_points()[original_ids_[i]],
path.path_points()[original_ids_[i + 1]]);
}
max_error_per_segment_.clear();
max_error_per_segment_.reserve(num_points_ - 1);
for (int i = 0; i < num_points_ - 1; ++i) {
max_error_per_segment_.push_back(
compute_max_error(path, original_ids_[i], original_ids_[i + 1]));
}
}
void PathApproximation::InitProjections(const Path& path) {
if (num_points_ == 0) {
return;
}
projections_.clear();
projections_.reserve(segments_.size() + 1);
double s = 0.0;
projections_.push_back(0);
for (const auto& segment : segments_) {
s += segment.length();
projections_.push_back(s);
}
const auto& original_points = path.path_points();
const int num_original_points = static_cast<int>(original_points.size());
original_projections_.clear();
original_projections_.reserve(num_original_points);
for (size_t i = 0; i < projections_.size(); ++i) {
original_projections_.push_back(projections_[i]);
if (i + 1 < projections_.size()) {
const auto& segment = segments_[i];
for (int idx = original_ids_[i] + 1; idx < original_ids_[i + 1]; ++idx) {
const double proj = segment.ProjectOntoUnit(original_points[idx]);
original_projections_.push_back(
projections_[i] + std::max(0.0, std::min(proj, segment.length())));
}
}
}
// max_p_to_left[i] = max(p[0], p[1], ... p[i]).
max_original_projections_to_left_.resize(num_original_points);
double last_projection = -std::numeric_limits<double>::infinity();
for (int i = 0; i < num_original_points; ++i) {
last_projection = std::max(last_projection, original_projections_[i]);
max_original_projections_to_left_[i] = last_projection;
}
for (int i = 0; i + 1 < num_original_points; ++i) {
CHECK_LE(max_original_projections_to_left_[i],
max_original_projections_to_left_[i + 1] + kMathEpsilon);
}
// min_p_to_right[i] = min(p[i], p[i + 1], ... p[size - 1]).
min_original_projections_to_right_.resize(original_projections_.size());
last_projection = std::numeric_limits<double>::infinity();
for (int i = num_original_points - 1; i >= 0; --i) {
last_projection = std::min(last_projection, original_projections_[i]);
min_original_projections_to_right_[i] = last_projection;
}
for (int i = 0; i + 1 < num_original_points; ++i) {
CHECK_LE(min_original_projections_to_right_[i],
min_original_projections_to_right_[i + 1] + kMathEpsilon);
}
// Sample max_p_to_left by sample_distance.
max_projection_ = projections_.back();
num_projection_samples_ =
static_cast<int>(max_projection_ / kSampleDistance) + 1;
sampled_max_original_projections_to_left_.clear();
sampled_max_original_projections_to_left_.reserve(num_projection_samples_);
double proj = 0.0;
int last_index = 0;
for (int i = 0; i < num_projection_samples_; ++i) {
while (last_index + 1 < num_original_points &&
max_original_projections_to_left_[last_index + 1] < proj) {
++last_index;
}
sampled_max_original_projections_to_left_.push_back(last_index);
proj += kSampleDistance;
}
CHECK_EQ(sampled_max_original_projections_to_left_.size(),
static_cast<size_t>(num_projection_samples_));
}
bool PathApproximation::GetProjection(const Path& path,
const common::math::Vec2d& point,
double* accumulate_s, double* lateral,
double* min_distance) const {
if (num_points_ == 0) {
return false;
}
if (accumulate_s == nullptr || lateral == nullptr ||
min_distance == nullptr) {
return false;
}
double min_distance_sqr = std::numeric_limits<double>::infinity();
int estimate_nearest_segment_idx = -1;
std::vector<double> distance_sqr_to_segments;
distance_sqr_to_segments.reserve(segments_.size());
for (size_t i = 0; i < segments_.size(); ++i) {
const double distance_sqr = segments_[i].DistanceSquareTo(point);
distance_sqr_to_segments.push_back(distance_sqr);
if (distance_sqr < min_distance_sqr) {
min_distance_sqr = distance_sqr;
estimate_nearest_segment_idx = static_cast<int>(i);
}
}
if (estimate_nearest_segment_idx < 0) {
return false;
}
const auto& original_segments = path.segments();
const int num_original_segments = static_cast<int>(original_segments.size());
const auto& original_accumulated_s = path.accumulated_s();
double min_distance_sqr_with_error =
Sqr(sqrt(min_distance_sqr) +
max_error_per_segment_[estimate_nearest_segment_idx] + max_error_);
*min_distance = std::numeric_limits<double>::infinity();
int nearest_segment_idx = -1;
for (size_t i = 0; i < segments_.size(); ++i) {
if (distance_sqr_to_segments[i] >= min_distance_sqr_with_error) {
continue;
}
int first_segment_idx = original_ids_[i];
int last_segment_idx = original_ids_[i + 1] - 1;
double max_original_projection = std::numeric_limits<double>::infinity();
if (first_segment_idx < last_segment_idx) {
const auto& segment = segments_[i];
const double projection = segment.ProjectOntoUnit(point);
const double prod_sqr = Sqr(segment.ProductOntoUnit(point));
if (prod_sqr >= min_distance_sqr_with_error) {
continue;
}
const double scan_distance = sqrt(min_distance_sqr_with_error - prod_sqr);
const double min_projection = projection - scan_distance;
max_original_projection = projections_[i] + projection + scan_distance;
if (min_projection > 0.0) {
const double limit = projections_[i] + min_projection;
const int sample_index =
std::max(0, static_cast<int>(limit / kSampleDistance));
if (sample_index >= num_projection_samples_) {
first_segment_idx = last_segment_idx;
} else {
first_segment_idx =
std::max(first_segment_idx,
sampled_max_original_projections_to_left_[sample_index]);
if (first_segment_idx >= last_segment_idx) {
first_segment_idx = last_segment_idx;
} else {
while (first_segment_idx < last_segment_idx &&
max_original_projections_to_left_[first_segment_idx + 1] <
limit) {
++first_segment_idx;
}
}
}
}
}
bool min_distance_updated = false;
bool is_within_end_point = false;
for (int idx = first_segment_idx; idx <= last_segment_idx; ++idx) {
if (min_original_projections_to_right_[idx] > max_original_projection) {
break;
}
const auto& original_segment = original_segments[idx];
const double x0 = point.x() - original_segment.start().x();
const double y0 = point.y() - original_segment.start().y();
const double ux = original_segment.unit_direction().x();
const double uy = original_segment.unit_direction().y();
double proj = x0 * ux + y0 * uy;
double distance = 0.0;
if (proj < 0.0) {
if (is_within_end_point) {
continue;
}
is_within_end_point = true;
distance = hypot(x0, y0);
} else if (proj <= original_segment.length()) {
is_within_end_point = true;
distance = std::abs(x0 * uy - y0 * ux);
} else {
is_within_end_point = false;
if (idx != last_segment_idx) {
continue;
}
distance = original_segment.end().DistanceTo(point);
}
if (distance < *min_distance) {
min_distance_updated = true;
*min_distance = distance;
nearest_segment_idx = idx;
}
}
if (min_distance_updated) {
min_distance_sqr_with_error = Sqr(*min_distance + max_error_);
}
}
if (nearest_segment_idx >= 0) {
const auto& segment = original_segments[nearest_segment_idx];
double proj = segment.ProjectOntoUnit(point);
const double prod = segment.ProductOntoUnit(point);
if (nearest_segment_idx > 0) {
proj = std::max(0.0, proj);
}
if (nearest_segment_idx + 1 < num_original_segments) {
proj = std::min(segment.length(), proj);
}
*accumulate_s = original_accumulated_s[nearest_segment_idx] + proj;
if ((nearest_segment_idx == 0 && proj < 0.0) ||
(nearest_segment_idx + 1 == num_original_segments &&
proj > segment.length())) {
*lateral = prod;
} else {
*lateral = (prod > 0 ? (*min_distance) : -(*min_distance));
}
return true;
}
return false;
}
bool PathApproximation::OverlapWith(const Path& path, const Box2d& box,
double width) const {
if (num_points_ == 0) {
return false;
}
const Vec2d center = box.center();
const double radius = box.diagonal() / 2.0 + width;
const double radius_sqr = Sqr(radius);
const auto& original_segments = path.segments();
for (size_t i = 0; i < segments_.size(); ++i) {
const LineSegment2d& segment = segments_[i];
const double max_error = max_error_per_segment_[i];
const double radius_sqr_with_error = Sqr(radius + max_error);
if (segment.DistanceSquareTo(center) > radius_sqr_with_error) {
continue;
}
int first_segment_idx = original_ids_[i];
int last_segment_idx = original_ids_[i + 1] - 1;
double max_original_projection = std::numeric_limits<double>::infinity();
if (first_segment_idx < last_segment_idx) {
const auto& segment = segments_[i];
const double projection = segment.ProjectOntoUnit(center);
const double prod_sqr = Sqr(segment.ProductOntoUnit(center));
if (prod_sqr >= radius_sqr_with_error) {
continue;
}
const double scan_distance = sqrt(radius_sqr_with_error - prod_sqr);
const double min_projection = projection - scan_distance;
max_original_projection = projections_[i] + projection + scan_distance;
if (min_projection > 0.0) {
const double limit = projections_[i] + min_projection;
const int sample_index =
std::max(0, static_cast<int>(limit / kSampleDistance));
if (sample_index >= num_projection_samples_) {
first_segment_idx = last_segment_idx;
} else {
first_segment_idx =
std::max(first_segment_idx,
sampled_max_original_projections_to_left_[sample_index]);
if (first_segment_idx >= last_segment_idx) {
first_segment_idx = last_segment_idx;
} else {
while (first_segment_idx < last_segment_idx &&
max_original_projections_to_left_[first_segment_idx + 1] <
limit) {
++first_segment_idx;
}
}
}
}
}
for (int idx = first_segment_idx; idx <= last_segment_idx; ++idx) {
if (min_original_projections_to_right_[idx] > max_original_projection) {
break;
}
const auto& original_segment = original_segments[idx];
if (original_segment.DistanceSquareTo(center) > radius_sqr) {
continue;
}
if (box.DistanceTo(original_segment) <= width) {
return true;
}
}
}
return false;
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/pnc_map/path.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 <string>
#include <utility>
#include <vector>
#include "modules/common_msgs/map_msgs/map_lane.pb.h"
#include "modules/common/math/box2d.h"
#include "modules/common/math/line_segment2d.h"
#include "modules/common/math/vec2d.h"
#include "modules/map/hdmap/hdmap_common.h"
#include "modules/map/hdmap/hdmap_util.h"
#include "modules/map/hdmap/hdmap.h"
namespace apollo {
namespace hdmap {
// class LaneInfoConstPtr;
// class OverlapInfoConstPtr;
struct LaneWaypoint {
LaneWaypoint() = default;
LaneWaypoint(LaneInfoConstPtr lane, const double s)
: lane(CHECK_NOTNULL(lane)), s(s) {}
LaneWaypoint(LaneInfoConstPtr lane, const double s, const double l)
: lane(CHECK_NOTNULL(lane)), s(s), l(l) {}
LaneInfoConstPtr lane = nullptr;
double s = 0.0;
double l = 0.0;
std::string DebugString() const;
};
/**
* @brief get left boundary type at a waypoint.
*/
LaneBoundaryType::Type LeftBoundaryType(const LaneWaypoint& waypoint);
/**
* @brief get left boundary type at a waypoint.
*/
LaneBoundaryType::Type RightBoundaryType(const LaneWaypoint& waypoint);
/**
* @brief get left neighbor lane waypoint. If not exist, the Waypoint.lane will
* be null.
*/
LaneWaypoint LeftNeighborWaypoint(const LaneWaypoint& waypoint);
/**
* @brief get left neighbor lane waypoint. If not exist, the Waypoint.lane will
* be null.
*/
LaneWaypoint RightNeighborWaypoint(const LaneWaypoint& waypoint);
struct LaneSegment {
LaneSegment() = default;
LaneSegment(LaneInfoConstPtr lane, const double start_s, const double end_s)
: lane(CHECK_NOTNULL(lane)), start_s(start_s), end_s(end_s) {}
LaneInfoConstPtr lane = nullptr;
double start_s = 0.0;
double end_s = 0.0;
double Length() const { return end_s - start_s; }
/**
* Join neighboring lane segments if they have the same lane id
*/
static void Join(std::vector<LaneSegment>* segments);
std::string DebugString() const;
};
struct PathOverlap {
PathOverlap() = default;
PathOverlap(std::string object_id, const double start_s, const double end_s)
: object_id(std::move(object_id)), start_s(start_s), end_s(end_s) {}
std::string object_id;
double start_s = 0.0;
double end_s = 0.0;
std::string DebugString() const;
};
class MapPathPoint : public common::math::Vec2d {
public:
MapPathPoint() = default;
MapPathPoint(const common::math::Vec2d& point, double heading)
: Vec2d(point.x(), point.y()), heading_(heading) {}
MapPathPoint(const common::math::Vec2d& point, double heading,
LaneWaypoint lane_waypoint)
: Vec2d(point.x(), point.y()), heading_(heading) {
lane_waypoints_.emplace_back(std::move(lane_waypoint));
}
MapPathPoint(const common::math::Vec2d& point, double heading,
std::vector<LaneWaypoint> lane_waypoints)
: Vec2d(point.x(), point.y()),
heading_(heading),
lane_waypoints_(std::move(lane_waypoints)) {}
double heading() const { return heading_; }
void set_heading(const double heading) { heading_ = heading; }
const std::vector<LaneWaypoint>& lane_waypoints() const {
return lane_waypoints_;
}
void add_lane_waypoint(LaneWaypoint lane_waypoint) {
lane_waypoints_.emplace_back(std::move(lane_waypoint));
}
void add_lane_waypoints(const std::vector<LaneWaypoint>& lane_waypoints) {
lane_waypoints_.insert(lane_waypoints_.end(), lane_waypoints.begin(),
lane_waypoints.end());
}
void clear_lane_waypoints() { lane_waypoints_.clear(); }
static void RemoveDuplicates(std::vector<MapPathPoint>* points);
static std::vector<MapPathPoint> GetPointsFromSegment(
const LaneSegment& segment);
static std::vector<MapPathPoint> GetPointsFromLane(LaneInfoConstPtr lane,
const double start_s,
const double end_s);
std::string DebugString() const;
protected:
double heading_ = 0.0;
std::vector<LaneWaypoint> lane_waypoints_;
};
class Path;
class PathApproximation {
public:
PathApproximation() = default;
PathApproximation(const Path& path, const double max_error)
: max_error_(max_error), max_sqr_error_(max_error * max_error) {
Init(path);
}
double max_error() const { return max_error_; }
const std::vector<int>& original_ids() const { return original_ids_; }
const std::vector<common::math::LineSegment2d>& segments() const {
return segments_;
}
bool GetProjection(const Path& path, const common::math::Vec2d& point,
double* accumulate_s, double* lateral,
double* distance) const;
bool OverlapWith(const Path& path, const common::math::Box2d& box,
double width) const;
protected:
void Init(const Path& path);
bool is_within_max_error(const Path& path, const int s, const int t);
double compute_max_error(const Path& path, const int s, const int t);
void InitDilute(const Path& path);
void InitProjections(const Path& path);
protected:
double max_error_ = 0;
double max_sqr_error_ = 0;
int num_points_ = 0;
std::vector<int> original_ids_;
std::vector<common::math::LineSegment2d> segments_;
std::vector<double> max_error_per_segment_;
// TODO(All): use direction change checks to early stop.
// Projection of points onto the diluated segments.
std::vector<double> projections_;
double max_projection_;
int num_projection_samples_ = 0;
// The original_projection is the projection of original points onto the
// diluated segments.
std::vector<double> original_projections_;
// max_p_to_left[i] = max(p[0], p[1], ... p[i]).
// min_p_to_right[i] = min(p[i], p[i + 1], ... p[size - 1]).
std::vector<double> max_original_projections_to_left_;
std::vector<double> min_original_projections_to_right_;
std::vector<int> sampled_max_original_projections_to_left_;
};
class InterpolatedIndex {
public:
InterpolatedIndex(int id, double offset) : id(id), offset(offset) {}
int id = 0;
double offset = 0.0;
};
class Path {
public:
Path() = default;
explicit Path(const std::vector<MapPathPoint>& path_points);
explicit Path(std::vector<MapPathPoint>&& path_points);
explicit Path(std::vector<LaneSegment>&& path_points);
explicit Path(const std::vector<LaneSegment>& path_points);
Path(const std::vector<MapPathPoint>& path_points,
const std::vector<LaneSegment>& lane_segments);
Path(std::vector<MapPathPoint>&& path_points,
std::vector<LaneSegment>&& lane_segments);
Path(const std::vector<MapPathPoint>& path_points,
const std::vector<LaneSegment>& lane_segments,
const double max_approximation_error);
Path(std::vector<MapPathPoint>&& path_points,
std::vector<LaneSegment>&& lane_segments,
const double max_approximation_error);
// Return smooth coordinate by interpolated index or accumulate_s.
MapPathPoint GetSmoothPoint(const InterpolatedIndex& index) const;
MapPathPoint GetSmoothPoint(double s) const;
// Compute accumulate s value of the index.
double GetSFromIndex(const InterpolatedIndex& index) const;
// Compute interpolated index by accumulate_s.
InterpolatedIndex GetIndexFromS(double s) const;
// get the index of the lane from s by accumulate_s
InterpolatedIndex GetLaneIndexFromS(double s) const;
std::vector<hdmap::LaneSegment> GetLaneSegments(const double start_s,
const double end_s) const;
bool GetNearestPoint(const common::math::Vec2d& point, double* accumulate_s,
double* lateral) const;
bool GetNearestPoint(const common::math::Vec2d& point, double* accumulate_s,
double* lateral, double* distance) const;
bool GetProjectionWithHueristicParams(const common::math::Vec2d& point,
const double hueristic_start_s,
const double hueristic_end_s,
double* accumulate_s, double* lateral,
double* min_distance) const;
bool GetProjection(const common::math::Vec2d& point, double* accumulate_s,
double* lateral) const;
bool GetProjection(const common::math::Vec2d& point, double* accumulate_s,
double* lateral, double* distance) const;
bool GetHeadingAlongPath(const common::math::Vec2d& point,
double* heading) const;
int num_points() const { return num_points_; }
int num_segments() const { return num_segments_; }
const std::vector<MapPathPoint>& path_points() const { return path_points_; }
const std::vector<LaneSegment>& lane_segments() const {
return lane_segments_;
}
const std::vector<LaneSegment>& lane_segments_to_next_point() const {
return lane_segments_to_next_point_;
}
const std::vector<common::math::Vec2d>& unit_directions() const {
return unit_directions_;
}
const std::vector<double>& accumulated_s() const { return accumulated_s_; }
const std::vector<common::math::LineSegment2d>& segments() const {
return segments_;
}
const PathApproximation* approximation() const { return &approximation_; }
double length() const { return length_; }
const PathOverlap* NextLaneOverlap(double s) const;
const std::vector<PathOverlap>& lane_overlaps() const {
return lane_overlaps_;
}
const std::vector<PathOverlap>& signal_overlaps() const {
return signal_overlaps_;
}
const std::vector<PathOverlap>& yield_sign_overlaps() const {
return yield_sign_overlaps_;
}
const std::vector<PathOverlap>& stop_sign_overlaps() const {
return stop_sign_overlaps_;
}
const std::vector<PathOverlap>& crosswalk_overlaps() const {
return crosswalk_overlaps_;
}
const std::vector<PathOverlap>& junction_overlaps() const {
return junction_overlaps_;
}
const std::vector<PathOverlap>& pnc_junction_overlaps() const {
return pnc_junction_overlaps_;
}
const std::vector<PathOverlap>& clear_area_overlaps() const {
return clear_area_overlaps_;
}
const std::vector<PathOverlap>& speed_bump_overlaps() const {
return speed_bump_overlaps_;
}
const std::vector<PathOverlap>& parking_space_overlaps() const {
return parking_space_overlaps_;
}
const std::vector<PathOverlap>& dead_end_overlaps() const {
return dead_end_overlaps_;
}
double GetLaneLeftWidth(const double s) const;
double GetLaneRightWidth(const double s) const;
bool GetLaneWidth(const double s, double* lane_left_width,
double* lane_right_width) const;
double GetRoadLeftWidth(const double s) const;
double GetRoadRightWidth(const double s) const;
bool GetRoadWidth(const double s, double* road_left_width,
double* road_ight_width) const;
bool IsOnPath(const common::math::Vec2d& point) const;
bool OverlapWith(const common::math::Box2d& box, double width) const;
std::string DebugString() const;
protected:
void Init();
void InitPoints();
void InitLaneSegments();
void InitWidth();
void InitPointIndex();
void InitOverlaps();
double GetSample(const std::vector<double>& samples, const double s) const;
using GetOverlapFromLaneFunc =
std::function<const std::vector<OverlapInfoConstPtr>&(const LaneInfo&)>;
void GetAllOverlaps(GetOverlapFromLaneFunc GetOverlaps_from_lane,
std::vector<PathOverlap>* const overlaps) const;
protected:
int num_points_ = 0;
int num_segments_ = 0;
std::vector<MapPathPoint> path_points_;
std::vector<LaneSegment> lane_segments_;
std::vector<double> lane_accumulated_s_;
std::vector<LaneSegment> lane_segments_to_next_point_;
std::vector<common::math::Vec2d> unit_directions_;
double length_ = 0.0;
std::vector<double> accumulated_s_;
std::vector<common::math::LineSegment2d> segments_;
bool use_path_approximation_ = false;
PathApproximation approximation_;
// Sampled every fixed length.
int num_sample_points_ = 0;
std::vector<double> lane_left_width_;
std::vector<double> lane_right_width_;
std::vector<double> road_left_width_;
std::vector<double> road_right_width_;
std::vector<int> last_point_index_;
std::vector<PathOverlap> lane_overlaps_;
std::vector<PathOverlap> signal_overlaps_;
std::vector<PathOverlap> yield_sign_overlaps_;
std::vector<PathOverlap> stop_sign_overlaps_;
std::vector<PathOverlap> crosswalk_overlaps_;
std::vector<PathOverlap> parking_space_overlaps_;
std::vector<PathOverlap> dead_end_overlaps_;
std::vector<PathOverlap> junction_overlaps_;
std::vector<PathOverlap> pnc_junction_overlaps_;
std::vector<PathOverlap> clear_area_overlaps_;
std::vector<PathOverlap> speed_bump_overlaps_;
};
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/pnc_map/pnc_map.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/map/pnc_map/pnc_map.h"
#include <algorithm>
#include <limits>
#include "absl/strings/str_cat.h"
#include "google/protobuf/text_format.h"
#include "modules/common_msgs/map_msgs/map_id.pb.h"
#include "cyber/common/log.h"
#include "modules/common/configs/config_gflags.h"
#include "modules/common/util/point_factory.h"
#include "modules/common/util/string_util.h"
#include "modules/common/util/util.h"
#include "modules/map/hdmap/hdmap_util.h"
DEFINE_double(
look_backward_distance, 50,
"look backward this distance when creating reference line from routing");
DEFINE_double(look_forward_short_distance, 180,
"short look forward this distance when creating reference line "
"from routing when ADC is slow");
DEFINE_double(
look_forward_long_distance, 250,
"look forward this distance when creating reference line from routing");
namespace apollo {
namespace hdmap {
using apollo::common::PointENU;
using apollo::common::VehicleState;
using apollo::common::util::PointFactory;
using apollo::routing::RoutingResponse;
namespace {
// Maximum lateral error used in trajectory approximation.
const double kTrajectoryApproximationMaxError = 2.0;
} // namespace
PncMap::PncMap(const HDMap *hdmap) : hdmap_(hdmap) {}
const hdmap::HDMap *PncMap::hdmap() const { return hdmap_; }
LaneWaypoint PncMap::ToLaneWaypoint(
const routing::LaneWaypoint &waypoint) const {
auto lane = hdmap_->GetLaneById(hdmap::MakeMapId(waypoint.id()));
ACHECK(lane) << "Invalid lane id: " << waypoint.id();
return LaneWaypoint(lane, waypoint.s());
}
double PncMap::LookForwardDistance(double velocity) {
auto forward_distance = velocity * FLAGS_look_forward_time_sec;
return forward_distance > FLAGS_look_forward_short_distance
? FLAGS_look_forward_long_distance
: FLAGS_look_forward_short_distance;
}
LaneSegment PncMap::ToLaneSegment(const routing::LaneSegment &segment) const {
auto lane = hdmap_->GetLaneById(hdmap::MakeMapId(segment.id()));
ACHECK(lane) << "Invalid lane id: " << segment.id();
return LaneSegment(lane, segment.start_s(), segment.end_s());
}
void PncMap::UpdateNextRoutingWaypointIndex(int cur_index) {
if (cur_index < 0) {
next_routing_waypoint_index_ = 0;
return;
}
if (cur_index >= static_cast<int>(route_indices_.size())) {
next_routing_waypoint_index_ = routing_waypoint_index_.size() - 1;
return;
}
// Search backwards when the car is driven backward on the route.
while (next_routing_waypoint_index_ != 0 &&
next_routing_waypoint_index_ < routing_waypoint_index_.size() &&
routing_waypoint_index_[next_routing_waypoint_index_].index >
cur_index) {
--next_routing_waypoint_index_;
}
while (next_routing_waypoint_index_ != 0 &&
next_routing_waypoint_index_ < routing_waypoint_index_.size() &&
routing_waypoint_index_[next_routing_waypoint_index_].index ==
cur_index &&
adc_waypoint_.s <
routing_waypoint_index_[next_routing_waypoint_index_].waypoint.s) {
--next_routing_waypoint_index_;
}
// Search forwards
while (next_routing_waypoint_index_ < routing_waypoint_index_.size() &&
routing_waypoint_index_[next_routing_waypoint_index_].index <
cur_index) {
++next_routing_waypoint_index_;
}
while (next_routing_waypoint_index_ < routing_waypoint_index_.size() &&
cur_index ==
routing_waypoint_index_[next_routing_waypoint_index_].index &&
adc_waypoint_.s >=
routing_waypoint_index_[next_routing_waypoint_index_].waypoint.s) {
++next_routing_waypoint_index_;
}
if (next_routing_waypoint_index_ >= routing_waypoint_index_.size()) {
next_routing_waypoint_index_ = routing_waypoint_index_.size() - 1;
}
}
std::vector<routing::LaneWaypoint> PncMap::FutureRouteWaypoints() const {
const auto &waypoints = routing_.routing_request().waypoint();
return std::vector<routing::LaneWaypoint>(
waypoints.begin() + next_routing_waypoint_index_, waypoints.end());
}
void PncMap::UpdateRoutingRange(int adc_index) {
// Track routing range.
range_lane_ids_.clear();
range_start_ = std::max(0, adc_index - 1);
range_end_ = range_start_;
while (range_end_ < static_cast<int>(route_indices_.size())) {
const auto &lane_id = route_indices_[range_end_].segment.lane->id().id();
if (range_lane_ids_.count(lane_id) != 0) {
break;
}
range_lane_ids_.insert(lane_id);
++range_end_;
}
}
bool PncMap::UpdateVehicleState(const VehicleState &vehicle_state) {
if (!ValidateRouting(routing_)) {
AERROR << "The routing is invalid when updating vehicle state.";
return false;
}
if (!adc_state_.has_x() ||
(common::util::DistanceXY(adc_state_, vehicle_state) >
FLAGS_replan_lateral_distance_threshold +
FLAGS_replan_longitudinal_distance_threshold)) {
// Position is reset, but not replan.
next_routing_waypoint_index_ = 0;
adc_route_index_ = -1;
stop_for_destination_ = false;
}
adc_state_ = vehicle_state;
if (!GetNearestPointFromRouting(vehicle_state, &adc_waypoint_)) {
AERROR << "Failed to get waypoint from routing with point: "
<< "(" << vehicle_state.x() << ", " << vehicle_state.y() << ", "
<< vehicle_state.z() << ").";
return false;
}
int route_index = GetWaypointIndex(adc_waypoint_);
if (route_index < 0 ||
route_index >= static_cast<int>(route_indices_.size())) {
AERROR << "Cannot find waypoint: " << adc_waypoint_.DebugString();
return false;
}
// Track how many routing request waypoints the adc have passed.
UpdateNextRoutingWaypointIndex(route_index);
adc_route_index_ = route_index;
UpdateRoutingRange(adc_route_index_);
if (routing_waypoint_index_.empty()) {
AERROR << "No routing waypoint index.";
return false;
}
if (next_routing_waypoint_index_ == routing_waypoint_index_.size() - 1) {
stop_for_destination_ = true;
}
return true;
}
bool PncMap::IsNewRouting(const routing::RoutingResponse &routing) const {
return IsNewRouting(routing_, routing);
}
bool PncMap::IsNewRouting(const routing::RoutingResponse &prev,
const routing::RoutingResponse &routing) {
if (!ValidateRouting(routing)) {
ADEBUG << "The provided routing is invalid.";
return false;
}
return !common::util::IsProtoEqual(prev, routing);
}
bool PncMap::UpdateRoutingResponse(const routing::RoutingResponse &routing) {
range_lane_ids_.clear();
route_indices_.clear();
all_lane_ids_.clear();
for (int road_index = 0; road_index < routing.road_size(); ++road_index) {
const auto &road_segment = routing.road(road_index);
for (int passage_index = 0; passage_index < road_segment.passage_size();
++passage_index) {
const auto &passage = road_segment.passage(passage_index);
for (int lane_index = 0; lane_index < passage.segment_size();
++lane_index) {
all_lane_ids_.insert(passage.segment(lane_index).id());
route_indices_.emplace_back();
route_indices_.back().segment =
ToLaneSegment(passage.segment(lane_index));
if (route_indices_.back().segment.lane == nullptr) {
AERROR << "Failed to get lane segment from passage.";
return false;
}
route_indices_.back().index = {road_index, passage_index, lane_index};
}
}
}
range_start_ = 0;
range_end_ = 0;
adc_route_index_ = -1;
next_routing_waypoint_index_ = 0;
UpdateRoutingRange(adc_route_index_);
routing_waypoint_index_.clear();
const auto &request_waypoints = routing.routing_request().waypoint();
if (request_waypoints.empty()) {
AERROR << "Invalid routing: no request waypoints.";
return false;
}
int i = 0;
for (size_t j = 0; j < route_indices_.size(); ++j) {
while (i < request_waypoints.size() &&
RouteSegments::WithinLaneSegment(route_indices_[j].segment,
request_waypoints.Get(i))) {
routing_waypoint_index_.emplace_back(
LaneWaypoint(route_indices_[j].segment.lane,
request_waypoints.Get(i).s()),
j);
++i;
}
}
routing_ = routing;
adc_waypoint_ = LaneWaypoint();
stop_for_destination_ = false;
return true;
}
const routing::RoutingResponse &PncMap::routing_response() const {
return routing_;
}
bool PncMap::ValidateRouting(const RoutingResponse &routing) {
const int num_road = routing.road_size();
if (num_road == 0) {
AERROR << "Route is empty.";
return false;
}
if (!routing.has_routing_request() ||
routing.routing_request().waypoint_size() < 2) {
AERROR << "Routing does not have request.";
return false;
}
for (const auto &waypoint : routing.routing_request().waypoint()) {
if (!waypoint.has_id() || !waypoint.has_s()) {
AERROR << "Routing waypoint has no lane_id or s.";
return false;
}
}
return true;
}
int PncMap::SearchForwardWaypointIndex(int start,
const LaneWaypoint &waypoint) const {
int i = std::max(start, 0);
while (
i < static_cast<int>(route_indices_.size()) &&
!RouteSegments::WithinLaneSegment(route_indices_[i].segment, waypoint)) {
++i;
}
return i;
}
int PncMap::SearchBackwardWaypointIndex(int start,
const LaneWaypoint &waypoint) const {
int i = std::min(static_cast<int>(route_indices_.size() - 1), start);
while (i >= 0 && !RouteSegments::WithinLaneSegment(route_indices_[i].segment,
waypoint)) {
--i;
}
return i;
}
int PncMap::NextWaypointIndex(int index) const {
if (index >= static_cast<int>(route_indices_.size() - 1)) {
return static_cast<int>(route_indices_.size()) - 1;
} else if (index < 0) {
return 0;
} else {
return index + 1;
}
}
int PncMap::GetWaypointIndex(const LaneWaypoint &waypoint) const {
int forward_index = SearchForwardWaypointIndex(adc_route_index_, waypoint);
if (forward_index >= static_cast<int>(route_indices_.size())) {
return SearchBackwardWaypointIndex(adc_route_index_, waypoint);
}
if (forward_index == adc_route_index_ ||
forward_index == adc_route_index_ + 1) {
return forward_index;
}
auto backward_index = SearchBackwardWaypointIndex(adc_route_index_, waypoint);
if (backward_index < 0) {
return forward_index;
}
return (backward_index + 1 == adc_route_index_) ? backward_index
: forward_index;
}
bool PncMap::PassageToSegments(routing::Passage passage,
RouteSegments *segments) const {
CHECK_NOTNULL(segments);
segments->clear();
for (const auto &lane : passage.segment()) {
auto lane_ptr = hdmap_->GetLaneById(hdmap::MakeMapId(lane.id()));
if (!lane_ptr) {
AERROR << "Failed to find lane: " << lane.id();
return false;
}
segments->emplace_back(lane_ptr, std::max(0.0, lane.start_s()),
std::min(lane_ptr->total_length(), lane.end_s()));
}
return !segments->empty();
}
std::vector<int> PncMap::GetNeighborPassages(const routing::RoadSegment &road,
int start_passage) const {
CHECK_GE(start_passage, 0);
CHECK_LE(start_passage, road.passage_size());
std::vector<int> result;
const auto &source_passage = road.passage(start_passage);
result.emplace_back(start_passage);
if (source_passage.change_lane_type() == routing::FORWARD) {
return result;
}
if (source_passage.can_exit()) { // No need to change lane
return result;
}
RouteSegments source_segments;
if (!PassageToSegments(source_passage, &source_segments)) {
AERROR << "Failed to convert passage to segments";
return result;
}
if (next_routing_waypoint_index_ < routing_waypoint_index_.size() &&
source_segments.IsWaypointOnSegment(
routing_waypoint_index_[next_routing_waypoint_index_].waypoint)) {
ADEBUG << "Need to pass next waypoint[" << next_routing_waypoint_index_
<< "] before change lane";
return result;
}
std::unordered_set<std::string> neighbor_lanes;
if (source_passage.change_lane_type() == routing::LEFT) {
for (const auto &segment : source_segments) {
for (const auto &left_id :
segment.lane->lane().left_neighbor_forward_lane_id()) {
neighbor_lanes.insert(left_id.id());
}
}
} else if (source_passage.change_lane_type() == routing::RIGHT) {
for (const auto &segment : source_segments) {
for (const auto &right_id :
segment.lane->lane().right_neighbor_forward_lane_id()) {
neighbor_lanes.insert(right_id.id());
}
}
}
for (int i = 0; i < road.passage_size(); ++i) {
if (i == start_passage) {
continue;
}
const auto &target_passage = road.passage(i);
for (const auto &segment : target_passage.segment()) {
if (neighbor_lanes.count(segment.id())) {
result.emplace_back(i);
break;
}
}
}
return result;
}
bool PncMap::GetRouteSegments(const VehicleState &vehicle_state,
std::list<RouteSegments> *const route_segments) {
double look_forward_distance =
LookForwardDistance(vehicle_state.linear_velocity());
double look_backward_distance = FLAGS_look_backward_distance;
return GetRouteSegments(vehicle_state, look_backward_distance,
look_forward_distance, route_segments);
}
bool PncMap::GetRouteSegments(const VehicleState &vehicle_state,
const double backward_length,
const double forward_length,
std::list<RouteSegments> *const route_segments) {
if (!UpdateVehicleState(vehicle_state)) {
AERROR << "Failed to update vehicle state in pnc_map.";
return false;
}
// Vehicle has to be this close to lane center before considering change
// lane
if (!adc_waypoint_.lane || adc_route_index_ < 0 ||
adc_route_index_ >= static_cast<int>(route_indices_.size())) {
AERROR << "Invalid vehicle state in pnc_map, update vehicle state first.";
return false;
}
const auto &route_index = route_indices_[adc_route_index_].index;
const int road_index = route_index[0];
const int passage_index = route_index[1];
const auto &road = routing_.road(road_index);
// Raw filter to find all neighboring passages
auto drive_passages = GetNeighborPassages(road, passage_index);
for (const int index : drive_passages) {
const auto &passage = road.passage(index);
RouteSegments segments;
if (!PassageToSegments(passage, &segments)) {
ADEBUG << "Failed to convert passage to lane segments.";
continue;
}
const PointENU nearest_point =
index == passage_index
? adc_waypoint_.lane->GetSmoothPoint(adc_waypoint_.s)
: PointFactory::ToPointENU(adc_state_);
common::SLPoint sl;
LaneWaypoint segment_waypoint;
if (!segments.GetProjection(nearest_point, &sl, &segment_waypoint)) {
ADEBUG << "Failed to get projection from point: "
<< nearest_point.ShortDebugString();
continue;
}
if (index != passage_index) {
if (!segments.CanDriveFrom(adc_waypoint_)) {
ADEBUG << "You cannot drive from current waypoint to passage: "
<< index;
continue;
}
}
route_segments->emplace_back();
const auto last_waypoint = segments.LastWaypoint();
if (!ExtendSegments(segments, sl.s() - backward_length,
sl.s() + forward_length, &route_segments->back())) {
AERROR << "Failed to extend segments with s=" << sl.s()
<< ", backward: " << backward_length
<< ", forward: " << forward_length;
return false;
}
if (route_segments->back().IsWaypointOnSegment(last_waypoint)) {
route_segments->back().SetRouteEndWaypoint(last_waypoint);
}
route_segments->back().SetCanExit(passage.can_exit());
route_segments->back().SetNextAction(passage.change_lane_type());
const std::string route_segment_id = absl::StrCat(road_index, "_", index);
route_segments->back().SetId(route_segment_id);
route_segments->back().SetStopForDestination(stop_for_destination_);
if (index == passage_index) {
route_segments->back().SetIsOnSegment(true);
route_segments->back().SetPreviousAction(routing::FORWARD);
} else if (sl.l() > 0) {
route_segments->back().SetPreviousAction(routing::RIGHT);
} else {
route_segments->back().SetPreviousAction(routing::LEFT);
}
}
return !route_segments->empty();
}
bool PncMap::GetNearestPointFromRouting(const VehicleState &state,
LaneWaypoint *waypoint) const {
waypoint->lane = nullptr;
std::vector<LaneInfoConstPtr> lanes;
const auto point = PointFactory::ToPointENU(state);
std::vector<LaneInfoConstPtr> valid_lanes;
for (auto lane_id : all_lane_ids_) {
hdmap::Id id = hdmap::MakeMapId(lane_id);
auto lane = hdmap_->GetLaneById(id);
if (nullptr != lane) {
valid_lanes.emplace_back(lane);
}
}
// Get nearest_waypoints for current position
std::vector<LaneWaypoint> valid_way_points;
for (const auto &lane : valid_lanes) {
if (range_lane_ids_.count(lane->id().id()) == 0) {
continue;
}
double s = 0.0;
double l = 0.0;
{
if (!lane->GetProjection({point.x(), point.y()}, &s, &l)) {
continue;
}
// Use large epsilon to allow projection diff
static constexpr double kEpsilon = 0.5;
if (s > (lane->total_length() + kEpsilon) || (s + kEpsilon) < 0.0) {
continue;
}
}
valid_way_points.emplace_back();
auto &last = valid_way_points.back();
last.lane = lane;
last.s = s;
last.l = l;
ADEBUG << "distance:" << std::fabs(l);
}
if (valid_way_points.empty()) {
AERROR << "Failed to find nearest point: " << point.ShortDebugString();
return false;
}
// Choose the lane with the right heading if there is more than one candiate
// lanes. If there is no lane with the right heading, choose the closest one.
size_t closest_index = 0;
int right_heading_index = -1;
// The distance as the sum of the lateral and longitude distance, to estimate
// the distance from the vehicle to the lane.
double distance = std::numeric_limits<double>::max();
double lane_heading = 0.0;
double vehicle_heading = state.heading();
for (size_t i = 0; i < valid_way_points.size(); i++) {
double distance_to_lane = std::fabs(valid_way_points[i].l);
if (valid_way_points[i].s > valid_way_points[i].lane->total_length()) {
distance_to_lane +=
(valid_way_points[i].s - valid_way_points[i].lane->total_length());
} else if (valid_way_points[i].s < 0.0) {
distance_to_lane -= valid_way_points[i].s;
}
if (distance > distance_to_lane) {
distance = distance_to_lane;
closest_index = i;
}
lane_heading = valid_way_points[i].lane->Heading(valid_way_points[i].s);
if (std::abs(common::math::AngleDiff(lane_heading, vehicle_heading)) <
M_PI_2) {
// Choose the lane with the closest distance to the vehicle and with the
// right heading.
if (-1 == right_heading_index || closest_index == i) {
waypoint->lane = valid_way_points[i].lane;
waypoint->s = valid_way_points[i].s;
waypoint->l = valid_way_points[i].l;
right_heading_index = i;
}
}
}
// Use the lane with the closest distance to the current position of the
// vehicle.
if (-1 == right_heading_index) {
waypoint->lane = valid_way_points[closest_index].lane;
waypoint->s = valid_way_points[closest_index].s;
waypoint->l = valid_way_points[closest_index].l;
AWARN << "Find no lane with the right heading, use the cloesest lane!";
}
return true;
}
LaneInfoConstPtr PncMap::GetRouteSuccessor(LaneInfoConstPtr lane) const {
if (lane->lane().successor_id().empty()) {
return nullptr;
}
hdmap::Id preferred_id = lane->lane().successor_id(0);
for (const auto &lane_id : lane->lane().successor_id()) {
if (range_lane_ids_.count(lane_id.id()) != 0) {
preferred_id = lane_id;
break;
}
}
return hdmap_->GetLaneById(preferred_id);
}
LaneInfoConstPtr PncMap::GetRoutePredecessor(LaneInfoConstPtr lane) const {
if (lane->lane().predecessor_id().empty()) {
return nullptr;
}
std::unordered_set<std::string> predecessor_ids;
for (const auto &lane_id : lane->lane().predecessor_id()) {
predecessor_ids.insert(lane_id.id());
}
hdmap::Id preferred_id = lane->lane().predecessor_id(0);
for (size_t i = 1; i < route_indices_.size(); ++i) {
auto &lane = route_indices_[i].segment.lane->id();
if (predecessor_ids.count(lane.id()) != 0) {
preferred_id = lane;
break;
}
}
return hdmap_->GetLaneById(preferred_id);
}
bool PncMap::ExtendSegments(const RouteSegments &segments,
const common::PointENU &point, double look_backward,
double look_forward,
RouteSegments *extended_segments) {
common::SLPoint sl;
LaneWaypoint waypoint;
if (!segments.GetProjection(point, &sl, &waypoint)) {
AERROR << "point: " << point.ShortDebugString() << " is not on segment";
return false;
}
return ExtendSegments(segments, sl.s() - look_backward, sl.s() + look_forward,
extended_segments);
}
bool PncMap::ExtendSegments(const RouteSegments &segments, double start_s,
double end_s,
RouteSegments *const truncated_segments) const {
if (segments.empty()) {
AERROR << "The input segments is empty";
return false;
}
CHECK_NOTNULL(truncated_segments);
truncated_segments->SetProperties(segments);
if (start_s >= end_s) {
AERROR << "start_s(" << start_s << " >= end_s(" << end_s << ")";
return false;
}
std::unordered_set<std::string> unique_lanes;
static constexpr double kRouteEpsilon = 1e-3;
// Extend the trajectory towards the start of the trajectory.
if (start_s < 0) {
const auto &first_segment = *segments.begin();
auto lane = first_segment.lane;
double s = first_segment.start_s;
double extend_s = -start_s;
std::vector<LaneSegment> extended_lane_segments;
while (extend_s > kRouteEpsilon) {
if (s <= kRouteEpsilon) {
lane = GetRoutePredecessor(lane);
if (lane == nullptr ||
unique_lanes.find(lane->id().id()) != unique_lanes.end()) {
break;
}
s = lane->total_length();
} else {
const double length = std::min(s, extend_s);
extended_lane_segments.emplace_back(lane, s - length, s);
extend_s -= length;
s -= length;
unique_lanes.insert(lane->id().id());
}
}
truncated_segments->insert(truncated_segments->begin(),
extended_lane_segments.rbegin(),
extended_lane_segments.rend());
}
bool found_loop = false;
double router_s = 0;
for (const auto &lane_segment : segments) {
const double adjusted_start_s = std::max(
start_s - router_s + lane_segment.start_s, lane_segment.start_s);
const double adjusted_end_s =
std::min(end_s - router_s + lane_segment.start_s, lane_segment.end_s);
if (adjusted_start_s < adjusted_end_s) {
if (!truncated_segments->empty() &&
truncated_segments->back().lane->id().id() ==
lane_segment.lane->id().id()) {
truncated_segments->back().end_s = adjusted_end_s;
} else if (unique_lanes.find(lane_segment.lane->id().id()) ==
unique_lanes.end()) {
truncated_segments->emplace_back(lane_segment.lane, adjusted_start_s,
adjusted_end_s);
unique_lanes.insert(lane_segment.lane->id().id());
} else {
found_loop = true;
break;
}
}
router_s += (lane_segment.end_s - lane_segment.start_s);
if (router_s > end_s) {
break;
}
}
if (found_loop) {
return true;
}
// Extend the trajectory towards the end of the trajectory.
if (router_s < end_s && !truncated_segments->empty()) {
auto &back = truncated_segments->back();
if (back.lane->total_length() > back.end_s) {
double origin_end_s = back.end_s;
back.end_s =
std::min(back.end_s + end_s - router_s, back.lane->total_length());
router_s += back.end_s - origin_end_s;
}
}
auto last_lane = segments.back().lane;
while (router_s < end_s - kRouteEpsilon) {
last_lane = GetRouteSuccessor(last_lane);
if (last_lane == nullptr ||
unique_lanes.find(last_lane->id().id()) != unique_lanes.end()) {
break;
}
const double length = std::min(end_s - router_s, last_lane->total_length());
truncated_segments->emplace_back(last_lane, 0, length);
unique_lanes.insert(last_lane->id().id());
router_s += length;
}
return true;
}
void PncMap::AppendLaneToPoints(LaneInfoConstPtr lane, const double start_s,
const double end_s,
std::vector<MapPathPoint> *const points) {
if (points == nullptr || start_s >= end_s) {
return;
}
double accumulate_s = 0.0;
for (size_t i = 0; i < lane->points().size(); ++i) {
if (accumulate_s >= start_s && accumulate_s <= end_s) {
points->emplace_back(lane->points()[i], lane->headings()[i],
LaneWaypoint(lane, accumulate_s));
}
if (i < lane->segments().size()) {
const auto &segment = lane->segments()[i];
const double next_accumulate_s = accumulate_s + segment.length();
if (start_s > accumulate_s && start_s < next_accumulate_s) {
points->emplace_back(segment.start() + segment.unit_direction() *
(start_s - accumulate_s),
lane->headings()[i], LaneWaypoint(lane, start_s));
}
if (end_s > accumulate_s && end_s < next_accumulate_s) {
points->emplace_back(
segment.start() + segment.unit_direction() * (end_s - accumulate_s),
lane->headings()[i], LaneWaypoint(lane, end_s));
}
accumulate_s = next_accumulate_s;
}
if (accumulate_s > end_s) {
break;
}
}
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/pnc_map/route_segments.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 <limits>
#include <string>
#include <vector>
#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
#include "modules/common_msgs/routing_msgs/routing.pb.h"
#include "modules/common/vehicle_state/proto/vehicle_state.pb.h"
#include "modules/map/hdmap/hdmap.h"
#include "modules/map/pnc_map/path.h"
namespace apollo {
namespace hdmap {
/**
* @brief class RouteSegments
*
* This class is a representation of the Passage type in routing.proto.
* It is extended from a passage region, but keeps some properties of the
* passage, such as the last end LaneWaypoint of the original passage region
* (route_end_waypoint), whether the passage can lead to another passage in
* routing (can_exit_).
* This class contains the original data that can be used to generate
* hdmap::Path.
**/
class RouteSegments : public std::vector<LaneSegment> {
public:
/**
* The default constructor.
**/
RouteSegments() = default;
/**
* Get the next change lane action need to take by the vehicle, if the vehicle
* is on this RouteSegments.
* --- If the vehicle does not need to change lane, then change_lane_type ==
* routing::FORWARD;
* --- If the vehicle need to change to left lane according to routing, then
* change_lane_type_ == routing::LEFT;
* --- If the vehicle need to change to right lane according to routing, then
* change_lane_type_ == routing::RIGHT;
*/
routing::ChangeLaneType NextAction() const;
void SetNextAction(routing::ChangeLaneType action);
/**
* Get the previous change lane action need to take by the vehicle to reach
* current segment, if the vehicle is not on this RouteSegments.
* If the vehicle is already on this segment, or does not need to change lane
* to reach this segment, then change_lane_type = routing::FORWARD;
* If the vehicle need to change to left to reach this segment, then
* change_lane_type_ = routing::LEFT;
* If the vehicle need to change to right to reach this segment, then
* change_lane_type_ = routing::RIGHT;
*/
routing::ChangeLaneType PreviousAction() const;
void SetPreviousAction(routing::ChangeLaneType action);
/**
* Whether the passage region that generate this route segment can lead to
* another passage region in route.
*/
bool CanExit() const;
void SetCanExit(bool can_exit);
/**
* Project a point to this route segment.
* @param point_enu a map point, or point, which is a Vec2d point
* @param s return the longitudinal s relative to the route segment.
* @param l return the lateral distance relative to the route segment.
* @param waypoint return the LaneWaypoint, which has lane and lane_s on the
* route segment.
* @return false if error happened or projected outside of the lane segments.
*/
bool GetProjection(const common::PointENU &point_enu,
common::SLPoint *sl_point, LaneWaypoint *waypoint) const;
bool GetProjection(const common::math::Vec2d &point,
common::SLPoint *sl_point, LaneWaypoint *waypoint) const;
bool GetWaypoint(const double s, LaneWaypoint *waypoint) const;
/**
* @brief Check whether the map allows a vehicle can reach current
* RouteSegment from a point on a lane (LaneWaypoint).
* @param waypoint the start waypoint
* @return true if the map allows a vehicle to drive from waypoint to
* current RouteSegment. Otherwise false.
*/
bool CanDriveFrom(const LaneWaypoint &waypoint) const;
/*
* This is the point that is the end of the original passage in routing.
* It is used to check if the vehicle is out of current routing.
* The LaneWaypoint.lane is nullptr if the end of the passage is not on the
* RouteSegment.
*/
const LaneWaypoint &RouteEndWaypoint() const;
void SetRouteEndWaypoint(const LaneWaypoint &waypoint);
/** Stitch current route segments with the other route segment.
* Example 1
* this: |--------A-----x-----B------|
* other: |-----B------x--------C-------|
* Result: |--------A-----x-----B------x--------C-------|
* In the above example, A-B is current route segments, and B-C is the other
* route segments. We update current route segments to A-B-C.
*
* Example 2
* this: |-----A------x--------B-------|
* other: |--------C-----x-----A------|
* Result: |--------C-----x-----A------x--------B-------|
* In the above example, A-B is current route segments, and C-A is the other
* route segments. We update current route segments to C-A-B
*
* @return false if these two reference line cannot be stitched
*/
bool Stitch(const RouteSegments &other);
bool Shrink(const common::math::Vec2d &point, const double look_backward,
const double look_forward);
bool Shrink(const double s, const double look_backward,
const double look_forward);
bool Shrink(const double s, const LaneWaypoint &waypoint,
const double look_backward, const double look_forward);
bool IsOnSegment() const;
void SetIsOnSegment(bool on_segment);
bool IsNeighborSegment() const;
void SetIsNeighborSegment(bool is_neighbor);
void SetId(const std::string &id);
const std::string &Id() const;
/**
* Get the first waypoint from the lane segments.
*/
LaneWaypoint FirstWaypoint() const;
/**
* Get the last waypoint from the lane segments.
*/
LaneWaypoint LastWaypoint() const;
/**
* @brief Check if a waypoint is on segment
*/
bool IsWaypointOnSegment(const LaneWaypoint &waypoint) const;
/**
* @brief Check if we can reach the other segment from current segment just
* by following lane.
* @param other Another route segment
*/
bool IsConnectedSegment(const RouteSegments &other) const;
bool StopForDestination() const;
void SetStopForDestination(bool stop_for_destination);
/**
* @brief Copy the properties of other segments to current one
*/
void SetProperties(const RouteSegments &other);
static bool WithinLaneSegment(const LaneSegment &lane_segment,
const LaneWaypoint &waypoint);
static bool WithinLaneSegment(const LaneSegment &lane_segment,
const routing::LaneWaypoint &waypoint);
static bool WithinLaneSegment(const routing::LaneSegment &lane_segment,
const LaneWaypoint &waypoint);
static bool WithinLaneSegment(const routing::LaneSegment &lane_segment,
const routing::LaneWaypoint &waypoint);
static double Length(const RouteSegments &segments);
private:
LaneWaypoint route_end_waypoint_;
/**
* whether this segment can lead to another passage region in routing
*/
bool can_exit_ = false;
/**
* Indicates whether the vehicle is on current RouteSegment.
**/
bool is_on_segment_ = false;
/**
* Indicates whether current routeSegment is the neighbor of vehicle
* routeSegment.
**/
bool is_neighbor_ = false;
routing::ChangeLaneType next_action_ = routing::FORWARD;
routing::ChangeLaneType previous_action_ = routing::FORWARD;
std::string id_;
/**
* Whether the vehicle should stop for destination. In a routing that has
* loops, the adc may pass by destination many times, but it only need to stop
* for destination in the last loop.
*/
bool stop_for_destination_ = false;
};
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/pnc_map/cuda_util.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.
*****************************************************************************/
#include <vector>
#if GPU_PLATFORM == NVIDIA
#include <cuda_runtime_api.h>
#include <cublas_v2.h>
#elif GPU_PLATFORM == AMD
#include <hip/hip_runtime.h>
#include <hip/hip_runtime_api.h>
#include <hipblas.h>
#define cudaError_t hipError_t
#define cudaFree hipFree
#define cudaMalloc hipMalloc
#define cudaMemcpy hipMemcpy
#define cudaMemcpyHostToDevice hipMemcpyHostToDevice
#define cudaSuccess hipSuccess
#define CUBLAS_STATUS_SUCCESS HIPBLAS_STATUS_SUCCESS
#define cublasCreate hipblasCreate
#define cublasHandle_t hipblasHandle_t
#define cublasIdamin hipblasIdamin
#define cublasStatus_t hipblasStatus_t
#endif
#include "modules/common/math/line_segment2d.h"
#include "modules/common/math/vec2d.h"
namespace apollo {
namespace pnc_map {
struct CudaLineSegment2d {
double x1;
double y1;
double x2;
double y2;
};
class CudaNearestSegment {
public:
CudaNearestSegment();
bool UpdateLineSegment(
const std::vector<apollo::common::math::LineSegment2d>& segments);
int FindNearestSegment(double x, double y);
~CudaNearestSegment();
private:
std::size_t size_ = 0;
CudaLineSegment2d* host_seg_;
double* dev_dist_;
CudaLineSegment2d* dev_seg_;
cublasHandle_t handle_;
};
} // namespace pnc_map
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/pnc_map/route_segments.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/map/pnc_map/route_segments.h"
#include <algorithm>
#include "modules/common/util/util.h"
namespace apollo {
namespace hdmap {
namespace {
// Minimum error in lane segmentation.
constexpr double kSegmentationEpsilon = 0.2;
} // namespace
const std::string &RouteSegments::Id() const { return id_; }
void RouteSegments::SetId(const std::string &id) { id_ = id; }
void RouteSegments::SetCanExit(bool can_exit) { can_exit_ = can_exit; }
bool RouteSegments::CanExit() const { return can_exit_; }
bool RouteSegments::StopForDestination() const { return stop_for_destination_; }
void RouteSegments::SetStopForDestination(bool stop_for_destination) {
stop_for_destination_ = stop_for_destination;
}
bool RouteSegments::WithinLaneSegment(const LaneSegment &lane_segment,
const LaneWaypoint &waypoint) {
return waypoint.lane &&
lane_segment.lane->id().id() == waypoint.lane->id().id() &&
lane_segment.start_s - kSegmentationEpsilon <= waypoint.s &&
lane_segment.end_s + kSegmentationEpsilon >= waypoint.s;
}
bool RouteSegments::WithinLaneSegment(const LaneSegment &lane_segment,
const routing::LaneWaypoint &waypoint) {
return lane_segment.lane && lane_segment.lane->id().id() == waypoint.id() &&
lane_segment.start_s - kSegmentationEpsilon <= waypoint.s() &&
lane_segment.end_s + kSegmentationEpsilon >= waypoint.s();
}
bool RouteSegments::WithinLaneSegment(const routing::LaneSegment &lane_segment,
const LaneWaypoint &waypoint) {
return waypoint.lane && lane_segment.id() == waypoint.lane->id().id() &&
lane_segment.start_s() - kSegmentationEpsilon <= waypoint.s &&
lane_segment.end_s() + kSegmentationEpsilon >= waypoint.s;
}
bool RouteSegments::WithinLaneSegment(const routing::LaneSegment &lane_segment,
const routing::LaneWaypoint &waypoint) {
return lane_segment.id() == waypoint.id() &&
lane_segment.start_s() - kSegmentationEpsilon <= waypoint.s() &&
lane_segment.end_s() + kSegmentationEpsilon >= waypoint.s();
}
bool RouteSegments::Stitch(const RouteSegments &other) {
auto first_waypoint = FirstWaypoint();
bool has_overlap = IsWaypointOnSegment(other.FirstWaypoint());
if (other.IsWaypointOnSegment(first_waypoint)) {
auto iter = other.begin();
while (iter != other.end() && !WithinLaneSegment(*iter, first_waypoint)) {
++iter;
}
begin()->start_s = std::min(begin()->start_s, iter->start_s);
begin()->end_s = std::max(begin()->end_s, iter->end_s);
insert(begin(), other.begin(), iter);
has_overlap = true;
}
auto last_waypoint = LastWaypoint();
if (other.IsWaypointOnSegment(last_waypoint)) {
auto iter = other.rbegin();
while (iter != other.rend() && !WithinLaneSegment(*iter, last_waypoint)) {
++iter;
}
back().start_s = std::min(back().start_s, iter->start_s);
back().end_s = std::max(back().end_s, iter->end_s);
insert(end(), iter.base(), other.end());
has_overlap = true;
}
return has_overlap;
}
const LaneWaypoint &RouteSegments::RouteEndWaypoint() const {
return route_end_waypoint_;
}
bool RouteSegments::IsOnSegment() const { return is_on_segment_; }
void RouteSegments::SetIsOnSegment(bool on_segment) {
is_on_segment_ = on_segment;
}
bool RouteSegments::IsNeighborSegment() const { return is_neighbor_; }
void RouteSegments::SetIsNeighborSegment(bool is_neighbor) {
is_neighbor_ = is_neighbor;
}
void RouteSegments::SetRouteEndWaypoint(const LaneWaypoint &waypoint) {
route_end_waypoint_ = waypoint;
}
LaneWaypoint RouteSegments::FirstWaypoint() const {
return LaneWaypoint(front().lane, front().start_s, 0.0);
}
LaneWaypoint RouteSegments::LastWaypoint() const {
return LaneWaypoint(back().lane, back().end_s, 0.0);
}
void RouteSegments::SetProperties(const RouteSegments &other) {
route_end_waypoint_ = other.RouteEndWaypoint();
can_exit_ = other.CanExit();
is_on_segment_ = other.IsOnSegment();
next_action_ = other.NextAction();
previous_action_ = other.PreviousAction();
id_ = other.Id();
stop_for_destination_ = other.StopForDestination();
}
double RouteSegments::Length(const RouteSegments &segments) {
double s = 0.0;
for (const auto &seg : segments) {
s += seg.Length();
}
return s;
}
bool RouteSegments::GetProjection(const common::PointENU &point_enu,
common::SLPoint *sl_point,
LaneWaypoint *waypoint) const {
return GetProjection({point_enu.x(), point_enu.y()}, sl_point, waypoint);
}
bool RouteSegments::IsConnectedSegment(const RouteSegments &other) const {
if (empty() || other.empty()) {
return false;
}
if (IsWaypointOnSegment(other.FirstWaypoint())) {
return true;
}
if (IsWaypointOnSegment(other.LastWaypoint())) {
return true;
}
if (other.IsWaypointOnSegment(FirstWaypoint())) {
return true;
}
if (other.IsWaypointOnSegment(LastWaypoint())) {
return true;
}
return false;
}
bool RouteSegments::Shrink(const common::math::Vec2d &point,
const double look_backward,
const double look_forward) {
common::SLPoint sl_point;
LaneWaypoint waypoint;
if (!GetProjection(point, &sl_point, &waypoint)) {
AERROR << "failed to project " << point.DebugString() << " to segment";
return false;
}
return Shrink(sl_point.s(), look_backward, look_forward);
}
bool RouteSegments::Shrink(const double s, const double look_backward,
const double look_forward) {
LaneWaypoint waypoint;
if (!GetWaypoint(s, &waypoint)) {
return false;
}
return Shrink(s, waypoint, look_backward, look_forward);
}
bool RouteSegments::Shrink(const double s, const LaneWaypoint &waypoint,
const double look_backward,
const double look_forward) {
double acc_s = 0.0;
auto iter = begin();
while (iter != end() && acc_s + iter->Length() < s - look_backward) {
acc_s += iter->Length();
++iter;
}
if (iter == end()) {
return true;
}
iter->start_s =
std::max(iter->start_s, s - look_backward - acc_s + iter->start_s);
if (iter->Length() < kSegmentationEpsilon) {
++iter;
}
erase(begin(), iter);
iter = begin();
acc_s = 0.0;
while (iter != end() && !WithinLaneSegment(*iter, waypoint)) {
++iter;
}
if (iter == end()) {
return true;
}
acc_s = iter->end_s - waypoint.s;
if (acc_s >= look_forward) {
iter->end_s = waypoint.s + look_forward;
++iter;
erase(iter, end());
return true;
}
++iter;
while (iter != end() && acc_s + iter->Length() < look_forward) {
acc_s += iter->Length();
++iter;
}
if (iter == end()) {
return true;
}
iter->end_s = std::min(iter->end_s, look_forward - acc_s + iter->start_s);
erase(iter + 1, end());
return true;
}
bool RouteSegments::GetWaypoint(const double s, LaneWaypoint *waypoint) const {
double accumulated_s = 0.0;
bool has_projection = false;
for (auto iter = begin(); iter != end();
accumulated_s += (iter->end_s - iter->start_s), ++iter) {
if (accumulated_s - kSegmentationEpsilon < s &&
s < accumulated_s + iter->end_s - iter->start_s +
kSegmentationEpsilon) {
waypoint->lane = iter->lane;
waypoint->s = s - accumulated_s + iter->start_s;
if (waypoint->s < iter->start_s) {
waypoint->s = iter->start_s;
} else if (waypoint->s > iter->end_s) {
waypoint->s = iter->end_s;
}
has_projection = true;
break;
}
}
return has_projection;
}
bool RouteSegments::GetProjection(const common::math::Vec2d &point,
common::SLPoint *sl_point,
LaneWaypoint *waypoint) const {
double min_l = std::numeric_limits<double>::infinity();
double accumulated_s = 0.0;
bool has_projection = false;
for (auto iter = begin(); iter != end();
accumulated_s += (iter->end_s - iter->start_s), ++iter) {
double lane_s = 0.0;
double lane_l = 0.0;
if (!iter->lane->GetProjection(point, &lane_s, &lane_l)) {
AERROR << "Failed to get projection from point " << point.DebugString()
<< " on lane " << iter->lane->id().id();
return false;
}
if (lane_s < iter->start_s - kSegmentationEpsilon ||
lane_s > iter->end_s + kSegmentationEpsilon) {
continue;
}
if (std::fabs(lane_l) < min_l) {
has_projection = true;
lane_s = std::max(iter->start_s, lane_s);
lane_s = std::min(iter->end_s, lane_s);
min_l = std::fabs(lane_l);
sl_point->set_l(lane_l);
sl_point->set_s(lane_s - iter->start_s + accumulated_s);
waypoint->lane = iter->lane;
waypoint->s = lane_s;
}
}
return has_projection;
}
void RouteSegments::SetPreviousAction(routing::ChangeLaneType action) {
previous_action_ = action;
}
routing::ChangeLaneType RouteSegments::PreviousAction() const {
return previous_action_;
}
void RouteSegments::SetNextAction(routing::ChangeLaneType action) {
next_action_ = action;
}
routing::ChangeLaneType RouteSegments::NextAction() const {
return next_action_;
}
bool RouteSegments::IsWaypointOnSegment(const LaneWaypoint &waypoint) const {
for (auto iter = begin(); iter != end(); ++iter) {
if (WithinLaneSegment(*iter, waypoint)) {
return true;
}
}
return false;
}
bool RouteSegments::CanDriveFrom(const LaneWaypoint &waypoint) const {
auto point = waypoint.lane->GetSmoothPoint(waypoint.s);
// 0 if waypoint is on segment, ok
if (IsWaypointOnSegment(waypoint)) {
return true;
}
// 1. should have valid projection.
LaneWaypoint segment_waypoint;
common::SLPoint route_sl;
bool has_projection = GetProjection(point, &route_sl, &segment_waypoint);
if (!has_projection) {
AERROR << "No projection from waypoint: " << waypoint.DebugString();
return false;
}
static constexpr double kMaxLaneWidth = 10.0;
if (std::fabs(route_sl.l()) > 2 * kMaxLaneWidth) {
return false;
}
// 2. heading should be the same.
double waypoint_heading = waypoint.lane->Heading(waypoint.s);
double segment_heading = segment_waypoint.lane->Heading(segment_waypoint.s);
double heading_diff =
common::math::AngleDiff(waypoint_heading, segment_heading);
if (std::fabs(heading_diff) > M_PI / 2) {
ADEBUG << "Angle diff too large:" << heading_diff;
return false;
}
// 3. the waypoint and the projected lane should not be separated apart.
double waypoint_left_width = 0.0;
double waypoint_right_width = 0.0;
waypoint.lane->GetWidth(waypoint.s, &waypoint_left_width,
&waypoint_right_width);
double segment_left_width = 0.0;
double segment_right_width = 0.0;
segment_waypoint.lane->GetWidth(segment_waypoint.s, &segment_left_width,
&segment_right_width);
auto segment_projected_point =
segment_waypoint.lane->GetSmoothPoint(segment_waypoint.s);
double dist = common::util::DistanceXY(point, segment_projected_point);
const double kLaneSeparationDistance = 0.3;
if (route_sl.l() < 0) { // waypoint at right side
if (dist >
waypoint_left_width + segment_right_width + kLaneSeparationDistance) {
AERROR << "waypoint is too far to reach: " << dist;
return false;
}
} else { // waypoint at left side
if (dist >
waypoint_right_width + segment_left_width + kLaneSeparationDistance) {
AERROR << "waypoint is too far to reach: " << dist;
return false;
}
}
return true;
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/pnc_map/pnc_map.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 <list>
#include <string>
#include <unordered_set>
#include <vector>
#include "gtest/gtest_prod.h"
#include "modules/common_msgs/routing_msgs/routing.pb.h"
#include "modules/common/vehicle_state/proto/vehicle_state.pb.h"
#include "modules/map/hdmap/hdmap.h"
#include "modules/map/pnc_map/path.h"
#include "modules/map/pnc_map/route_segments.h"
DECLARE_double(look_backward_distance);
DECLARE_double(look_forward_short_distance);
DECLARE_double(look_forward_long_distance);
namespace apollo {
namespace hdmap {
class PncMap {
public:
virtual ~PncMap() = default;
explicit PncMap(const HDMap *hdmap);
const hdmap::HDMap *hdmap() const;
bool UpdateRoutingResponse(const routing::RoutingResponse &routing_response);
const routing::RoutingResponse &routing_response() const;
static double LookForwardDistance(const double velocity);
bool GetRouteSegments(const common::VehicleState &vehicle_state,
const double backward_length,
const double forward_length,
std::list<RouteSegments> *const route_segments);
/**
* @brief use heuristic forward length and backward length
*/
bool GetRouteSegments(const common::VehicleState &vehicle_state,
std::list<RouteSegments> *const route_segments);
/**
* Check if the routing is the same as existing one in PncMap
*/
bool IsNewRouting(const routing::RoutingResponse &routing_response) const;
static bool IsNewRouting(const routing::RoutingResponse &prev,
const routing::RoutingResponse &routing_response);
bool ExtendSegments(const RouteSegments &segments,
const common::PointENU &point, double look_forward,
double look_backward, RouteSegments *extended_segments);
bool ExtendSegments(const RouteSegments &segments, double start_s,
double end_s,
RouteSegments *const truncated_segments) const;
std::vector<routing::LaneWaypoint> FutureRouteWaypoints() const;
private:
bool UpdateVehicleState(const common::VehicleState &vehicle_state);
/**
* @brief Find the waypoint index of a routing waypoint. It updates
* adc_route_index_
* @return index out of range if cannot find waypoint on routing, otherwise
* an index in range [0, route_indices.size());
*/
int GetWaypointIndex(const LaneWaypoint &waypoint) const;
bool GetNearestPointFromRouting(const common::VehicleState &point,
LaneWaypoint *waypoint) const;
bool PassageToSegments(routing::Passage passage,
RouteSegments *segments) const;
bool ProjectToSegments(const common::PointENU &point_enu,
const RouteSegments &segments,
LaneWaypoint *waypoint) const;
static bool ValidateRouting(const routing::RoutingResponse &routing);
static void AppendLaneToPoints(LaneInfoConstPtr lane, const double start_s,
const double end_s,
std::vector<MapPathPoint> *const points);
LaneInfoConstPtr GetRoutePredecessor(LaneInfoConstPtr lane) const;
LaneInfoConstPtr GetRouteSuccessor(LaneInfoConstPtr lane) const;
/**
* Return the neighbor passages from passage with index start_passage on road.
* @param road the road information from routing
* @param start_passage the passsage index in road
* @return all the indices of the neighboring passages, including
* start_passage.
*/
std::vector<int> GetNeighborPassages(const routing::RoadSegment &road,
int start_passage) const;
/**
* @brief convert a routing waypoint to lane waypoint
* @return empty LaneWaypoint if the lane id cannot be found on map, otherwise
* return a valid LaneWaypoint with lane ptr and s.
*/
LaneWaypoint ToLaneWaypoint(const routing::LaneWaypoint &waypoint) const;
/**
* @brief convert a routing segment to lane segment
* @return empty LaneSegmetn if the lane id cannot be found on map, otherwise
* return a valid LaneSegment with lane ptr, start_s and end_s
*/
LaneSegment ToLaneSegment(const routing::LaneSegment &segment) const;
/**
* @brief Update routing waypoint index to the next waypoint that ADC need to
* pass. The logic is by comparing the current waypoint's route index with
* route_index and adc_waypoint_:
* a. If the waypoint's route_index < route_index_, ADC must have passed
* the waypoint.
* b. If the waypoint's route_index == route_index_, ADC and the waypoint
* is on the same lane, compare the lane_s.
*/
void UpdateNextRoutingWaypointIndex(int cur_index);
/**
* @brief find the index of waypoint by looking forward from index start.
* @return empty vector if not found, otherwise return a vector { road_index,
* passage_index, lane_index}
*/
int SearchForwardWaypointIndex(int start, const LaneWaypoint &waypoint) const;
int SearchBackwardWaypointIndex(int start,
const LaneWaypoint &waypoint) const;
void UpdateRoutingRange(int adc_index);
private:
routing::RoutingResponse routing_;
struct RouteIndex {
LaneSegment segment;
std::array<int, 3> index;
};
std::vector<RouteIndex> route_indices_;
int range_start_ = 0;
int range_end_ = 0;
// routing ids in range
std::unordered_set<std::string> range_lane_ids_;
std::unordered_set<std::string> all_lane_ids_;
/**
* The routing request waypoints
*/
struct WaypointIndex {
LaneWaypoint waypoint;
int index;
WaypointIndex(const LaneWaypoint &waypoint, int index)
: waypoint(waypoint), index(index) {}
};
// return the segment of an index
int NextWaypointIndex(int index) const;
std::vector<WaypointIndex> routing_waypoint_index_;
/**
* The next routing request waypoint index in routing_waypoint_index_
*/
std::size_t next_routing_waypoint_index_ = 0;
const hdmap::HDMap *hdmap_ = nullptr;
bool is_same_routing_ = false;
/**
* The state of the adc
*/
common::VehicleState adc_state_;
/**
* A three element index: {road_index, passage_index, lane_index}
*/
int adc_route_index_ = -1;
/**
* The waypoint of the autonomous driving car
*/
LaneWaypoint adc_waypoint_;
/**
* @brief Indicates whether the adc should start consider destination.
* In a looped routing, the vehicle may need to pass by the destination
* point
* may times on the road, but only need to stop when it encounters
* destination
* for the last time.
*/
bool stop_for_destination_ = false;
FRIEND_TEST(PncMapTest, UpdateRouting);
FRIEND_TEST(PncMapTest, GetNearestPointFromRouting);
FRIEND_TEST(PncMapTest, UpdateWaypointIndex);
FRIEND_TEST(PncMapTest, UpdateNextRoutingWaypointIndex);
FRIEND_TEST(PncMapTest, GetNeighborPassages);
FRIEND_TEST(PncMapTest, NextWaypointIndex);
FRIEND_TEST(PncMapTest, SearchForwardIndex_SearchBackwardIndex);
};
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/pnc_map/BUILD | load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
load("//third_party/gpus:common.bzl", "gpu_library", "if_cuda", "if_rocm")
load("//tools:cpplint.bzl", "cpplint")
load("//tools/install:install.bzl", "install")
package(default_visibility = ["//visibility:public"])
MAP_COPTS = ["-DMODULE_NAME=\\\"map\\\""]
PLANNING_COPTS = ["-DMODULE_NAME=\\\"planning\\\""]
install(
name = "install",
library_dest = "map/lib",
targets = [":libpnc_map.so"],
visibility = ["//visibility:public"],
)
gpu_library(
name = "cuda_pnc_util",
srcs = ["cuda_util.cu"],
hdrs = ["cuda_util.h"],
deps = [
"//cyber",
"//modules/common/math",
] + if_cuda([
"@local_config_cuda//cuda:cudart",
]) + if_rocm([
"@local_config_rocm//rocm:hip",
"@local_config_rocm//rocm:rocm_headers",
"@local_config_rocm//rocm:hipblas",
]),
tags = ["exclude"]
)
cc_test(
name = "cuda_util_test",
size = "small",
srcs = [
"cuda_util.h",
"cuda_util_test.cc",
":cuda_pnc_util",
],
deps = [
"//modules/common/math",
"@com_google_googletest//:gtest_main",
] + if_cuda([
"@local_config_cuda//cuda:cublas",
"@local_config_cuda//cuda:cuda_headers",
"@local_config_cuda//cuda:cudart",
]) + if_rocm([
"@local_config_rocm//rocm:hipblas",
"@local_config_rocm//rocm:rocm_headers",
"@local_config_rocm//rocm:hip",
]),
tags = ["exclude"],
linkstatic = True,
)
cc_library(
name = "path",
srcs = ["path.cc"],
hdrs = ["path.h"],
copts = PLANNING_COPTS,
deps = [
"//cyber",
"//modules/common_msgs/map_msgs:map_lane_cc_proto",
"//modules/common/math",
"//modules/common/util:util_tool",
"//modules/map/hdmap:hdmap_util",
"//modules/map/hdmap",
"@com_google_absl//:absl",
],
)
cc_library(
name = "route_segments",
srcs = ["route_segments.cc"],
hdrs = ["route_segments.h"],
copts = MAP_COPTS,
deps = [
":path",
"//modules/common_msgs/basic_msgs:pnc_point_cc_proto",
"//modules/common_msgs/routing_msgs:routing_cc_proto",
"//modules/common/util",
"//modules/common/vehicle_state/proto:vehicle_state_cc_proto",
"//modules/map/hdmap",
],
)
cc_binary(
name = "libpnc_map.so",
srcs = [
"pnc_map.cc",
"pnc_map.h",
],
linkshared = True,
linkstatic = True,
copts = [
"-DMODULE_NAME=\\\"planning\\\"",
],
deps = [
":path",
":route_segments",
"//cyber",
"//modules/common_msgs/map_msgs:map_id_cc_proto",
"//modules/common_msgs/routing_msgs:routing_cc_proto",
"//modules/common/configs:config_gflags",
"//modules/common/util:util_tool",
"//modules/common/util",
"//modules/common/vehicle_state/proto:vehicle_state_cc_proto",
"//modules/map/hdmap:hdmap_util",
"//modules/map/hdmap",
"@com_google_absl//:absl",
"@com_google_googletest//:gtest",
"@com_google_protobuf//:protobuf",
],
)
cc_library(
name = "pnc_map",
srcs = ["libpnc_map.so"],
hdrs = [
"path.h",
"pnc_map.h",
"route_segments.h",
],
copts = [
"-DMODULE_NAME=\\\"planning\\\"",
],
deps = [
"//cyber",
"//modules/common_msgs/basic_msgs:pnc_point_cc_proto",
"//modules/common_msgs/map_msgs:map_lane_cc_proto",
"//modules/common_msgs/routing_msgs:routing_cc_proto",
"//modules/common/configs:config_gflags",
"//modules/common/math",
"//modules/common/util:util_tool",
"//modules/common/util",
"//modules/common/vehicle_state/proto:vehicle_state_cc_proto",
"//modules/map/hdmap:hdmap_util",
"//modules/map/hdmap",
"@com_google_absl//:absl",
"@com_google_googletest//:gtest",
"@com_google_protobuf//:protobuf",
],
)
filegroup(
name = "testdata",
srcs = glob([
"testdata/**",
]),
)
cc_test(
name = "pnc_path_test",
size = "small",
srcs = ["path_test.cc"],
deps = [
":path",
"//modules/common/util",
"//modules/common_msgs/routing_msgs:routing_cc_proto",
"@com_google_googletest//:gtest_main",
],
)
cc_test(
name = "pnc_map_test",
size = "small",
srcs = ["pnc_map_test.cc"],
data = [
":testdata",
"//modules/map/data:map_sunnyvale_loop",
],
deps = [
":pnc_map",
"//modules/common/util",
"@com_google_googletest//:gtest_main",
],
linkstatic = True,
)
cc_test(
name = "route_segments_test",
size = "small",
srcs = ["route_segments_test.cc"],
data = [
":testdata",
"//modules/map/data:map_sunnyvale_loop",
],
deps = [
":route_segments",
"//modules/common/util",
"@com_google_googletest//:gtest_main",
],
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/pnc_map/path_test.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/map/pnc_map/path.h"
#include <string>
#include "absl/strings/str_cat.h"
#include "gtest/gtest.h"
#include "modules/map/hdmap/hdmap.h"
#include "modules/common_msgs/routing_msgs/routing.pb.h"
using Point = apollo::common::PointENU;
using AABox2d = apollo::common::math::AABox2d;
using Vec2d = apollo::common::math::Vec2d;
namespace apollo {
namespace hdmap {
namespace {
Point MakePoint(double x, double y, double z) {
Point pt;
pt.set_x(x);
pt.set_y(y);
pt.set_z(z);
return pt;
}
LaneSampleAssociation MakeSample(double s, double width) {
LaneSampleAssociation sample;
sample.set_s(s);
sample.set_width(width);
return sample;
}
MapPathPoint MakeMapPathPoint(double x, double y, double heading = 0) {
return MapPathPoint({x, y}, heading);
}
int RandomInt(int s, int t) {
if (s >= t) {
return s;
}
return s + rand() % (t - s + 1); // NOLINT
}
double RandomDouble(double s, double t) {
return s + (t - s) / 16383.0 * (rand() & 16383); // NOLINT
}
} // namespace
TEST(TestSuite, LaneSegment) {
Lane lane1;
{
lane1.mutable_id()->set_id("lane1");
auto* line_segment =
lane1.mutable_central_curve()->add_segment()->mutable_line_segment();
*line_segment->add_point() = MakePoint(0, 0, 0);
*line_segment->add_point() = MakePoint(0, 3, 0);
lane1.set_length(3.0);
*lane1.add_left_sample() = MakeSample(0.0, 4.0);
*lane1.add_left_sample() = MakeSample(1.0, 5.0);
*lane1.add_left_sample() = MakeSample(3.0, 6.0);
*lane1.add_right_sample() = MakeSample(0.0, 7.0);
*lane1.add_right_sample() = MakeSample(2.0, 8.0);
*lane1.add_right_sample() = MakeSample(3.0, 5.0);
}
LaneInfoConstPtr lane_info1(new LaneInfo(lane1));
Lane lane2;
{
lane2.mutable_id()->set_id("lane2");
auto* line_segment =
lane2.mutable_central_curve()->add_segment()->mutable_line_segment();
*line_segment->add_point() = MakePoint(0, 0, 0);
*line_segment->add_point() = MakePoint(0, 3, 0);
lane2.set_length(3.0);
*lane2.add_left_sample() = MakeSample(0.0, 4.0);
*lane2.add_left_sample() = MakeSample(1.0, 5.0);
*lane2.add_left_sample() = MakeSample(3.0, 6.0);
*lane2.add_right_sample() = MakeSample(0.0, 7.0);
*lane2.add_right_sample() = MakeSample(2.0, 8.0);
*lane2.add_right_sample() = MakeSample(3.0, 5.0);
}
LaneInfoConstPtr lane_info2(new LaneInfo(lane2));
{ // one segment
std::vector<LaneSegment> segments;
segments.emplace_back(LaneSegment(lane_info1, 0, 1));
LaneSegment::Join(&segments);
EXPECT_EQ(1, segments.size());
EXPECT_EQ("lane1", segments[0].lane->id().id());
EXPECT_FLOAT_EQ(0, segments[0].start_s);
EXPECT_FLOAT_EQ(1, segments[0].end_s);
}
{ // two segments
std::vector<LaneSegment> segments;
segments.emplace_back(LaneSegment(lane_info1, 0, 1));
segments.emplace_back(LaneSegment(lane_info1, 2, 3));
LaneSegment::Join(&segments);
EXPECT_EQ(1, segments.size());
EXPECT_EQ("lane1", segments[0].lane->id().id());
EXPECT_FLOAT_EQ(0, segments[0].start_s);
EXPECT_FLOAT_EQ(3, segments[0].end_s);
}
{ // three segments
std::vector<LaneSegment> segments;
segments.emplace_back(LaneSegment(lane_info1, 0, 1));
segments.emplace_back(LaneSegment(lane_info1, 2, 3));
segments.emplace_back(LaneSegment(lane_info2, 0, 2));
LaneSegment::Join(&segments);
EXPECT_EQ(2, segments.size());
EXPECT_EQ("lane1", segments[0].lane->id().id());
EXPECT_FLOAT_EQ(0, segments[0].start_s);
EXPECT_FLOAT_EQ(3, segments[0].end_s);
EXPECT_EQ("lane2", segments[1].lane->id().id());
EXPECT_FLOAT_EQ(0, segments[1].start_s);
EXPECT_FLOAT_EQ(2, segments[1].end_s);
}
}
TEST(TestSuite, hdmap_line_path) {
Lane lane;
lane.mutable_id()->set_id("id");
auto* line_segment =
lane.mutable_central_curve()->add_segment()->mutable_line_segment();
*line_segment->add_point() = MakePoint(0, 0, 0);
*line_segment->add_point() = MakePoint(0, 3, 0);
lane.set_length(3.0);
*lane.add_left_sample() = MakeSample(0.0, 4.0);
*lane.add_left_sample() = MakeSample(1.0, 5.0);
*lane.add_left_sample() = MakeSample(3.0, 6.0);
*lane.add_right_sample() = MakeSample(0.0, 7.0);
*lane.add_right_sample() = MakeSample(2.0, 8.0);
*lane.add_right_sample() = MakeSample(3.0, 5.0);
LaneInfoConstPtr lane_info(new LaneInfo(lane));
std::vector<MapPathPoint> points{
MapPathPoint({0, 0}, M_PI_2, LaneWaypoint(lane_info, 0)),
MapPathPoint({0, 1}, M_PI_2, LaneWaypoint(lane_info, 1)),
MapPathPoint({0, 2}, M_PI_2, LaneWaypoint(lane_info, 2)),
MapPathPoint({0, 3}, M_PI_2, LaneWaypoint(lane_info, 3))};
const Path path(std::move(points), {}, 2.0);
EXPECT_EQ(path.num_points(), 4);
EXPECT_EQ(path.num_segments(), 3);
EXPECT_NEAR(path.path_points()[0].x(), 0, 1e-6);
EXPECT_NEAR(path.path_points()[0].y(), 0, 1e-6);
EXPECT_NEAR(path.unit_directions()[0].x(), 0, 1e-6);
EXPECT_NEAR(path.unit_directions()[0].y(), 1, 1e-6);
EXPECT_NEAR(path.accumulated_s()[0], 0, 1e-6);
EXPECT_NEAR(path.path_points()[1].x(), 0, 1e-6);
EXPECT_NEAR(path.path_points()[1].y(), 1, 1e-6);
EXPECT_NEAR(path.unit_directions()[1].x(), 0, 1e-6);
EXPECT_NEAR(path.unit_directions()[1].y(), 1, 1e-6);
EXPECT_NEAR(path.accumulated_s()[1], 1, 1e-6);
EXPECT_NEAR(path.path_points()[2].x(), 0, 1e-6);
EXPECT_NEAR(path.path_points()[2].y(), 2, 1e-6);
EXPECT_NEAR(path.unit_directions()[2].x(), 0, 1e-6);
EXPECT_NEAR(path.unit_directions()[2].y(), 1, 1e-6);
EXPECT_NEAR(path.accumulated_s()[2], 2, 1e-6);
EXPECT_NEAR(path.path_points()[3].x(), 0, 1e-6);
EXPECT_NEAR(path.path_points()[3].y(), 3, 1e-6);
EXPECT_NEAR(path.unit_directions()[3].x(), 0, 1e-6);
EXPECT_NEAR(path.unit_directions()[3].y(), 1, 1e-6);
EXPECT_NEAR(path.accumulated_s()[3], 3, 1e-6);
EXPECT_EQ(path.segments().size(), 3);
const auto* path_approximation = path.approximation();
EXPECT_NEAR(path_approximation->max_error(), 2.0, 1e-6);
EXPECT_EQ(path_approximation->original_ids().size(), 2);
EXPECT_EQ(path_approximation->original_ids()[0], 0);
EXPECT_EQ(path_approximation->original_ids()[1], 3);
EXPECT_EQ(path.lane_segments().size(), 1);
EXPECT_EQ(path.lane_segments_to_next_point().size(), 3);
EXPECT_EQ(path.lane_segments_to_next_point()[0].lane->id().id(), "id");
EXPECT_NEAR(path.lane_segments_to_next_point()[0].start_s, 0.0, 1e-6);
EXPECT_NEAR(path.lane_segments_to_next_point()[0].end_s, 1.0, 1e-6);
EXPECT_EQ(path.lane_segments_to_next_point()[1].lane->id().id(), "id");
EXPECT_NEAR(path.lane_segments_to_next_point()[1].start_s, 1.0, 1e-6);
EXPECT_NEAR(path.lane_segments_to_next_point()[1].end_s, 2.0, 1e-6);
EXPECT_EQ(path.lane_segments_to_next_point()[2].lane->id().id(), "id");
EXPECT_NEAR(path.lane_segments_to_next_point()[2].start_s, 2.0, 1e-6);
EXPECT_NEAR(path.lane_segments_to_next_point()[2].end_s, 3.0, 1e-6);
MapPathPoint point = path.GetSmoothPoint({1, 0.5});
EXPECT_NEAR(point.x(), 0, 1e-6);
EXPECT_NEAR(point.y(), 1.5, 1e-6);
point = path.GetSmoothPoint(2.3);
EXPECT_NEAR(point.x(), 0, 1e-6);
EXPECT_NEAR(point.y(), 2.3, 1e-6);
point = path.GetSmoothPoint(-0.5);
EXPECT_NEAR(point.x(), 0, 1e-6);
EXPECT_NEAR(point.y(), 0, 1e-6);
point = path.GetSmoothPoint(10.0);
EXPECT_NEAR(point.x(), 0, 1e-6);
EXPECT_NEAR(point.y(), 3, 1e-6);
EXPECT_NEAR(path.GetSFromIndex({1, 0.4}), 1.4, 1e-6);
EXPECT_EQ(path.GetIndexFromS(2.6).id, 2);
EXPECT_NEAR(path.GetIndexFromS(2.6).offset, 0.6, 1e-6);
// Test GetLaneIndexFromS
EXPECT_EQ(path.GetLaneIndexFromS(-1.0).id, 0);
EXPECT_NEAR(path.GetLaneIndexFromS(-1.0).offset, 0.0, 1e-8);
EXPECT_EQ(path.GetLaneIndexFromS(1.0).id, 0);
EXPECT_NEAR(path.GetLaneIndexFromS(1.0).offset, 1.0, 1e-8);
EXPECT_EQ(path.GetLaneIndexFromS(5.0).id, 0);
EXPECT_NEAR(path.GetLaneIndexFromS(5.0).offset, 3.0, 1e-8);
double accumulate_s;
double lateral;
double distance;
EXPECT_TRUE(
path.GetNearestPoint({0.3, -1}, &accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, 0.0, 1e-6);
EXPECT_NEAR(lateral, -0.3, 1e-6);
EXPECT_NEAR(distance, hypot(0.3, 1.0), 1e-6);
EXPECT_TRUE(
path.GetNearestPoint({-0.5, 1.5}, &accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, 1.5, 1e-6);
EXPECT_NEAR(lateral, 0.5, 1e-6);
EXPECT_NEAR(distance, 0.5, 1e-6);
EXPECT_TRUE(
path.GetNearestPoint({0.0, 3.5}, &accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, 3.0, 1e-6);
EXPECT_NEAR(lateral, 0.0, 1e-6);
EXPECT_NEAR(distance, 0.5, 1e-6);
EXPECT_TRUE(
path.GetProjection({0.3, -1}, &accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, -1.0, 1e-6);
EXPECT_NEAR(lateral, -0.3, 1e-6);
EXPECT_NEAR(distance, hypot(0.3, 1.0), 1e-6);
EXPECT_TRUE(
path.GetProjection({-0.5, 1.5}, &accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, 1.5, 1e-6);
EXPECT_NEAR(lateral, 0.5, 1e-6);
EXPECT_NEAR(distance, 0.5, 1e-6);
EXPECT_TRUE(
path.GetProjection({0.0, 3.5}, &accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, 3.5, 1e-6);
EXPECT_NEAR(lateral, 0.0, 1e-6);
EXPECT_NEAR(distance, 0.5, 1e-6);
EXPECT_NEAR(path.GetLaneLeftWidth(-0.5), 4.0, 1e-6);
EXPECT_NEAR(path.GetLaneLeftWidth(0.0), 4.0, 1e-6);
EXPECT_NEAR(path.GetLaneLeftWidth(0.5), 4.5, 1e-6);
EXPECT_NEAR(path.GetLaneLeftWidth(1.0), 5.0, 1e-6);
EXPECT_NEAR(path.GetLaneLeftWidth(1.5), 5.25, 1e-6);
EXPECT_NEAR(path.GetLaneLeftWidth(2.0), 5.5, 1e-6);
EXPECT_NEAR(path.GetLaneLeftWidth(2.5), 5.75, 1e-6);
EXPECT_NEAR(path.GetLaneLeftWidth(3.0), 6.0, 1e-6);
EXPECT_NEAR(path.GetLaneLeftWidth(3.5), 6.0, 1e-6);
EXPECT_NEAR(path.GetLaneRightWidth(-0.5), 7.0, 1e-6);
EXPECT_NEAR(path.GetLaneRightWidth(0.0), 7.0, 1e-6);
EXPECT_NEAR(path.GetLaneRightWidth(0.5), 7.25, 1e-6);
EXPECT_NEAR(path.GetLaneRightWidth(1.0), 7.5, 1e-6);
EXPECT_NEAR(path.GetLaneRightWidth(1.5), 7.75, 1e-6);
EXPECT_NEAR(path.GetLaneRightWidth(2.0), 8.0, 1e-6);
EXPECT_NEAR(path.GetLaneRightWidth(2.5), 6.5, 1e-6);
EXPECT_NEAR(path.GetLaneRightWidth(3.0), 5.0, 1e-6);
EXPECT_NEAR(path.GetLaneRightWidth(3.5), 5.0, 1e-6);
}
TEST(TestSuite, hdmap_curvy_path) {
std::vector<MapPathPoint> points{
MakeMapPathPoint(2, 0), MakeMapPathPoint(2, 1), MakeMapPathPoint(1, 2),
MakeMapPathPoint(0, 2)};
Path path(std::move(points), {}, 2.0);
EXPECT_EQ(path.num_points(), 4);
EXPECT_EQ(path.num_segments(), 3);
EXPECT_NEAR(path.path_points()[0].x(), 2, 1e-6);
EXPECT_NEAR(path.path_points()[0].y(), 0, 1e-6);
EXPECT_NEAR(path.unit_directions()[0].x(), 0, 1e-6);
EXPECT_NEAR(path.unit_directions()[0].y(), 1, 1e-6);
EXPECT_NEAR(path.accumulated_s()[0], 0, 1e-6);
EXPECT_NEAR(path.path_points()[1].x(), 2, 1e-6);
EXPECT_NEAR(path.path_points()[1].y(), 1, 1e-6);
EXPECT_NEAR(path.unit_directions()[1].x(), -0.5 * sqrt(2.0), 1e-6);
EXPECT_NEAR(path.unit_directions()[1].y(), 0.5 * sqrt(2.0), 1e-6);
EXPECT_NEAR(path.accumulated_s()[1], 1, 1e-6);
EXPECT_NEAR(path.path_points()[2].x(), 1, 1e-6);
EXPECT_NEAR(path.path_points()[2].y(), 2, 1e-6);
EXPECT_NEAR(path.unit_directions()[2].x(), -1, 1e-6);
EXPECT_NEAR(path.unit_directions()[2].y(), 0, 1e-6);
EXPECT_NEAR(path.accumulated_s()[2], 1 + sqrt(2.0), 1e-6);
EXPECT_NEAR(path.path_points()[3].x(), 0, 1e-6);
EXPECT_NEAR(path.path_points()[3].y(), 2, 1e-6);
EXPECT_NEAR(path.unit_directions()[3].x(), -1, 1e-6);
EXPECT_NEAR(path.unit_directions()[3].y(), 0, 1e-6);
EXPECT_NEAR(path.accumulated_s()[3], 2 + sqrt(2.0), 1e-6);
EXPECT_EQ(path.segments().size(), 3);
const auto* path_approximation = path.approximation();
EXPECT_NEAR(path_approximation->max_error(), 2.0, 1e-6);
EXPECT_EQ(path_approximation->original_ids().size(), 2);
EXPECT_EQ(path_approximation->original_ids()[0], 0);
EXPECT_EQ(path_approximation->original_ids()[1], 3);
EXPECT_EQ(path.lane_segments().size(), 0);
double accumulate_s;
double lateral;
double distance;
EXPECT_TRUE(
path.GetNearestPoint({1.5, 0.5}, &accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, 0.5, 1e-6);
EXPECT_NEAR(lateral, 0.5, 1e-6);
EXPECT_NEAR(distance, 0.5, 1e-6);
EXPECT_TRUE(
path.GetNearestPoint({2.5, 1.1}, &accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, 1.0, 1e-6);
EXPECT_NEAR(distance, hypot(0.5, 0.1), 1e-6);
EXPECT_TRUE(
path.GetNearestPoint({1.6, 1.6}, &accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, 1.0 + 0.5 * sqrt(2.0), 1e-6);
EXPECT_NEAR(lateral, -0.1 * sqrt(2.0), 1e-6);
EXPECT_NEAR(distance, 0.1 * sqrt(2.0), 1e-6);
EXPECT_TRUE(
path.GetProjection({1.5, 0.5}, &accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, 0.5, 1e-6);
EXPECT_NEAR(lateral, 0.5, 1e-6);
EXPECT_NEAR(distance, 0.5, 1e-6);
EXPECT_TRUE(
path.GetProjection({2.5, 1.1}, &accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, 1.0, 1e-6);
EXPECT_NEAR(distance, hypot(0.5, 0.1), 1e-6);
EXPECT_TRUE(
path.GetProjection({1.6, 1.6}, &accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, 1.0 + 0.5 * sqrt(2.0), 1e-6);
EXPECT_NEAR(lateral, -0.1 * sqrt(2.0), 1e-6);
EXPECT_NEAR(distance, 0.1 * sqrt(2.0), 1e-6);
EXPECT_NEAR(path.GetSFromIndex({-1, 0.5}), 0.0, 1e-6);
EXPECT_NEAR(path.GetSFromIndex({0, 0.5}), 0.5, 1e-6);
EXPECT_NEAR(path.GetSFromIndex({1, 0.5}), 1.5, 1e-6);
EXPECT_NEAR(path.GetSFromIndex({2, 0.5}), 1.5 + sqrt(2.0), 1e-6);
EXPECT_NEAR(path.GetSFromIndex({3, 0.0}), 2 + sqrt(2.0), 1e-6);
EXPECT_NEAR(path.GetSFromIndex({4, 0.0}), 2 + sqrt(2.0), 1e-6);
const auto& traj_points = path.path_points();
for (size_t i = 0; i < traj_points.size(); ++i) {
Vec2d point{traj_points[i].x(), traj_points[i].y()};
double heading = 0;
path.GetHeadingAlongPath(point, &heading);
EXPECT_NEAR(heading, traj_points[i].heading(), 1e-5);
}
// Test move constructor.
Path other_path(std::move(path));
const auto* other_path_approximation = other_path.approximation();
EXPECT_NEAR(other_path_approximation->max_error(), 2.0, 1e-6);
EXPECT_EQ(other_path_approximation->original_ids().size(), 2);
EXPECT_EQ(other_path_approximation->original_ids()[0], 0);
EXPECT_EQ(other_path_approximation->original_ids()[1], 3);
EXPECT_TRUE(
other_path.GetProjection({1.5, 0.5}, &accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, 0.5, 1e-6);
EXPECT_NEAR(lateral, 0.5, 1e-6);
EXPECT_NEAR(distance, 0.5, 1e-6);
EXPECT_TRUE(
other_path.GetProjection({2.5, 1.1}, &accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, 1.0, 1e-6);
EXPECT_NEAR(distance, hypot(0.5, 0.1), 1e-6);
EXPECT_TRUE(
other_path.GetProjection({1.6, 1.6}, &accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, 1.0 + 0.5 * sqrt(2.0), 1e-6);
EXPECT_NEAR(lateral, -0.1 * sqrt(2.0), 1e-6);
EXPECT_NEAR(distance, 0.1 * sqrt(2.0), 1e-6);
}
TEST(TestSuite, hdmap_circle_path) {
const double kRadius = 50.0;
const int kNumSegments = 100;
std::vector<MapPathPoint> points;
for (int i = 0; i <= kNumSegments; ++i) {
const double p =
M_PI_2 * static_cast<double>(i) / static_cast<double>(kNumSegments);
points.push_back(MakeMapPathPoint(kRadius * cos(p), kRadius * sin(p)));
}
const Path path(points, {}, 2.0);
EXPECT_EQ(path.num_points(), kNumSegments + 1);
EXPECT_EQ(path.num_segments(), kNumSegments);
EXPECT_EQ(path.path_points().size(), kNumSegments + 1);
EXPECT_EQ(path.lane_segments().size(), 0);
EXPECT_EQ(path.segments().size(), kNumSegments);
const auto* path_approximation = path.approximation();
EXPECT_NEAR(path_approximation->max_error(), 2.0, 1e-6);
EXPECT_EQ(path_approximation->original_ids().size(), 4);
EXPECT_EQ(path_approximation->original_ids()[0], 0);
EXPECT_EQ(path_approximation->original_ids()[1], 36);
EXPECT_EQ(path_approximation->original_ids()[2], 72);
EXPECT_EQ(path_approximation->original_ids()[3], 100);
const double total_length = path.accumulated_s().back();
const double kLargeEps = 0.1;
double accumulate_s;
double lateral;
double distance;
EXPECT_TRUE(path.GetProjection({kRadius + 1, -1}, &accumulate_s, &lateral,
&distance));
EXPECT_NEAR(accumulate_s, -1.0, kLargeEps);
EXPECT_NEAR(lateral, -1.0, kLargeEps);
EXPECT_NEAR(distance, sqrt(2.0), 1e-6);
EXPECT_TRUE(path.GetProjection({-1, kRadius - 1}, &accumulate_s, &lateral,
&distance));
EXPECT_NEAR(accumulate_s, total_length + 1.0, kLargeEps);
EXPECT_NEAR(lateral, 1.0, kLargeEps);
EXPECT_NEAR(distance, sqrt(2.0), 1e-6);
EXPECT_TRUE(
path.GetProjection({kRadius / sqrt(2.0) + 1, kRadius / sqrt(2.0) + 1},
&accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, total_length / 2.0, 1e-6);
EXPECT_NEAR(lateral, -sqrt(2.0), 1e-6);
EXPECT_NEAR(distance, sqrt(2.0), 1e-6);
EXPECT_TRUE(path.GetProjection({kRadius / sqrt(2.0), kRadius / sqrt(2.0)},
&accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, total_length / 2.0, 1e-6);
EXPECT_NEAR(lateral, 0.0, 1e-6);
EXPECT_NEAR(distance, 0.0, 1e-6);
// Randomly generated test cases on path.approximation.
const Path path_no_approximation(points, {});
for (int case_id = 0; case_id < 10000; ++case_id) {
const double x = RandomDouble(-kRadius * 0.5, kRadius * 1.5);
const double y = RandomDouble(-kRadius * 0.5, kRadius * 1.5);
EXPECT_TRUE(
path.GetNearestPoint({x, y}, &accumulate_s, &lateral, &distance));
double other_accumulate_s;
double other_lateral;
double other_distance;
EXPECT_TRUE(path_no_approximation.GetNearestPoint(
{x, y}, &other_accumulate_s, &other_lateral, &other_distance));
EXPECT_NEAR(distance, other_distance, 1e-6);
EXPECT_NEAR(path.GetSmoothPoint(accumulate_s).DistanceTo({x, y}), distance,
1e-6);
}
// Test path.get_smooth_point and get_s_from_index
for (int case_id = -10; case_id <= 80; ++case_id) {
const double ratio = static_cast<double>(case_id) / 70.0;
const double s = path.length() * ratio;
const auto index = path.GetIndexFromS(s);
const double angle = M_PI_2 / static_cast<double>(kNumSegments);
const double length = kRadius * sin(angle / 2.0) * 2.0;
if (s <= 0.0) {
EXPECT_EQ(0, index.id);
EXPECT_NEAR(0.0, index.offset, 1e-6);
} else if (s >= path.length()) {
EXPECT_EQ(kNumSegments, index.id);
EXPECT_NEAR(0.0, index.offset, 1e-6);
} else {
EXPECT_EQ(static_cast<int>(s / length), index.id);
EXPECT_NEAR(fmod(s, length), index.offset, 1e-6);
}
const MapPathPoint point = path.GetSmoothPoint(s);
Vec2d expected_point = points[index.id];
if (index.id + 1 < static_cast<int>(points.size())) {
Vec2d direction = points[index.id + 1] - points[index.id];
direction.Normalize();
expected_point += direction * index.offset;
}
EXPECT_NEAR(expected_point.x(), point.x(), 1e-6);
EXPECT_NEAR(expected_point.y(), point.y(), 1e-6);
}
// Test get_width, GetLaneLeftWidth, GetLaneRightWidth
double delta_s = 0.1;
double cur_s = 0.0;
while (cur_s < path.accumulated_s().back()) {
double lane_left_width = 0.0;
double lane_right_width = 0.0;
EXPECT_TRUE(path.GetLaneWidth(cur_s, &lane_left_width, &lane_right_width));
EXPECT_NEAR(lane_left_width, path.GetLaneLeftWidth(cur_s), 1e-6);
EXPECT_NEAR(lane_right_width, path.GetLaneRightWidth(cur_s), 1e-6);
cur_s += delta_s;
}
}
TEST(TestSuite, hdmap_jerky_path) {
const int kNumPaths = 100;
const int kCasesPerPath = 1000;
for (int path_id = 0; path_id < kNumPaths; ++path_id) {
const int num_segments = RandomInt(50, 100);
const double average_segment_length = RandomDouble(0.5, 5.0);
const double max_y = RandomDouble(0.5, 10.0);
std::vector<MapPathPoint> points;
double sum_x = 0;
for (int i = 0; i <= num_segments; ++i) {
points.push_back(MakeMapPathPoint(sum_x, RandomDouble(-max_y, max_y)));
sum_x += RandomDouble(average_segment_length * 0.1,
average_segment_length * 1.9);
}
const double angle = RandomDouble(0, M_PI);
const double cos_angle = cos(angle);
const double sin_angle = sin(angle);
for (auto& point : points) {
const double new_x = point.x() * cos_angle - point.y() * sin_angle;
const double new_y = point.x() * sin_angle + point.y() * cos_angle;
point.set_x(new_x);
point.set_y(new_y);
}
const Path path(points, {}, 2.0);
EXPECT_EQ(path.num_points(), num_segments + 1);
EXPECT_EQ(path.num_segments(), num_segments);
EXPECT_EQ(path.path_points().size(), num_segments + 1);
EXPECT_EQ(path.lane_segments().size(), 0);
EXPECT_EQ(path.segments().size(), num_segments);
const auto* path_approximation = path.approximation();
EXPECT_NEAR(path_approximation->max_error(), 2.0, 1e-6);
double accumulate_s;
double lateral;
double distance;
EXPECT_TRUE(
path.GetProjection(points[0], &accumulate_s, &lateral, &distance));
EXPECT_NEAR(accumulate_s, 0.0, 1e-6);
EXPECT_NEAR(lateral, 0.0, 1e-6);
EXPECT_NEAR(distance, 0.0, 1e-6);
EXPECT_TRUE(path.GetProjection(points[num_segments], &accumulate_s,
&lateral, &distance));
EXPECT_NEAR(accumulate_s, path.length(), 1e-6);
EXPECT_NEAR(lateral, 0.0, 1e-6);
EXPECT_NEAR(distance, 0.0, 1e-6);
std::vector<Vec2d> original_points;
for (const auto& point : points) {
original_points.push_back(point);
}
const AABox2d box(original_points);
const Path path_no_approximation(points, {});
for (int case_id = 0; case_id < kCasesPerPath; ++case_id) {
const double x = RandomDouble(box.min_x(), box.max_x());
const double y = RandomDouble(box.min_y(), box.max_y());
EXPECT_TRUE(
path.GetNearestPoint({x, y}, &accumulate_s, &lateral, &distance));
double other_accumulate_s;
double other_lateral;
double other_distance;
EXPECT_TRUE(path_no_approximation.GetNearestPoint(
{x, y}, &other_accumulate_s, &other_lateral, &other_distance));
EXPECT_NEAR(distance, other_distance, 1e-6);
EXPECT_NEAR(path.GetSmoothPoint(accumulate_s).DistanceTo({x, y}),
distance, 1e-6);
}
}
}
TEST(TestSuite, hdmap_s_path) {
std::vector<MapPathPoint> points;
const double kRadius = 50.0;
const int kNumSegments = 100;
for (int i = 0; i <= kNumSegments; ++i) {
if (i <= kNumSegments / 2) {
const double p = -M_PI_2 + 2.0 * M_PI * static_cast<double>(i) /
static_cast<double>(kNumSegments);
points.push_back(
MakeMapPathPoint(kRadius * cos(p), kRadius * (sin(p) - 1.0)));
} else {
const double p = M_PI_2 - 2.0 * M_PI * static_cast<double>(i) /
static_cast<double>(kNumSegments);
points.push_back(
MakeMapPathPoint(kRadius * cos(p), kRadius * (sin(p) + 1.0)));
}
}
const Path path(points, {}, 2.0);
EXPECT_EQ(path.num_points(), kNumSegments + 1);
EXPECT_EQ(path.num_segments(), kNumSegments);
EXPECT_EQ(path.path_points().size(), kNumSegments + 1);
EXPECT_EQ(path.lane_segments().size(), 0);
EXPECT_EQ(path.segments().size(), kNumSegments);
const auto* path_approximation = path.approximation();
EXPECT_NEAR(path_approximation->max_error(), 2.0, 1e-6);
EXPECT_EQ(path_approximation->original_ids().size(), 12);
EXPECT_EQ(path_approximation->original_ids()[0], 0);
EXPECT_EQ(path_approximation->original_ids()[1], 9);
EXPECT_EQ(path_approximation->original_ids()[2], 18);
EXPECT_EQ(path_approximation->original_ids()[3], 27);
EXPECT_EQ(path_approximation->original_ids()[4], 36);
EXPECT_EQ(path_approximation->original_ids()[5], 45);
EXPECT_EQ(path_approximation->original_ids()[6], 57);
EXPECT_EQ(path_approximation->original_ids()[7], 66);
EXPECT_EQ(path_approximation->original_ids()[8], 75);
EXPECT_EQ(path_approximation->original_ids()[9], 84);
EXPECT_EQ(path_approximation->original_ids()[10], 93);
EXPECT_EQ(path_approximation->original_ids()[11], 100);
const double total_length = path.accumulated_s().back();
const double kLargeEps = 0.1;
double accumulate_s;
double lateral;
double distance;
EXPECT_TRUE(path.GetProjection({-1, -2.0 * kRadius - 1}, &accumulate_s,
&lateral, &distance));
EXPECT_NEAR(accumulate_s, -1.0, kLargeEps);
EXPECT_NEAR(lateral, -1.0, kLargeEps);
EXPECT_NEAR(distance, sqrt(2.0), 1e-6);
EXPECT_TRUE(path.GetProjection({1, 2.0 * kRadius + 1}, &accumulate_s,
&lateral, &distance));
EXPECT_NEAR(accumulate_s, total_length + 1.0, kLargeEps);
EXPECT_NEAR(lateral, 1.0, kLargeEps);
EXPECT_NEAR(distance, sqrt(2.0), 1e-6);
const Path path_no_approximation(points, {});
for (int case_id = 0; case_id < 10000; ++case_id) {
const double x = RandomDouble(-kRadius * 1.5, kRadius * 1.5);
const double y = RandomDouble(-kRadius * 2.5, kRadius * 2.5);
EXPECT_TRUE(
path.GetNearestPoint({x, y}, &accumulate_s, &lateral, &distance));
double other_accumulate_s;
double other_lateral;
double other_distance;
EXPECT_TRUE(path_no_approximation.GetNearestPoint(
{x, y}, &other_accumulate_s, &other_lateral, &other_distance));
EXPECT_NEAR(distance, other_distance, 1e-6);
EXPECT_NEAR(path.GetSmoothPoint(accumulate_s).DistanceTo({x, y}), distance,
1e-6);
}
}
TEST(TestSuite, hdmap_path_get_smooth_point) {
const double kRadius = 50.0;
const int kNumSegments = 100;
std::vector<MapPathPoint> points;
for (int i = 0; i <= kNumSegments; ++i) {
if (i <= kNumSegments / 2) {
const double p = -M_PI_2 + 2.0 * M_PI * static_cast<double>(i) /
static_cast<double>(kNumSegments);
points.push_back(
MakeMapPathPoint(kRadius * cos(p), kRadius * (sin(p) - 1.0)));
} else {
const double p = M_PI_2 - 2.0 * M_PI * static_cast<double>(i) /
static_cast<double>(kNumSegments);
points.push_back(
MakeMapPathPoint(kRadius * cos(p), kRadius * (sin(p) + 1.0)));
}
}
const double segment_length = points[0].DistanceTo(points[1]);
std::vector<Lane> original_lanes;
std::vector<LaneInfoConstPtr> lanes;
for (int i = 0; i < kNumSegments; ++i) {
Lane lane;
lane.mutable_id()->set_id(std::to_string(i));
auto* segment =
lane.mutable_central_curve()->add_segment()->mutable_line_segment();
auto* point1 = segment->add_point();
point1->set_x(points[i].x());
point1->set_y(points[i].y());
auto* point2 = segment->add_point();
point2->set_x(points[i + 1].x());
point2->set_y(points[i + 1].y());
original_lanes.push_back(lane);
}
for (int i = 0; i < kNumSegments; ++i) {
lanes.push_back(LaneInfoConstPtr(new LaneInfo(original_lanes[i])));
}
for (int i = 0; i <= kNumSegments; ++i) {
points[i].set_heading((i < kNumSegments)
? (points[i + 1] - points[i]).Angle()
: (points[i] - points[i - 1]).Angle());
if (i > 0) {
points[i].add_lane_waypoint(LaneWaypoint(lanes[i - 1], segment_length));
}
if (i < kNumSegments) {
points[i].add_lane_waypoint(LaneWaypoint(lanes[i], 0.0));
}
}
const Path path(points);
EXPECT_EQ(path.num_points(), kNumSegments + 1);
EXPECT_EQ(path.num_segments(), kNumSegments);
EXPECT_EQ(path.path_points().size(), kNumSegments + 1);
EXPECT_EQ(path.segments().size(), kNumSegments);
EXPECT_EQ(path.lane_segments_to_next_point().size(), kNumSegments);
EXPECT_NEAR(path.length(), segment_length * kNumSegments, 1e-6);
for (int i = 0; i <= kNumSegments; ++i) {
MapPathPoint point = path.GetSmoothPoint(segment_length * i);
EXPECT_NEAR(point.x(), points[i].x(), 1e-6);
EXPECT_NEAR(point.y(), points[i].y(), 1e-6);
EXPECT_NEAR(point.heading(), points[i].heading(), 1e-6);
if (i == 0) {
EXPECT_EQ(point.lane_waypoints().size(), 1);
EXPECT_EQ(point.lane_waypoints()[0].lane->id().id(), std::to_string(i));
EXPECT_NEAR(point.lane_waypoints()[0].s, 0.0, 1e-6);
} else if (i == kNumSegments) {
EXPECT_EQ(point.lane_waypoints().size(), 1);
EXPECT_EQ(point.lane_waypoints()[0].lane->id().id(),
std::to_string(i - 1));
EXPECT_NEAR(point.lane_waypoints()[0].s, segment_length, 1e-6);
} else {
EXPECT_EQ(point.lane_waypoints().size(), 2);
EXPECT_EQ(point.lane_waypoints()[0].lane->id().id(),
std::to_string(i - 1));
EXPECT_NEAR(point.lane_waypoints()[0].s, segment_length, 1e-6);
EXPECT_EQ(point.lane_waypoints()[1].lane->id().id(), std::to_string(i));
EXPECT_NEAR(point.lane_waypoints()[1].s, 0.0, 1e-6);
}
if (i < kNumSegments) {
for (int case_id = 0; case_id < 20; ++case_id) {
const double offset = RandomDouble(0.01, 0.99) * segment_length;
const double s = segment_length * i + offset;
point = path.GetSmoothPoint(s);
EXPECT_NEAR(point.x(),
points[i].x() + offset * cos(points[i].heading()), 1e-6);
EXPECT_NEAR(point.y(),
points[i].y() + offset * sin(points[i].heading()), 1e-6);
EXPECT_NEAR(point.heading(), points[i].heading(), 1e-6);
EXPECT_EQ(point.lane_waypoints().size(), 1);
EXPECT_EQ(point.lane_waypoints()[0].lane->id().id(), std::to_string(i));
EXPECT_NEAR(point.lane_waypoints()[0].s, offset, 1e-6);
const InterpolatedIndex index = path.GetIndexFromS(s);
EXPECT_EQ(index.id, i);
EXPECT_NEAR(index.offset, offset, 1e-6);
EXPECT_NEAR(path.GetSFromIndex(index), s, 1e-6);
}
}
}
InterpolatedIndex index = path.GetIndexFromS(0.0);
EXPECT_EQ(index.id, 0);
EXPECT_NEAR(index.offset, 0, 1e-6);
EXPECT_NEAR(path.GetSFromIndex(index), 0.0, 1e-6);
index = path.GetIndexFromS(-0.1);
EXPECT_EQ(index.id, 0);
EXPECT_NEAR(index.offset, 0, 1e-6);
EXPECT_NEAR(path.GetSFromIndex(index), 0.0, 1e-6);
index = path.GetIndexFromS(segment_length * kNumSegments);
EXPECT_EQ(index.id, kNumSegments);
EXPECT_NEAR(index.offset, 0, 1e-6);
EXPECT_NEAR(path.GetSFromIndex(index), segment_length * kNumSegments, 1e-6);
index = path.GetIndexFromS(segment_length * kNumSegments + 0.2);
EXPECT_EQ(index.id, kNumSegments);
EXPECT_NEAR(index.offset, 0, 1e-6);
EXPECT_NEAR(path.GetSFromIndex(index), segment_length * kNumSegments, 1e-6);
}
TEST(TestSuite, compute_lane_segments_from_points) {
std::vector<MapPathPoint> points{
MakeMapPathPoint(2, 0), MakeMapPathPoint(2, 1), MakeMapPathPoint(2, 2)};
Lane lane1;
lane1.mutable_id()->set_id("id1");
auto* curve = lane1.mutable_central_curve();
auto* segment = curve->add_segment()->mutable_line_segment();
*segment->add_point() = MakePoint(0, 0, 0);
*segment->add_point() = MakePoint(1, 0, 0);
LaneInfoConstPtr lane_info1(new LaneInfo(lane1));
Lane lane2 = lane1;
lane2.mutable_id()->set_id("id2");
LaneInfoConstPtr lane_info2(new LaneInfo(lane2));
points[0].add_lane_waypoint(LaneWaypoint(lane_info1, 0.1));
points[1].add_lane_waypoint(LaneWaypoint(lane_info1, 0.7));
points[1].add_lane_waypoint(LaneWaypoint(lane_info2, 0.0));
points[2].add_lane_waypoint(LaneWaypoint(lane_info2, 0.4));
const Path path(std::move(points));
EXPECT_EQ(path.lane_segments().size(), 2);
EXPECT_EQ(path.lane_segments()[0].lane->id().id(), "id1");
EXPECT_NEAR(path.lane_segments()[0].start_s, 0.0, 1e-6);
EXPECT_NEAR(path.lane_segments()[0].end_s, 1.0, 1e-6);
EXPECT_EQ(path.lane_segments()[1].lane->id().id(), "id2");
EXPECT_NEAR(path.lane_segments()[1].start_s, 0.0, 1e-6);
EXPECT_NEAR(path.lane_segments()[1].end_s, 0.4, 1e-6);
}
TEST(TestSuite, lane_info) {
Lane lane;
lane.mutable_id()->set_id("test-id");
auto* curve = lane.mutable_central_curve();
auto* segment1 = curve->add_segment()->mutable_line_segment();
auto* segment2 = curve->add_segment()->mutable_line_segment();
*segment1->add_point() = MakePoint(0, 0, 0);
*segment1->add_point() = MakePoint(1, 0, 0);
*segment1->add_point() = MakePoint(2, 0, 0);
*segment1->add_point() = MakePoint(3, 0, 0);
*segment2->add_point() = MakePoint(3, 0, 0);
*segment2->add_point() = MakePoint(3, 1, 0);
*segment2->add_point() = MakePoint(3, 2, 0);
*lane.add_left_sample() = MakeSample(0.0, 0);
*lane.add_left_sample() = MakeSample(1.0, 10);
*lane.add_left_sample() = MakeSample(2.0, 20);
*lane.add_left_sample() = MakeSample(3.0, 30);
*lane.add_right_sample() = MakeSample(0.0, 30);
*lane.add_right_sample() = MakeSample(1.0, 20);
*lane.add_right_sample() = MakeSample(2.0, 10);
*lane.add_right_sample() = MakeSample(3.0, 0);
// LaneInfo lane_info(lane);
LaneInfoConstPtr lane_info(new LaneInfo(lane));
EXPECT_EQ("test-id", lane_info->id().id());
EXPECT_EQ("test-id", lane_info->lane().id().id());
EXPECT_EQ(6, lane_info->points().size());
EXPECT_EQ(5, lane_info->segments().size());
EXPECT_EQ(6, lane_info->accumulate_s().size());
EXPECT_NEAR(lane_info->accumulate_s()[0], 0.0, 1e-6);
EXPECT_NEAR(lane_info->accumulate_s()[1], 1.0, 1e-6);
EXPECT_NEAR(lane_info->accumulate_s()[2], 2.0, 1e-6);
EXPECT_NEAR(lane_info->accumulate_s()[3], 3.0, 1e-6);
EXPECT_NEAR(lane_info->accumulate_s()[4], 4.0, 1e-6);
EXPECT_NEAR(lane_info->accumulate_s()[5], 5.0, 1e-6);
EXPECT_NEAR(lane_info->total_length(), 5.0, 1e-6);
double left_width = 0.0;
double right_width = 0.0;
double lane_width = 0.0;
double effective_width = 0.0;
lane_info->GetWidth(-0.5, &left_width, &right_width);
lane_width = lane_info->GetWidth(-0.5);
effective_width = lane_info->GetEffectiveWidth(-0.5);
EXPECT_NEAR(left_width, 0.0, 1e-6);
EXPECT_NEAR(right_width, 30.0, 1e-6);
EXPECT_NEAR(lane_width, 30.0, 1e-6);
EXPECT_NEAR(effective_width, 0.0, 1e-6);
lane_info->GetWidth(0.7, &left_width, &right_width);
lane_width = lane_info->GetWidth(0.7);
effective_width = lane_info->GetEffectiveWidth(0.7);
EXPECT_NEAR(left_width, 7.0, 1e-6);
EXPECT_NEAR(right_width, 23.0, 1e-6);
EXPECT_NEAR(lane_width, 30.0, 1e-6);
EXPECT_NEAR(effective_width, 14.0, 1e-6);
lane_info->GetWidth(2.1, &left_width, &right_width);
lane_width = lane_info->GetWidth(2.1);
effective_width = lane_info->GetEffectiveWidth(2.1);
EXPECT_NEAR(left_width, 21.0, 1e-6);
EXPECT_NEAR(right_width, 9.0, 1e-6);
EXPECT_NEAR(lane_width, 30.0, 1e-6);
EXPECT_NEAR(effective_width, 18.0, 1e-6);
lane_info->GetWidth(5.0, &left_width, &right_width);
lane_width = lane_info->GetWidth(5.0);
effective_width = lane_info->GetEffectiveWidth(5);
EXPECT_NEAR(left_width, 30.0, 1e-6);
EXPECT_NEAR(right_width, 0.0, 1e-6);
EXPECT_NEAR(lane_width, 30.0, 1e-6);
EXPECT_NEAR(effective_width, 0.0, 1e-6);
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/pnc_map/cuda_util.cu | /******************************************************************************
* 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/map/pnc_map/cuda_util.h"
#include "cyber/common/log.h"
namespace apollo {
namespace pnc_map {
constexpr std::size_t kDeviceVecSize = 2000;
CudaNearestSegment::CudaNearestSegment() {
host_seg_ = new CudaLineSegment2d[kDeviceVecSize];
cudaError_t cudaStatus;
cudaStatus = cudaMalloc((void**)&dev_dist_, sizeof(double) * kDeviceVecSize);
CHECK_EQ(cudaStatus, cudaSuccess);
cudaStatus =
cudaMalloc((void**)&dev_seg_, sizeof(CudaLineSegment2d) * kDeviceVecSize);
CHECK_EQ(cudaStatus, cudaSuccess);
cublasCreate(&handle_);
}
CudaNearestSegment::~CudaNearestSegment() {
delete[] host_seg_;
cudaFree(dev_dist_);
cudaFree(dev_seg_);
}
__device__ double distance_square(const CudaLineSegment2d seg, double x,
double y) {
double x1x = x - seg.x1;
double y1y = y - seg.y1;
double x1x2 = seg.x2 - seg.x1;
double y1y2 = seg.y2 - seg.y1;
double dot = x1x * x1x2 + y1y * y1y2;
if (dot < 0) {
return x1x * x1x + y1y * y1y;
} else if (dot > x1x2 * x1x2 + y1y2 * y1y2) {
double x2x = x - seg.x2;
double y2y = y - seg.y2;
return x2x * x2x + y2y * y2y;
} else {
double prod = x1x * y1y2 - y1y * x1x2;
return prod * prod;
}
}
__host__ bool CudaNearestSegment::UpdateLineSegment(
const std::vector<apollo::common::math::LineSegment2d>& segments) {
size_ = std::min(kDeviceVecSize, segments.size());
for (std::size_t i = 0; i < size_; ++i) {
host_seg_[i].x1 = segments[i].start().x();
host_seg_[i].y1 = segments[i].start().y();
host_seg_[i].x2 = segments[i].end().x();
host_seg_[i].y2 = segments[i].end().y();
}
cudaError_t cudaStatus;
cudaStatus =
cudaMemcpy(dev_seg_, host_seg_, size_ * sizeof(CudaLineSegment2d),
cudaMemcpyHostToDevice);
if (cudaStatus != cudaSuccess) {
AERROR << "Failed to copy to cuda device";
return false;
}
return true;
}
__global__ void DistanceSquare(double x, double y, CudaLineSegment2d* dev_seg,
double* dev_dist, int32_t size) {
int32_t index = blockDim.x * blockIdx.x + threadIdx.x;
if (index >= size) {
return;
}
const auto& seg = dev_seg[index];
double x1x = x - seg.x1;
double y1y = y - seg.y1;
double x1x2 = seg.x2 - seg.x1;
double y1y2 = seg.y2 - seg.y1;
double dot = x1x * x1x2 + y1y * y1y2;
if (dot < 0) {
dev_dist[index] = x1x * x1x + y1y * y1y;
} else if (dot > x1x2 * x1x2 + y1y2 * y1y2) {
double x2x = x - seg.x2;
double y2y = y - seg.y2;
dev_dist[index] = x2x * x2x + y2y * y2y;
} else {
double prod = x1x * y1y2 - y1y * x1x2;
dev_dist[index] = prod * prod;
}
}
int CudaNearestSegment::FindNearestSegment(double x, double y) {
DistanceSquare<<<(kDeviceVecSize + 511) / 512, 512>>>(x, y, dev_seg_,
dev_dist_, size_);
cublasStatus_t stat;
int min_index = 0;
stat = cublasIdamin(handle_, size_, dev_dist_, 1, &min_index);
if (stat != CUBLAS_STATUS_SUCCESS) {
AERROR << "Failed to find min element in segments";
return -1;
}
return min_index - 1;
}
} // namespace pnc_map
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/pnc_map/cuda_util_test.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/map/pnc_map/cuda_util.h"
#include "gtest/gtest.h"
namespace apollo {
namespace pnc_map {
using apollo::common::math::LineSegment2d;
using apollo::common::math::Vec2d;
TEST(CudaUtil, CudaNearestSegment) {
CudaNearestSegment segment_tool;
Vec2d p1(0, 0);
Vec2d p2(1, 0);
Vec2d p3(2, 0);
Vec2d p4(3, 0);
std::vector<LineSegment2d> segments;
segments.emplace_back(p1, p2);
segments.emplace_back(p2, p3);
segments.emplace_back(p3, p4);
segment_tool.UpdateLineSegment(segments);
int nearest_index = segment_tool.FindNearestSegment(0.5, 1.0);
EXPECT_EQ(0, nearest_index);
nearest_index = segment_tool.FindNearestSegment(1.5, 1.0);
EXPECT_EQ(1, nearest_index);
}
} // namespace pnc_map
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/pnc_map/pnc_map_test.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/map/pnc_map/pnc_map.h"
#include "gflags/gflags.h"
#include "gtest/gtest.h"
#include "cyber/common/file.h"
#include "modules/common/util/string_util.h"
#include "modules/map/hdmap/hdmap.h"
#include "modules/map/hdmap/hdmap_util.h"
#include "modules/common_msgs/routing_msgs/routing.pb.h"
DECLARE_double(min_length_for_lane_change);
namespace apollo {
namespace hdmap {
DEFINE_string(test_map_file,
"modules/map/data/sunnyvale_loop/base_map_test.bin",
"The test map file");
DEFINE_string(
test_routing_file,
"modules/map/pnc_map/testdata/sample_sunnyvale_loop_routing.pb.txt",
"The test map file");
class PncMapTest : public ::testing::Test {
public:
static void SetUpTestCase() {
AINFO << "map file: " << FLAGS_test_map_file;
if (hdmap_.LoadMapFromFile(FLAGS_test_map_file) != 0) {
AERROR << "Failed to load map: " << FLAGS_test_map_file;
ACHECK(false);
}
pnc_map_.reset(new PncMap(&hdmap_));
if (!cyber::common::GetProtoFromFile(FLAGS_test_routing_file, &routing_)) {
AERROR << "Failed to load routing: " << FLAGS_test_routing_file;
ACHECK(false);
}
pnc_map_->UpdateRoutingResponse(routing_);
}
static double RouteLength(const RouteSegments& segments) {
double s = 0.0;
for (const auto& seg : segments) {
s += seg.end_s - seg.start_s;
}
return s;
}
static routing::RoutingResponse routing_;
static std::unique_ptr<PncMap> pnc_map_;
static hdmap::HDMap hdmap_;
};
std::unique_ptr<PncMap> PncMapTest::pnc_map_;
hdmap::HDMap PncMapTest::hdmap_;
routing::RoutingResponse PncMapTest::routing_;
TEST_F(PncMapTest, UpdateRouting) {
pnc_map_->routing_.clear_header();
EXPECT_TRUE(pnc_map_->IsNewRouting(routing_));
EXPECT_TRUE(pnc_map_->UpdateRoutingResponse(routing_));
EXPECT_FALSE(pnc_map_->IsNewRouting(routing_));
}
TEST_F(PncMapTest, GetNearestPointFromRouting) {
LaneWaypoint waypoint;
common::VehicleState state;
state.set_x(587174.662136);
state.set_y(4140933.06302); // the lane heading at this spot is about 0.9 PI
state.set_heading(0.0);
// TODO(tianjiao): check false reason
// EXPECT_FALSE(pnc_map_->GetNearestPointFromRouting(state, &waypoint));
state.set_heading(M_PI);
EXPECT_TRUE(pnc_map_->GetNearestPointFromRouting(state, &waypoint));
ASSERT_TRUE(waypoint.lane != nullptr);
EXPECT_EQ("9_1_-1", waypoint.lane->id().id());
EXPECT_FLOAT_EQ(60.757099, waypoint.s);
}
TEST_F(PncMapTest, UpdateWaypointIndex) {
auto lane = hdmap_.GetLaneById(hdmap::MakeMapId("9_1_-1"));
ASSERT_TRUE(lane);
LaneWaypoint waypoint(lane, 60.757099);
auto result = pnc_map_->GetWaypointIndex(waypoint);
EXPECT_EQ(14, result);
}
TEST_F(PncMapTest, GetRouteSegments_NoChangeLane) {
auto lane = hdmap_.GetLaneById(hdmap::MakeMapId("9_1_-2"));
ASSERT_TRUE(lane);
auto point = lane->GetSmoothPoint(0);
common::VehicleState state;
state.set_x(point.x());
state.set_y(point.y());
state.set_z(point.y());
state.set_heading(M_PI);
std::list<RouteSegments> segments;
ASSERT_TRUE(pnc_map_->GetRouteSegments(state, 10, 30, &segments));
// first time on this passage, should not immediately change lane
ASSERT_EQ(2, segments.size());
EXPECT_NEAR(40, RouteLength(segments.front()), 1e-4);
EXPECT_NEAR(40, RouteLength(segments.back()), 1e-4);
EXPECT_EQ(routing::LEFT, segments.front().NextAction());
EXPECT_TRUE(segments.front().IsOnSegment());
EXPECT_EQ(routing::RIGHT, segments.back().NextAction());
EXPECT_FALSE(segments.back().IsOnSegment());
}
TEST_F(PncMapTest, UpdateNextRoutingWaypointIndex) {
pnc_map_->next_routing_waypoint_index_ = 0;
pnc_map_->adc_waypoint_.s = 0;
pnc_map_->UpdateNextRoutingWaypointIndex(0);
EXPECT_EQ(0, pnc_map_->next_routing_waypoint_index_);
pnc_map_->adc_waypoint_.s = 50;
pnc_map_->UpdateNextRoutingWaypointIndex(0);
EXPECT_EQ(1, pnc_map_->next_routing_waypoint_index_);
pnc_map_->adc_waypoint_.s = 63.6,
pnc_map_->UpdateNextRoutingWaypointIndex(18);
EXPECT_EQ(3, pnc_map_->next_routing_waypoint_index_);
pnc_map_->adc_waypoint_.s = 63.8,
pnc_map_->UpdateNextRoutingWaypointIndex(17);
EXPECT_EQ(3, pnc_map_->next_routing_waypoint_index_);
pnc_map_->adc_waypoint_.s = 50;
pnc_map_->UpdateNextRoutingWaypointIndex(20);
EXPECT_EQ(3, pnc_map_->next_routing_waypoint_index_);
pnc_map_->adc_waypoint_.s = 100;
pnc_map_->UpdateNextRoutingWaypointIndex(14);
EXPECT_EQ(3, pnc_map_->next_routing_waypoint_index_);
pnc_map_->adc_waypoint_.s = 60;
pnc_map_->UpdateNextRoutingWaypointIndex(14);
EXPECT_EQ(2, pnc_map_->next_routing_waypoint_index_);
}
TEST_F(PncMapTest, GetRouteSegments_ChangeLane) {
auto lane = hdmap_.GetLaneById(hdmap::MakeMapId("9_1_-2"));
ASSERT_TRUE(lane);
common::VehicleState state;
auto point = lane->GetSmoothPoint(35); // larger than kMinLaneKeepingDistance
state.set_x(point.x());
state.set_y(point.y());
state.set_z(point.y());
state.set_heading(M_PI);
std::list<RouteSegments> segments;
bool result = pnc_map_->GetRouteSegments(state, 10, 30, &segments);
ASSERT_TRUE(result);
ASSERT_EQ(2, segments.size());
const auto& first = segments.front();
const auto& second = segments.back();
EXPECT_NEAR(40, RouteLength(first), 1e-4);
EXPECT_EQ(routing::LEFT, first.NextAction());
EXPECT_TRUE(first.IsOnSegment());
EXPECT_NEAR(40, RouteLength(second), 1e-4);
EXPECT_EQ(routing::RIGHT, second.NextAction());
EXPECT_FALSE(second.IsOnSegment());
}
TEST_F(PncMapTest, NextWaypointIndex) {
EXPECT_EQ(0, pnc_map_->NextWaypointIndex(-2));
EXPECT_EQ(0, pnc_map_->NextWaypointIndex(-1));
EXPECT_EQ(1, pnc_map_->NextWaypointIndex(0));
EXPECT_EQ(2, pnc_map_->NextWaypointIndex(1));
EXPECT_EQ(3, pnc_map_->NextWaypointIndex(2));
EXPECT_EQ(17, pnc_map_->NextWaypointIndex(18));
EXPECT_EQ(17, pnc_map_->NextWaypointIndex(20));
}
TEST_F(PncMapTest, SearchForwardIndex_SearchBackwardIndex) {
auto lane = hdmap_.GetLaneById(hdmap::MakeMapId("9_1_-2"));
LaneWaypoint waypoint(lane, 3.0);
auto result = pnc_map_->SearchForwardWaypointIndex(0, waypoint);
EXPECT_EQ(11, result);
result = pnc_map_->SearchBackwardWaypointIndex(0, waypoint);
EXPECT_EQ(-1, result);
result = pnc_map_->SearchForwardWaypointIndex(11, waypoint);
EXPECT_EQ(11, result);
result = pnc_map_->SearchBackwardWaypointIndex(11, waypoint);
EXPECT_EQ(11, result);
result = pnc_map_->SearchForwardWaypointIndex(12, waypoint);
EXPECT_EQ(18, result);
result = pnc_map_->SearchBackwardWaypointIndex(12, waypoint);
EXPECT_EQ(11, result);
result = pnc_map_->SearchForwardWaypointIndex(10, waypoint);
EXPECT_EQ(11, result);
result = pnc_map_->SearchBackwardWaypointIndex(10, waypoint);
EXPECT_EQ(-1, result);
}
TEST_F(PncMapTest, GetNeighborPassages) {
const auto& road0 = routing_.road(0);
{
auto result = pnc_map_->GetNeighborPassages(road0, 0);
EXPECT_EQ(2, result.size());
EXPECT_EQ(0, result[0]);
EXPECT_EQ(1, result[1]);
}
{
auto result = pnc_map_->GetNeighborPassages(road0, 1);
EXPECT_EQ(3, result.size());
EXPECT_EQ(1, result[0]);
EXPECT_EQ(0, result[1]);
EXPECT_EQ(2, result[2]);
}
{
auto result = pnc_map_->GetNeighborPassages(road0, 2);
EXPECT_EQ(1, result.size());
}
{
auto result = pnc_map_->GetNeighborPassages(road0, 3);
EXPECT_EQ(1, result.size());
EXPECT_EQ(3, result[0]);
}
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/pnc_map | apollo_public_repos/apollo/modules/map/pnc_map/testdata/sample_sunnyvale_loop_routing.pb.txt | header {
timestamp_sec: 1508173542.66
module_name: "routing"
sequence_num: 8
}
road {
id: "13-9-696-171-12-6-153-751-752-7-753-1-151"
passage {
segment {
id: "696_1_-1"
start_s: 47.5174207497
end_s: 299.734
}
change_lane_type: RIGHT
}
passage {
segment {
id: "696_1_-2"
start_s: 47.5139330464
end_s: 299.712
}
segment {
id: "171_1_-1"
start_s: 0.0
end_s: 42.8949
}
segment {
id: "153_1_-4"
start_s: 0.0
end_s: 22.1195
}
segment {
id: "751_1_-1"
start_s: 0.0
end_s: 12.6363
}
segment {
id: "752_1_-1"
start_s: 0.0
end_s: 20.1963
}
segment {
id: "753_1_-1"
start_s: 0.0
end_s: 21.6437
}
segment {
id: "6_1_-2"
start_s: 0.0
end_s: 194.692
}
segment {
id: "7_1_-2"
start_s: 0.0
end_s: 32.89
}
segment {
id: "1_1_-3"
start_s: 0.0
end_s: 65.2454
}
segment {
id: "151_1_-2"
start_s: 0.0
end_s: 43.8648
}
segment {
id: "9_1_-2"
start_s: 0.0
end_s: 84.2850948446
}
segment {
id: "13_1_-2"
start_s: 0.0
end_s: 35.3398
}
segment {
id: "12_1_-3"
start_s: 0.0
end_s: 63.7359305757
}
change_lane_type: LEFT
}
passage {
segment {
id: "9_1_-1"
start_s: 0.0
end_s: 161.99
}
segment {
id: "13_1_-1"
start_s: 0.0
end_s: 35.237
}
segment {
id: "12_1_-2"
start_s: 0.0
end_s: 63.7265648374
}
change_lane_type: RIGHT
}
passage {
segment {
id: "12_1_-3"
start_s: 0.0
end_s: 63.7359305757
}
can_exit: true
change_lane_type: FORWARD
}
}
measurement {
distance: 868.129638
}
routing_request {
header {
timestamp_sec: 1508173542.66
module_name: "dreamview"
sequence_num: 11
}
waypoint {
id: "696_1_-1"
s: 47.5174207497
pose {
x: 587617.970437
y: 4141036.81869
}
}
waypoint {
id: "7_1_-2"
s: 31.0353727109
pose {
x: 587338.801489
y: 4140884.97963
}
}
waypoint {
id: "9_1_-1"
s: 60.757098986
pose {
x: 587174.662136
y: 4140933.06302
}
}
waypoint {
id: "12_1_-3"
s: 63.7359305757
pose {
x: 586981.555312
y: 4140986.16722
}
}
}
map_version: "1.000000"
status {
error_code: OK
msg: "Success!"
}
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/relative_map/relative_map_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 "cyber/component/timer_component.h"
#include "cyber/cyber.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/map/relative_map/relative_map.h"
namespace apollo {
namespace relative_map {
class RelativeMapComponent final : public ::apollo::cyber::TimerComponent {
public:
bool Init() override;
bool Proc() override;
private:
bool InitReaders();
std::shared_ptr<::apollo::cyber::Writer<MapMsg>> relative_map_writer_ =
nullptr;
std::shared_ptr<cyber::Reader<perception::PerceptionObstacles>>
perception_reader_ = nullptr;
std::shared_ptr<cyber::Reader<canbus::Chassis>> chassis_reader_ = nullptr;
std::shared_ptr<cyber::Reader<localization::LocalizationEstimate>>
localization_reader_ = nullptr;
std::shared_ptr<cyber::Reader<NavigationInfo>> navigation_reader_ = nullptr;
std::shared_ptr<common::VehicleStateProvider> vehicle_state_provider_;
RelativeMap relative_map_;
};
CYBER_REGISTER_COMPONENT(RelativeMapComponent)
} // namespace relative_map
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/relative_map/relative_map.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 <string>
#include "modules/common/monitor_log/monitor_log_buffer.h"
#include "modules/common/status/status.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/map/relative_map/navigation_lane.h"
#include "modules/common_msgs/planning_msgs/navigation.pb.h"
#include "modules/map/relative_map/proto/relative_map_config.pb.h"
#include "modules/common_msgs/perception_msgs/perception_obstacle.pb.h"
namespace apollo {
namespace relative_map {
class RelativeMap {
public:
RelativeMap();
/**
* @brief module name
*/
std::string Name() const { return "RelativeMap"; }
/**
* @brief module initialization function
* @return initialization status
*/
apollo::common::Status Init(
common::VehicleStateProvider* vehicle_state_provider);
/**
* @brief module start function
* @return start status
*/
apollo::common::Status Start();
/**
* @brief module stop function
*/
void Stop();
/**
* @brief destructor
*/
virtual ~RelativeMap() = default;
/**
* @brief main logic of the relative_map module, runs periodically triggered
* by timer.
*/
bool Process(MapMsg* const map_msg);
void OnPerception(
const perception::PerceptionObstacles& perception_obstacles);
void OnChassis(const canbus::Chassis& chassis);
void OnLocalization(const localization::LocalizationEstimate& localization);
void OnNavigationInfo(const NavigationInfo& navigation_info);
private:
bool CreateMapFromNavigationLane(MapMsg* map_msg);
RelativeMapConfig config_;
apollo::common::monitor::MonitorLogBuffer monitor_logger_buffer_;
NavigationLane navigation_lane_;
perception::PerceptionObstacles perception_obstacles_;
canbus::Chassis chassis_;
localization::LocalizationEstimate localization_;
std::mutex navigation_lane_mutex_;
common::VehicleStateProvider* vehicle_state_provider_;
};
} // namespace relative_map
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/relative_map/navigation_lane_test.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.
*****************************************************************************/
/**
* @file
* @brief This file provides several unit tests for the class "NavigationLane".
*/
#include "modules/map/relative_map/navigation_lane.h"
#include "cyber/common/file.h"
#include "gtest/gtest.h"
#include "modules/common_msgs/chassis_msgs/chassis.pb.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/map/relative_map/common/relative_map_gflags.h"
#include "modules/common_msgs/planning_msgs/navigation.pb.h"
#include "modules/map/relative_map/proto/relative_map_config.pb.h"
#include "nlohmann/json.hpp"
namespace apollo {
namespace relative_map {
using apollo::common::VehicleStateProvider;
using apollo::relative_map::NavigationInfo;
using apollo::relative_map::NavigationLane;
using apollo::relative_map::NavigationPath;
using nlohmann::json;
namespace {
bool GetNavigationPathFromFile(const std::string& filename,
NavigationPath* navigation_path) {
CHECK_NOTNULL(navigation_path);
std::ifstream ifs(filename, std::ios::in);
if (!ifs.is_open()) {
AERROR << "Failed to open " << filename;
return false;
}
std::string line_str;
while (std::getline(ifs, line_str)) {
try {
auto json_obj = json::parse(line_str);
auto* point = navigation_path->mutable_path()->add_path_point();
point->set_x(json_obj["x"]);
point->set_y(json_obj["y"]);
point->set_s(json_obj["s"]);
point->set_theta(json_obj["theta"]);
point->set_kappa(json_obj["kappa"]);
point->set_dkappa(json_obj["dkappa"]);
} catch (const std::exception& e) {
AERROR << "Failed to parse JSON data: " << e.what();
return false;
}
}
return true;
}
bool GenerateNavigationInfo(
const std::vector<std::string>& navigation_line_filenames,
NavigationInfo* navigation_info) {
CHECK_NOTNULL(navigation_info);
int i = 0;
for (const std::string& filename : navigation_line_filenames) {
auto* navigation_path = navigation_info->add_navigation_path();
if (!GetNavigationPathFromFile(filename, navigation_path)) {
continue;
}
navigation_path->set_path_priority(i);
navigation_path->mutable_path()->set_name("Navigation path " + i);
++i;
}
return navigation_info->navigation_path_size() > 0;
}
} // namespace
class NavigationLaneTest : public testing::Test {
public:
virtual void SetUp() {
vehicle_state_provider_ = std::make_shared<VehicleStateProvider>();
RelativeMapConfig config;
EXPECT_TRUE(cyber::common::GetProtoFromFile(
FLAGS_relative_map_config_filename, &config));
navigation_lane_.SetConfig(config.navigation_lane());
navigation_lane_.SetVehicleStateProvider(vehicle_state_provider_.get());
map_param_ = config.map_param();
navigation_lane_.SetDefaultWidth(map_param_.default_left_width(),
map_param_.default_right_width());
data_file_dir_ = "modules/map/relative_map/testdata/multi_lane_map/";
localization::LocalizationEstimate localization;
canbus::Chassis chassis;
EXPECT_TRUE(cyber::common::GetProtoFromFile(
data_file_dir_ + "localization_info.pb.txt", &localization));
EXPECT_TRUE(cyber::common::GetProtoFromFile(
data_file_dir_ + "chassis_info.pb.txt", &chassis));
vehicle_state_provider_->Update(localization, chassis);
}
protected:
NavigationLane navigation_lane_;
NavigationInfo navigation_info_;
MapGenerationParam map_param_;
std::vector<std::string> navigation_line_filenames_;
std::string data_file_dir_;
std::shared_ptr<VehicleStateProvider> vehicle_state_provider_ = nullptr;
};
TEST_F(NavigationLaneTest, GenerateOneLaneMap) {
navigation_line_filenames_.emplace_back(data_file_dir_ + "left.smoothed");
EXPECT_TRUE(
GenerateNavigationInfo(navigation_line_filenames_, &navigation_info_));
navigation_lane_.UpdateNavigationInfo(navigation_info_);
EXPECT_TRUE(navigation_lane_.GeneratePath());
EXPECT_GT(navigation_lane_.Path().path().path_point_size(), 0);
MapMsg map_msg;
EXPECT_TRUE(navigation_lane_.CreateMap(map_param_, &map_msg));
EXPECT_EQ(1, map_msg.hdmap().lane_size());
auto iter = map_msg.navigation_path().begin();
EXPECT_EQ(0, iter->second.path_priority());
const auto& path = iter->second.path();
EXPECT_DOUBLE_EQ(-1.1603367640051669, path.path_point(0).x())
<< "Path 0: actual x: " << path.path_point(0).x();
EXPECT_DOUBLE_EQ(2.760810222539626, path.path_point(0).y())
<< "Path 0: actual y: " << path.path_point(0).y();
}
TEST_F(NavigationLaneTest, GenerateTwoLaneMap) {
navigation_line_filenames_.emplace_back(data_file_dir_ + "left.smoothed");
navigation_line_filenames_.emplace_back(data_file_dir_ + "right.smoothed");
EXPECT_TRUE(
GenerateNavigationInfo(navigation_line_filenames_, &navigation_info_));
navigation_lane_.UpdateNavigationInfo(navigation_info_);
EXPECT_TRUE(navigation_lane_.GeneratePath());
EXPECT_GT(navigation_lane_.Path().path().path_point_size(), 0);
MapMsg map_msg;
EXPECT_TRUE(navigation_lane_.CreateMap(map_param_, &map_msg));
EXPECT_EQ(2, map_msg.hdmap().lane_size());
for (auto iter = map_msg.navigation_path().begin();
iter != map_msg.navigation_path().end(); ++iter) {
const auto& path = iter->second.path();
switch (iter->second.path_priority()) {
case 0:
EXPECT_DOUBLE_EQ(-1.1603367640051669, path.path_point(0).x())
<< "Path 0: actual x: " << path.path_point(0).x();
EXPECT_DOUBLE_EQ(2.760810222539626, path.path_point(0).y())
<< "Path 0: actual y: " << path.path_point(0).y();
break;
case 1:
EXPECT_DOUBLE_EQ(-1.3377519530092672, path.path_point(0).x())
<< "Path 1: actual x: " << path.path_point(0).x();
EXPECT_DOUBLE_EQ(-3.1906635795653755, path.path_point(0).y())
<< "Path 1: actual y: " << path.path_point(0).y();
break;
default:
FAIL() << "We shouldn't get here.";
}
}
}
TEST_F(NavigationLaneTest, GenerateThreeLaneMap) {
navigation_line_filenames_.emplace_back(data_file_dir_ + "left.smoothed");
navigation_line_filenames_.emplace_back(data_file_dir_ + "middle.smoothed");
navigation_line_filenames_.emplace_back(data_file_dir_ + "right.smoothed");
EXPECT_TRUE(
GenerateNavigationInfo(navigation_line_filenames_, &navigation_info_));
navigation_lane_.UpdateNavigationInfo(navigation_info_);
EXPECT_TRUE(navigation_lane_.GeneratePath());
EXPECT_GT(navigation_lane_.Path().path().path_point_size(), 0);
MapMsg map_msg;
EXPECT_TRUE(navigation_lane_.CreateMap(map_param_, &map_msg));
EXPECT_EQ(3, map_msg.hdmap().lane_size());
for (auto iter = map_msg.navigation_path().begin();
iter != map_msg.navigation_path().end(); ++iter) {
const auto& path = iter->second.path();
switch (iter->second.path_priority()) {
case 0:
EXPECT_DOUBLE_EQ(-1.2892630711168522, path.path_point(0).x())
<< "Path 0: actual x: " << path.path_point(0).x();
EXPECT_DOUBLE_EQ(3.0675669139329176, path.path_point(0).y())
<< "Path 0: actual y: " << path.path_point(0).y();
break;
case 1:
EXPECT_DOUBLE_EQ(-1.1466795765610884, path.path_point(0).x())
<< "Path 1: actual x: " << path.path_point(0).x();
EXPECT_DOUBLE_EQ(-0.092193218761606729, path.path_point(0).y())
<< "Path 1: actual y: " << path.path_point(0).y();
break;
case 2:
EXPECT_DOUBLE_EQ(-1.3377519530092672, path.path_point(0).x())
<< "Path 2: actual x: " << path.path_point(0).x();
EXPECT_DOUBLE_EQ(-3.1906635795653755, path.path_point(0).y())
<< "Path 2: actual y: " << path.path_point(0).y();
break;
default:
FAIL() << "We shouldn't get here.";
}
}
}
} // namespace relative_map
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/relative_map/relative_map.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/map/relative_map/relative_map.h"
#include "cyber/common/file.h"
#include "modules/common/math/vec2d.h"
#include "modules/common/util/util.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/map/relative_map/common/relative_map_gflags.h"
namespace apollo {
namespace relative_map {
using apollo::canbus::Chassis;
using apollo::common::ErrorCode;
using apollo::common::Status;
using apollo::common::VehicleStateProvider;
using apollo::common::monitor::MonitorMessageItem;
using apollo::localization::LocalizationEstimate;
using apollo::perception::PerceptionObstacles;
RelativeMap::RelativeMap()
: monitor_logger_buffer_(MonitorMessageItem::RELATIVE_MAP),
vehicle_state_provider_(nullptr) {}
Status RelativeMap::Init(common::VehicleStateProvider* vehicle_state_provider) {
vehicle_state_provider_ = vehicle_state_provider;
if (!FLAGS_use_navigation_mode) {
AERROR << "FLAGS_use_navigation_mode is false, system is not configured "
"for relative map mode";
return Status(ErrorCode::RELATIVE_MAP_ERROR,
"FLAGS_use_navigation_mode is not true.");
}
config_.Clear();
if (!cyber::common::GetProtoFromFile(FLAGS_relative_map_config_filename,
&config_)) {
return Status(ErrorCode::RELATIVE_MAP_ERROR,
"Unable to load relative map conf file: " +
FLAGS_relative_map_config_filename);
}
navigation_lane_.SetConfig(config_.navigation_lane());
navigation_lane_.SetVehicleStateProvider(vehicle_state_provider);
const auto& map_param = config_.map_param();
navigation_lane_.SetDefaultWidth(map_param.default_left_width(),
map_param.default_right_width());
return Status::OK();
}
void LogErrorStatus(MapMsg* map_msg, const std::string& error_msg) {
auto* status = map_msg->mutable_header()->mutable_status();
status->set_msg(error_msg);
status->set_error_code(ErrorCode::RELATIVE_MAP_ERROR);
}
apollo::common::Status RelativeMap::Start() {
monitor_logger_buffer_.INFO("RelativeMap started");
return Status::OK();
}
bool RelativeMap::Process(MapMsg* const map_msg) {
{
std::lock_guard<std::mutex> lock(navigation_lane_mutex_);
CreateMapFromNavigationLane(map_msg);
}
return true;
}
void RelativeMap::OnNavigationInfo(const NavigationInfo& navigation_info) {
{
std::lock_guard<std::mutex> lock(navigation_lane_mutex_);
navigation_lane_.UpdateNavigationInfo(navigation_info);
}
}
void RelativeMap::OnPerception(
const PerceptionObstacles& perception_obstacles) {
{
std::lock_guard<std::mutex> lock(navigation_lane_mutex_);
perception_obstacles_.CopyFrom(perception_obstacles);
}
}
void RelativeMap::OnChassis(const Chassis& chassis) {
{
std::lock_guard<std::mutex> lock(navigation_lane_mutex_);
chassis_.CopyFrom(chassis);
}
}
void RelativeMap::OnLocalization(const LocalizationEstimate& localization) {
{
std::lock_guard<std::mutex> lock(navigation_lane_mutex_);
localization_.CopyFrom(localization);
}
}
bool RelativeMap::CreateMapFromNavigationLane(MapMsg* map_msg) {
CHECK_NOTNULL(map_msg);
// update vehicle state from localization and chassis
LocalizationEstimate const& localization = localization_;
Chassis const& chassis = chassis_;
vehicle_state_provider_->Update(localization, chassis);
map_msg->mutable_localization()->CopyFrom(localization_);
// update navigation_lane from perception_obstacles (lane marker)
PerceptionObstacles const& perception = perception_obstacles_;
navigation_lane_.UpdatePerception(perception);
map_msg->mutable_lane_marker()->CopyFrom(perception_obstacles_.lane_marker());
if (!navigation_lane_.GeneratePath()) {
LogErrorStatus(map_msg, "Failed to generate a navigation path.");
return false;
}
if (navigation_lane_.Path().path().path_point().empty()) {
LogErrorStatus(map_msg,
"There is no path point in currnet navigation path.");
return false;
}
// create map proto from navigation_path
if (!navigation_lane_.CreateMap(config_.map_param(), map_msg)) {
LogErrorStatus(map_msg,
"Failed to create map from current navigation path.");
AERROR << "Failed to create map from navigation path.";
return false;
}
ADEBUG << "There is/are " << map_msg->navigation_path().size()
<< " navigation path(s) in the current reltative map.";
return true;
}
void RelativeMap::Stop() { monitor_logger_buffer_.INFO("RelativeMap stopped"); }
} // namespace relative_map
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/relative_map/navigation_lane.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.
*****************************************************************************/
/**
* @file
* @brief This file provides the implementation of the class `NavigationLane`.
*/
#include "modules/map/relative_map/navigation_lane.h"
#include <algorithm>
#include <limits>
#include <string>
#include "absl/strings/str_cat.h"
#include "cyber/common/log.h"
#include "modules/common/math/math_utils.h"
#include "modules/common/math/vec2d.h"
#include "modules/common/util/util.h"
#include "modules/common_msgs/map_msgs/map_lane.pb.h"
#include "modules/map/relative_map/common/relative_map_gflags.h"
namespace apollo {
namespace relative_map {
using apollo::common::VehicleStateProvider;
using apollo::common::math::Vec2d;
using apollo::common::util::DistanceXY;
using apollo::hdmap::Lane;
using apollo::common::util::operator+;
using apollo::common::util::IsFloatEqual;
namespace {
/**
* @brief Create a single lane map.
* @param navi_path_tuple A navigation path tuple.
* @param map_config Map generation configuration information.
* @param perception_obstacles The Perceived obstacle information and the lane
* markings are used here.
* @param hdmap The output single lane map in high-definition map format in the
* relative map.
* @param navigation_path The output navigation path map in the relative map.
* @return True if the map is created; false otherwise.
*/
bool CreateSingleLaneMap(
const NaviPathTuple &navi_path_tuple, const MapGenerationParam &map_config,
const perception::PerceptionObstacles &perception_obstacles,
hdmap::Map *const hdmap,
google::protobuf::Map<std::string, NavigationPath> *const navigation_path) {
CHECK_NOTNULL(hdmap);
CHECK_NOTNULL(navigation_path);
const auto &navi_path = std::get<3>(navi_path_tuple);
const auto &path = navi_path->path();
if (path.path_point_size() < 2) {
AERROR << "The path length of line index is invalid";
return false;
}
auto *lane = hdmap->add_lane();
lane->mutable_id()->set_id(
absl::StrCat(navi_path->path_priority(), "_", path.name()));
(*navigation_path)[lane->id().id()] = *navi_path;
// lane types
lane->set_type(Lane::CITY_DRIVING);
lane->set_turn(Lane::NO_TURN);
// speed limit
lane->set_speed_limit(map_config.default_speed_limit());
// center line
auto *curve_segment = lane->mutable_central_curve()->add_segment();
curve_segment->set_heading(path.path_point(0).theta());
auto *line_segment = curve_segment->mutable_line_segment();
// left boundary
hdmap::LineSegment *left_segment = nullptr;
if (FLAGS_relative_map_generate_left_boundray) {
auto *left_boundary = lane->mutable_left_boundary();
auto *left_boundary_type = left_boundary->add_boundary_type();
left_boundary->set_virtual_(false);
left_boundary_type->set_s(0.0);
left_boundary_type->add_types(
perception_obstacles.lane_marker().left_lane_marker().lane_type());
left_segment =
left_boundary->mutable_curve()->add_segment()->mutable_line_segment();
}
// right boundary
auto *right_boundary = lane->mutable_right_boundary();
auto *right_boundary_type = right_boundary->add_boundary_type();
right_boundary->set_virtual_(false);
right_boundary_type->set_s(0.0);
right_boundary_type->add_types(
perception_obstacles.lane_marker().right_lane_marker().lane_type());
auto *right_segment =
right_boundary->mutable_curve()->add_segment()->mutable_line_segment();
const double lane_left_width = std::get<1>(navi_path_tuple);
const double lane_right_width = std::get<2>(navi_path_tuple);
for (const auto &path_point : path.path_point()) {
auto *point = line_segment->add_point();
point->set_x(path_point.x());
point->set_y(path_point.y());
point->set_z(path_point.z());
if (FLAGS_relative_map_generate_left_boundray) {
auto *left_sample = lane->add_left_sample();
left_sample->set_s(path_point.s());
left_sample->set_width(lane_left_width);
left_segment->add_point()->CopyFrom(
*point + lane_left_width *
Vec2d::CreateUnitVec2d(path_point.theta() + M_PI_2));
}
auto *right_sample = lane->add_right_sample();
right_sample->set_s(path_point.s());
right_sample->set_width(lane_right_width);
right_segment->add_point()->CopyFrom(
*point +
lane_right_width * Vec2d::CreateUnitVec2d(path_point.theta() - M_PI_2));
}
return true;
}
} // namespace
NavigationLane::NavigationLane(const NavigationLaneConfig &config)
: config_(config) {}
void NavigationLane::SetConfig(const NavigationLaneConfig &config) {
config_ = config;
}
void NavigationLane::SetVehicleStateProvider(
common::VehicleStateProvider *vehicle_state_provider) {
vehicle_state_provider_ = vehicle_state_provider;
}
void NavigationLane::UpdateNavigationInfo(
const NavigationInfo &navigation_path) {
navigation_info_ = navigation_path;
last_project_index_map_.clear();
navigation_path_list_.clear();
current_navi_path_tuple_ = std::make_tuple(-1, -1.0, -1.0, nullptr);
if (FLAGS_enable_cyclic_rerouting) {
UpdateStitchIndexInfo();
}
}
bool NavigationLane::GeneratePath() {
navigation_path_list_.clear();
current_navi_path_tuple_ = std::make_tuple(-1, -1.0, -1.0, nullptr);
// original_pose is in world coordination: ENU
original_pose_ = vehicle_state_provider_->original_pose();
int navigation_line_num = navigation_info_.navigation_path_size();
const auto &lane_marker = perception_obstacles_.lane_marker();
auto generate_path_on_perception_func = [this, &lane_marker]() {
auto current_navi_path = std::make_shared<NavigationPath>();
auto *path = current_navi_path->mutable_path();
ConvertLaneMarkerToPath(lane_marker, path);
current_navi_path->set_path_priority(0);
double left_width = perceived_left_width_ > 0.0 ? perceived_left_width_
: default_left_width_;
double right_width = perceived_right_width_ > 0.0 ? perceived_right_width_
: default_right_width_;
current_navi_path_tuple_ =
std::make_tuple(0, left_width, right_width, current_navi_path);
};
ADEBUG << "Beginning of NavigationLane::GeneratePath().";
ADEBUG << "navigation_line_num: " << navigation_line_num;
// priority: merge > navigation line > perception lane marker
if (config_.lane_source() == NavigationLaneConfig::OFFLINE_GENERATED &&
navigation_line_num > 0) {
// Generate multiple navigation paths based on navigation lines.
// Don't worry about efficiency because the total number of navigation lines
// will not exceed 10 at most.
for (int i = 0; i < navigation_line_num; ++i) {
auto current_navi_path = std::make_shared<NavigationPath>();
auto *path = current_navi_path->mutable_path();
if (ConvertNavigationLineToPath(i, path)) {
current_navi_path->set_path_priority(
navigation_info_.navigation_path(i).path_priority());
navigation_path_list_.emplace_back(
i, default_left_width_, default_right_width_, current_navi_path);
}
}
// If no navigation path is generated based on navigation lines, we generate
// one where the vehicle is located based on perceived lane markers.
if (navigation_path_list_.empty()) {
generate_path_on_perception_func();
return true;
}
// Sort navigation paths from left to right according to the vehicle's
// direction.
// In the FLU vehicle coordinate system, the y-coordinate on the left side
// of the vehicle is positive, and the right value is negative. Therefore,
// the navigation paths can be sorted from left to right according to its
// y-coordinate.
navigation_path_list_.sort(
[](const NaviPathTuple &left, const NaviPathTuple &right) {
double left_y = std::get<3>(left)->path().path_point(0).y();
double right_y = std::get<3>(right)->path().path_point(0).y();
return left_y > right_y;
});
// Get which navigation path the vehicle is currently on.
double min_d = std::numeric_limits<double>::max();
for (const auto &navi_path_tuple : navigation_path_list_) {
int current_line_index = std::get<0>(navi_path_tuple);
ADEBUG << "Current navigation path index is: " << current_line_index;
double current_d = std::numeric_limits<double>::max();
auto item_iter = last_project_index_map_.find(current_line_index);
if (item_iter != last_project_index_map_.end()) {
current_d = item_iter->second.second;
}
if (current_d < min_d) {
min_d = current_d;
current_navi_path_tuple_ = navi_path_tuple;
}
}
// Merge current navigation path where the vehicle is located with perceived
// lane markers.
auto *path = std::get<3>(current_navi_path_tuple_)->mutable_path();
MergeNavigationLineAndLaneMarker(std::get<0>(current_navi_path_tuple_),
path);
// Set the width for the navigation path which the vehicle is currently on.
double left_width = perceived_left_width_ > 0.0 ? perceived_left_width_
: default_left_width_;
double right_width = perceived_right_width_ > 0.0 ? perceived_right_width_
: default_right_width_;
if (!IsFloatEqual(left_width, default_left_width_) &&
!IsFloatEqual(right_width, default_right_width_)) {
left_width = left_width > default_left_width_ ? left_width - min_d
: left_width + min_d;
right_width = right_width > default_right_width_ ? right_width - min_d
: right_width + min_d;
}
ADEBUG << "The left width of current lane is: " << left_width
<< " and the right width of current lane is: " << right_width;
std::get<1>(current_navi_path_tuple_) = left_width;
std::get<2>(current_navi_path_tuple_) = right_width;
auto curr_navi_path_iter = std::find_if(
std::begin(navigation_path_list_), std::end(navigation_path_list_),
[this](const NaviPathTuple &item) {
return std::get<0>(item) == std::get<0>(current_navi_path_tuple_);
});
if (curr_navi_path_iter != std::end(navigation_path_list_)) {
std::get<1>(*curr_navi_path_iter) = left_width;
std::get<2>(*curr_navi_path_iter) = right_width;
}
// Set the width between each navigation path and its adjacent path.
// The reason for using average of multiple points is to prevent too much
// interference from a singularity.
// If current navigation path is the path which the vehicle is currently
// on, the current lane width uses the perceived width.
int average_point_size = 5;
for (auto iter = navigation_path_list_.begin();
iter != navigation_path_list_.end(); ++iter) {
const auto &curr_path = std::get<3>(*iter)->path();
// Left neighbor
auto prev_iter = std::prev(iter);
if (prev_iter != navigation_path_list_.end()) {
const auto &prev_path = std::get<3>(*prev_iter)->path();
average_point_size = std::min(
average_point_size,
std::min(curr_path.path_point_size(), prev_path.path_point_size()));
double lateral_distance_sum = 0.0;
for (int i = 0; i < average_point_size; ++i) {
lateral_distance_sum +=
fabs(curr_path.path_point(i).y() - prev_path.path_point(i).y());
}
double width = lateral_distance_sum /
static_cast<double>(average_point_size) / 2.0;
width = common::math::Clamp(width, config_.min_lane_half_width(),
config_.max_lane_half_width());
auto &curr_left_width = std::get<1>(*iter);
auto &prev_right_width = std::get<2>(*prev_iter);
if (std::get<0>(*iter) == std::get<0>(current_navi_path_tuple_)) {
prev_right_width = 2.0 * width - curr_left_width;
} else {
curr_left_width = width;
prev_right_width = width;
}
}
// Right neighbor
auto next_iter = std::next(iter);
if (next_iter != navigation_path_list_.end()) {
const auto &next_path = std::get<3>(*next_iter)->path();
average_point_size = std::min(
average_point_size,
std::min(curr_path.path_point_size(), next_path.path_point_size()));
double lateral_distance_sum = 0.0;
for (int i = 0; i < average_point_size; ++i) {
lateral_distance_sum +=
fabs(curr_path.path_point(i).y() - next_path.path_point(i).y());
}
double width = lateral_distance_sum /
static_cast<double>(average_point_size) / 2.0;
width = common::math::Clamp(width, config_.min_lane_half_width(),
config_.max_lane_half_width());
auto &curr_right_width = std::get<2>(*iter);
auto &next_left_width = std::get<1>(*next_iter);
if (std::get<0>(*iter) == std::get<0>(current_navi_path_tuple_)) {
next_left_width = 2.0 * width - curr_right_width;
} else {
next_left_width = width;
curr_right_width = width;
}
}
}
return true;
}
// Generate a navigation path where the vehicle is located based on perceived
// lane markers.
generate_path_on_perception_func();
return true;
}
double NavigationLane::EvaluateCubicPolynomial(const double c0, const double c1,
const double c2, const double c3,
const double x) const {
return ((c3 * x + c2) * x + c1) * x + c0;
}
void NavigationLane::MergeNavigationLineAndLaneMarker(
const int line_index, common::Path *const path) {
CHECK_NOTNULL(path);
// If the size of "path" points is smaller than 2, it indicates that a
// navigation path needs to be generated firstly.
if (path->path_point_size() < 2) {
path->Clear();
ConvertNavigationLineToPath(line_index, path);
}
// If the size of "path" points is still smaller than 2, just generate a
// navigation path based on perceived lane markers.
if (path->path_point_size() < 2) {
path->Clear();
ConvertLaneMarkerToPath(perception_obstacles_.lane_marker(), path);
return;
}
common::Path lane_marker_path;
ConvertLaneMarkerToPath(perception_obstacles_.lane_marker(),
&lane_marker_path);
// If the size of lane marker path points is smaller than 2, merging is not
// required.
if (lane_marker_path.path_point_size() < 2) {
return;
}
int lane_marker_index = 0;
double navigation_line_weight = 1.0 - config_.lane_marker_weight();
for (int i = 0; i < path->path_point_size(); ++i) {
auto *point = path->mutable_path_point(i);
double s = point->s();
auto lane_maker_point = GetPathPointByS(lane_marker_path, lane_marker_index,
s, &lane_marker_index);
// For the beginning and ending portions of a navigation path beyond the
// perceived path, only the y-coordinates in the FLU coordinate system are
// used for merging.
const int marker_size = lane_marker_path.path_point_size();
if (lane_marker_index < 0 || lane_marker_index > (marker_size - 1)) {
point->set_y(navigation_line_weight * point->y() +
(1 - navigation_line_weight) * lane_maker_point.y());
lane_marker_index = 0;
continue;
}
*point = common::util::GetWeightedAverageOfTwoPathPoints(
*point, lane_maker_point, navigation_line_weight,
1 - navigation_line_weight);
}
}
common::PathPoint NavigationLane::GetPathPointByS(const common::Path &path,
const int start_index,
const double s,
int *const matched_index) {
CHECK_NOTNULL(matched_index);
const int size = path.path_point_size();
if (start_index < 0 || s < path.path_point(start_index).s()) {
*matched_index = -1;
return path.path_point(0);
}
if (s > path.path_point(size - 1).s() || start_index > (size - 1)) {
*matched_index = size;
return path.path_point(size - 1);
}
static constexpr double kEpsilon = 1e-9;
if (std::fabs(path.path_point(start_index).s() - s) < kEpsilon) {
*matched_index = start_index;
return path.path_point(start_index);
}
int i = start_index;
while (i + 1 < size && path.path_point(i + 1).s() < s) {
++i;
}
*matched_index = i;
// x, y, z, theta, kappa, s, dkappa, ddkappa
const double r = (s - path.path_point(i).s()) /
(path.path_point(i + 1).s() - path.path_point(i).s());
auto p = common::util::GetWeightedAverageOfTwoPathPoints(
path.path_point(i), path.path_point(i + 1), 1 - r, r);
return p;
}
bool NavigationLane::ConvertNavigationLineToPath(const int line_index,
common::Path *const path) {
CHECK_NOTNULL(path);
if (!navigation_info_.navigation_path(line_index).has_path() ||
navigation_info_.navigation_path(line_index).path().path_point_size() ==
0) {
// path is empty
return false;
}
path->set_name(absl::StrCat("Path from navigation line index ", line_index));
const auto &navigation_path =
navigation_info_.navigation_path(line_index).path();
auto proj_index_pair = UpdateProjectionIndex(navigation_path, line_index);
// Can't find a proper projection index in the "line_index" lane according to
// current vehicle position.
int current_project_index = proj_index_pair.first;
if (current_project_index < 0 ||
current_project_index >= navigation_path.path_point_size()) {
AERROR << "Invalid projection index " << current_project_index
<< " in line " << line_index;
last_project_index_map_.erase(line_index);
return false;
} else {
last_project_index_map_[line_index] = proj_index_pair;
}
// offset between the current vehicle state and navigation line
const double dx = -original_pose_.position().x();
const double dy = -original_pose_.position().y();
auto enu_to_flu_func = [this, dx, dy](const double enu_x, const double enu_y,
const double enu_theta, double *flu_x,
double *flu_y, double *flu_theta) {
if (flu_x != nullptr && flu_y != nullptr) {
Eigen::Vector2d flu_coordinate = common::math::RotateVector2d(
{enu_x + dx, enu_y + dy}, -original_pose_.heading());
*flu_x = flu_coordinate.x();
*flu_y = flu_coordinate.y();
}
if (flu_theta != nullptr) {
*flu_theta = common::math::NormalizeAngle(
common::math::NormalizeAngle(enu_theta) - original_pose_.heading());
}
};
auto gen_navi_path_loop_func =
[this, &navigation_path, &enu_to_flu_func](
const int start, const int end, const double ref_s_base,
const double max_length, common::Path *path) {
CHECK_NOTNULL(path);
const double ref_s = navigation_path.path_point(start).s();
for (int i = start; i < end; ++i) {
auto *point = path->add_path_point();
point->CopyFrom(navigation_path.path_point(i));
double flu_x = 0.0;
double flu_y = 0.0;
double flu_theta = 0.0;
enu_to_flu_func(point->x(), point->y(), point->theta(), &flu_x,
&flu_y, &flu_theta);
point->set_x(flu_x);
point->set_y(flu_y);
point->set_theta(flu_theta);
const double accumulated_s =
navigation_path.path_point(i).s() - ref_s + ref_s_base;
point->set_s(accumulated_s);
if (accumulated_s > max_length) {
break;
}
}
};
double dist = navigation_path.path_point().rbegin()->s() -
navigation_path.path_point(current_project_index).s();
// Stitch current position to the beginning for a cyclic/circular route.
if (FLAGS_enable_cyclic_rerouting &&
dist < config_.max_len_from_navigation_line()) {
auto item_iter = stitch_index_map_.find(line_index);
if (item_iter != stitch_index_map_.end()) {
int stitch_start_index =
std::max(item_iter->second.first, item_iter->second.second);
stitch_start_index = std::max(current_project_index, stitch_start_index);
stitch_start_index =
std::min(navigation_path.path_point_size() - 1, stitch_start_index);
int stitch_end_index =
std::min(item_iter->second.first, item_iter->second.second);
stitch_end_index = std::max(0, stitch_end_index);
stitch_end_index = std::min(current_project_index, stitch_end_index);
ADEBUG << "The stitch_start_index is: " << stitch_start_index << "; "
<< "the stitch_end_index is: " << stitch_end_index << "; "
<< "the current_project_index is: " << current_project_index
<< " for the navigation line: " << line_index;
double length = navigation_path.path_point(stitch_start_index).s() -
navigation_path.path_point(current_project_index).s();
gen_navi_path_loop_func(std::max(0, current_project_index - 3),
stitch_start_index + 1, 0.0, length, path);
if (length > config_.max_len_from_navigation_line()) {
return true;
}
gen_navi_path_loop_func(stitch_end_index,
navigation_path.path_point_size(), length,
config_.max_len_from_navigation_line(), path);
return true;
}
}
if (dist < 20) {
return false;
}
gen_navi_path_loop_func(std::max(0, current_project_index - 3),
navigation_path.path_point_size(), 0.0,
config_.max_len_from_navigation_line(), path);
return true;
}
// project adc_state_ onto path
ProjIndexPair NavigationLane::UpdateProjectionIndex(const common::Path &path,
const int line_index) {
if (path.path_point_size() < 2) {
return std::make_pair(-1, std::numeric_limits<double>::max());
}
double min_d = std::numeric_limits<double>::max();
const int path_size = path.path_point_size();
int current_project_index = 0;
auto item_iter = last_project_index_map_.find(line_index);
if (item_iter != last_project_index_map_.end()) {
current_project_index = std::max(0, item_iter->second.first);
}
// A lambda expression for checking the distance between the vehicle's initial
// position and the starting point of the current navigation line.
auto check_distance_func = [this, &path, &path_size](
const int project_index,
double *project_distance) {
// Convert the starting point of the current navigation line from the
// ENU coordinates to the FLU coordinates. For the multi-lane situation,
// the distance in the Y-axis direction can be appropriately enlarged,
// but the distance in the X-axis direction should be small.
// flu_x = (enu_x - x_shift) * cos(angle) + (enu_y - y_shift) *
// sin(angle)
// flu_y = (enu_y - y_shift) * cos(angle) - (enu_x - x_shift) *
// sin(angle)
if (project_index < 0 || project_index > path_size - 1) {
return false;
}
double enu_x = path.path_point(project_index).x();
double enu_y = path.path_point(project_index).y();
double x_shift = original_pose_.position().x();
double y_shift = original_pose_.position().y();
double cos_angle = std::cos(original_pose_.heading());
double sin_angle = std::sin(original_pose_.heading());
double flu_x =
(enu_x - x_shift) * cos_angle + (enu_y - y_shift) * sin_angle;
double flu_y =
(enu_y - y_shift) * cos_angle - (enu_x - x_shift) * sin_angle;
if (project_distance != nullptr) {
*project_distance = std::fabs(flu_y);
}
if (std::fabs(flu_x) < config_.max_distance_to_navigation_line() / 2.0 &&
std::fabs(flu_y) < config_.max_distance_to_navigation_line() * 2.0) {
return true;
}
return false;
};
int index = 0;
for (int i = current_project_index; i + 1 < path_size; ++i) {
const double d = DistanceXY(original_pose_.position(), path.path_point(i));
if (d < min_d) {
min_d = d;
index = i;
}
const double kMaxDistance = 50.0;
if (current_project_index != 0 && d > kMaxDistance) {
break;
}
}
if (check_distance_func(index, &min_d)) {
if (FLAGS_enable_cyclic_rerouting) {
// We create a condition here that sets the "current_project_index" to
// 0, should the vehicle reach the end point of a cyclic/circular
// route. For cyclic/circular navigation lines where the distance
// between their start and end points is very small, it is tedious
// and unnecessary to re-send navigation lines every time.
auto item_iter = stitch_index_map_.find(line_index);
if (item_iter != stitch_index_map_.end()) {
int start_index =
std::max(item_iter->second.first, item_iter->second.second);
int end_index =
std::min(item_iter->second.first, item_iter->second.second);
int index_diff = index - start_index;
if (index_diff >= 0) {
index = std::min(end_index + index_diff, start_index);
min_d = DistanceXY(original_pose_.position(), path.path_point(index));
}
}
}
return std::make_pair(index, min_d);
}
return std::make_pair(-1, std::numeric_limits<double>::max());
}
double NavigationLane::GetKappa(const double c1, const double c2,
const double c3, const double x) {
const double dy = 3 * c3 * x * x + 2 * c2 * x + c1;
const double d2y = 6 * c3 * x + 2 * c2;
return d2y / std::pow((1 + dy * dy), 1.5);
}
void NavigationLane::ConvertLaneMarkerToPath(
const perception::LaneMarkers &lane_marker, common::Path *const path) {
CHECK_NOTNULL(path);
path->set_name("Path from lane markers.");
const auto &left_lane = lane_marker.left_lane_marker();
const auto &right_lane = lane_marker.right_lane_marker();
double path_c0 = (left_lane.c0_position() + right_lane.c0_position()) / 2.0;
double path_c1 =
(left_lane.c1_heading_angle() + right_lane.c1_heading_angle()) / 2.0;
double path_c2 = (left_lane.c2_curvature() + right_lane.c2_curvature()) / 2.0;
double path_c3 = (left_lane.c3_curvature_derivative() +
right_lane.c3_curvature_derivative()) /
2.0;
const double current_speed =
vehicle_state_provider_->vehicle_state().linear_velocity();
double path_range =
current_speed * config_.ratio_navigation_lane_len_to_speed();
if (path_range <= config_.min_len_for_navigation_lane()) {
path_range = config_.min_len_for_navigation_lane();
} else {
path_range = config_.max_len_for_navigation_lane();
}
const double unit_z = 1.0;
const double start_s = -2.0;
double accumulated_s = start_s;
for (double z = start_s; z <= path_range; z += unit_z) {
double x1 = z;
double y1 = 0;
if (left_lane.view_range() > config_.min_view_range_to_use_lane_marker() ||
right_lane.view_range() > config_.min_view_range_to_use_lane_marker()) {
y1 = EvaluateCubicPolynomial(path_c0, path_c1, path_c2, path_c3, z);
}
auto *point = path->add_path_point();
point->set_x(x1);
point->set_y(y1);
if (path->path_point_size() > 1) {
auto &pre_point = path->path_point(path->path_point_size() - 2);
accumulated_s += std::hypot(x1 - pre_point.x(), y1 - pre_point.y());
}
point->set_s(accumulated_s);
point->set_theta(
std::atan2(3 * path_c3 * x1 * x1 + 2 * path_c2 * x1 + path_c1, 1));
point->set_kappa(GetKappa(path_c1, path_c2, path_c3, x1));
const double k1 = GetKappa(path_c1, path_c2, path_c3, x1 - 0.0001);
const double k2 = GetKappa(path_c1, path_c2, path_c3, x1 + 0.0001);
point->set_dkappa((k2 - k1) / 0.0002);
}
perceived_left_width_ = std::fabs(left_lane.c0_position());
perceived_right_width_ = std::fabs(right_lane.c0_position());
// If the perceived lane width is incorrect, use the default lane width
// directly.
double perceived_lane_width = perceived_left_width_ + perceived_right_width_;
if (perceived_lane_width < 2.0 * config_.min_lane_half_width() ||
perceived_lane_width > 2.0 * config_.max_lane_half_width()) {
perceived_left_width_ = default_left_width_;
perceived_right_width_ = default_right_width_;
}
}
bool NavigationLane::CreateMap(const MapGenerationParam &map_config,
MapMsg *const map_msg) const {
auto *navigation_path = map_msg->mutable_navigation_path();
auto *hdmap = map_msg->mutable_hdmap();
auto *lane_marker = map_msg->mutable_lane_marker();
lane_marker->CopyFrom(perception_obstacles_.lane_marker());
// If no navigation path is generated based on navigation lines, we try to
// create map with "current_navi_path_tuple_" which is generated based on
// perceived lane markers.
if (navigation_path_list_.empty()) {
if (std::get<3>(current_navi_path_tuple_) != nullptr) {
FLAGS_relative_map_generate_left_boundray = true;
return CreateSingleLaneMap(current_navi_path_tuple_, map_config,
perception_obstacles_, hdmap, navigation_path);
} else {
return false;
}
}
int fail_num = 0;
FLAGS_relative_map_generate_left_boundray = true;
for (auto iter = navigation_path_list_.cbegin();
iter != navigation_path_list_.cend(); ++iter) {
std::size_t index = std::distance(navigation_path_list_.cbegin(), iter);
if (!CreateSingleLaneMap(*iter, map_config, perception_obstacles_, hdmap,
navigation_path)) {
AWARN << "Failed to generate lane: " << index;
++fail_num;
FLAGS_relative_map_generate_left_boundray = true;
continue;
}
FLAGS_relative_map_generate_left_boundray = false;
// The left border of the middle lane uses the right border of the left
// lane.
int lane_index = static_cast<int>(index) - fail_num;
if (lane_index > 0) {
auto *left_boundary =
hdmap->mutable_lane(lane_index)->mutable_left_boundary();
left_boundary->CopyFrom(hdmap->lane(lane_index - 1).right_boundary());
auto *left_sample =
hdmap->mutable_lane(lane_index)->mutable_left_sample();
left_sample->CopyFrom(hdmap->lane(lane_index - 1).right_sample());
}
}
int lane_num = hdmap->lane_size();
ADEBUG << "The Lane number is: " << lane_num;
// Set road boundary
auto *road = hdmap->add_road();
road->mutable_id()->set_id("road_" + hdmap->lane(0).id().id());
auto *section = road->add_section();
for (int i = 0; i < lane_num; ++i) {
auto *lane_id = section->add_lane_id();
lane_id->CopyFrom(hdmap->lane(0).id());
}
auto *outer_polygon = section->mutable_boundary()->mutable_outer_polygon();
auto *left_edge = outer_polygon->add_edge();
left_edge->set_type(apollo::hdmap::BoundaryEdge::LEFT_BOUNDARY);
left_edge->mutable_curve()->CopyFrom(hdmap->lane(0).left_boundary().curve());
auto *right_edge = outer_polygon->add_edge();
right_edge->set_type(apollo::hdmap::BoundaryEdge::RIGHT_BOUNDARY);
right_edge->mutable_curve()->CopyFrom(
hdmap->lane(lane_num - 1).right_boundary().curve());
// Set neighbor information for each lane
if (lane_num < 2) {
return true;
}
for (int i = 0; i < lane_num; ++i) {
auto *lane = hdmap->mutable_lane(i);
if (i > 0) {
lane->add_left_neighbor_forward_lane_id()->CopyFrom(
hdmap->lane(i - 1).id());
ADEBUG << "Left neighbor is: " << hdmap->lane(i - 1).id().id();
}
if (i < lane_num - 1) {
lane->add_right_neighbor_forward_lane_id()->CopyFrom(
hdmap->lane(i + 1).id());
ADEBUG << "Right neighbor is: " << hdmap->lane(i + 1).id().id();
}
}
return true;
}
void NavigationLane::UpdateStitchIndexInfo() {
stitch_index_map_.clear();
int navigation_line_num = navigation_info_.navigation_path_size();
if (navigation_line_num <= 0) {
return;
}
static constexpr int kMinPathPointSize = 10;
for (int i = 0; i < navigation_line_num; ++i) {
const auto &navigation_path = navigation_info_.navigation_path(i).path();
if (!navigation_info_.navigation_path(i).has_path() ||
navigation_path.path_point_size() < kMinPathPointSize) {
continue;
}
double min_distance = std::numeric_limits<double>::max();
StitchIndexPair min_index_pair = std::make_pair(-1, -1);
int path_size = navigation_path.path_point_size();
const double start_s = navigation_path.path_point(0).s();
const double end_s = navigation_path.path_point(path_size - 1).s();
for (int m = 0; m < path_size; ++m) {
double forward_s = navigation_path.path_point(m).s() - start_s;
if (forward_s > config_.max_len_from_navigation_line()) {
break;
}
for (int n = path_size - 1; n >= 0; --n) {
double reverse_s = end_s - navigation_path.path_point(n).s();
if (reverse_s > config_.max_len_from_navigation_line()) {
break;
}
if (m == n) {
break;
}
double current_distance = DistanceXY(navigation_path.path_point(m),
navigation_path.path_point(n));
if (current_distance < min_distance) {
min_distance = current_distance;
min_index_pair = std::make_pair(m, n);
}
}
}
if (min_distance < config_.min_lane_half_width()) {
AINFO << "The stitching pair is: (" << min_index_pair.first << ", "
<< min_index_pair.second << ") for the navigation line: " << i;
stitch_index_map_[i] = min_index_pair;
}
}
}
} // namespace relative_map
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/relative_map/README.md | # Relative Map
## Introduction
Relative map module is a middle layer connecting HDMap/Perception module and planning module. This module generates real-time relative map in the body coordinate system (FLU) and a reference line for planning. The inputs for relative map module have two parts: offline and online. The offline part is navigation line (human driving path) and the HDMap information on and near navigation line. And the online part is the traffic sign related information from perception module, e.g., lane marker, crosswalk, traffic light etc. The generation of relative map can leverage both online and offline parts. It also works with either online or offline part only.
## Inputs
* NavigationInfo from dreamview module
* LaneMarker from perception module
* Localization from localization module
## Output
* Relative map follows map format defined in modules/map/proto/map.proto
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/relative_map/relative_map_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/map/relative_map/relative_map_component.h"
#include "modules/common/adapters/adapter_gflags.h"
namespace apollo {
namespace relative_map {
using apollo::canbus::Chassis;
using apollo::localization::LocalizationEstimate;
using apollo::perception::PerceptionObstacles;
bool RelativeMapComponent::Init() {
vehicle_state_provider_ = std::make_shared<common::VehicleStateProvider>();
InitReaders();
return relative_map_.Init(vehicle_state_provider_.get()).ok() &&
relative_map_.Start().ok();
}
bool RelativeMapComponent::Proc() {
auto map_msg = std::make_shared<MapMsg>();
if (!relative_map_.Process(map_msg.get())) {
return false;
}
common::util::FillHeader(node_->Name(), map_msg.get());
relative_map_writer_->Write(map_msg);
return true;
}
bool RelativeMapComponent::InitReaders() {
perception_reader_ = node_->CreateReader<PerceptionObstacles>(
FLAGS_perception_obstacle_topic,
[this](const std::shared_ptr<PerceptionObstacles>& perception_obstacles) {
ADEBUG << "Received perception data: run perception callback.";
relative_map_.OnPerception(*perception_obstacles.get());
});
chassis_reader_ = node_->CreateReader<Chassis>(
FLAGS_chassis_topic, [this](const std::shared_ptr<Chassis>& chassis) {
ADEBUG << "Received chassis data: run chassis callback.";
relative_map_.OnChassis(*chassis.get());
});
localization_reader_ = node_->CreateReader<LocalizationEstimate>(
FLAGS_localization_topic,
[this](const std::shared_ptr<LocalizationEstimate>& localization) {
ADEBUG << "Received chassis data: run chassis callback.";
relative_map_.OnLocalization(*localization.get());
});
navigation_reader_ = node_->CreateReader<NavigationInfo>(
FLAGS_navigation_topic,
[this](const std::shared_ptr<NavigationInfo>& navigation_info) {
ADEBUG << "Received chassis data: run chassis callback.";
relative_map_.OnNavigationInfo(*navigation_info.get());
});
relative_map_writer_ = node_->CreateWriter<MapMsg>(FLAGS_relative_map_topic);
return true;
}
} // namespace relative_map
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/relative_map/navigation_lane.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.
*****************************************************************************/
/**
* @file
* @brief This file provides the declaration of the class `NavigationLane`.
*/
#pragma once
#include <list>
#include <memory>
#include <tuple>
#include <unordered_map>
#include <utility>
#include "modules/common/vehicle_state/proto/vehicle_state.pb.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/common_msgs/localization_msgs/localization.pb.h"
#include "modules/common_msgs/planning_msgs/navigation.pb.h"
#include "modules/map/relative_map/proto/relative_map_config.pb.h"
#include "modules/common_msgs/perception_msgs/perception_obstacle.pb.h"
/**
* @namespace apollo::relative_map
* @brief apollo::relative_map
*/
namespace apollo {
namespace relative_map {
// A navigation path tuple.
//
// first element: original navigation line index of the current navigation path.
// A negative value indicates illegal.
//
// second element: half of the lateral distance to the left adjacent navigation
// path, that is, the left width of the lane generated by this navigation path.
// If the navigation path is generated based on lane markers, the value is the
// perceived left lane width. If there is no left adjacent navigation path, the
// value is "default_left_width_". A negative value indicates illegal.
//
// third element: half of the lateral distance to the right adjacent navigation
// path, that is, the right width of the lane generated by this navigation path.
// If the navigation path is generated based on lane markers, the value is the
// perceived right lane width. If there is no right adjacent navigation path,
// the value is "default_right_width_". A negative value indicates illegal.
//
// fourth element : a shared pointer of the current navigation path.
typedef std::tuple<int, double, double, std::shared_ptr<NavigationPath>>
NaviPathTuple;
// A stitching index pair.
// pair.first: the start stitching index of the current navigation line.
// pair.second: the end stitching index of the current navigation line.
typedef std::pair<int, int> StitchIndexPair;
// A projection index pair.
// pair.first: projection index of the vehicle in the current navigation line.
// pair.second: the distance between the vehicle's initial position and the
// projection position in the current navigation line.
typedef std::pair<int, double> ProjIndexPair;
/**
* @class NavigationLane
* @brief NavigationLane generates a real-time relative map based on navagation
* lines.
*
* First, several navigation lines are received from the `NavigationInfo`
* object;
*
* Second, several navigation line segments with the length of about 250 m are
* cut from the whole navigation lines and the UTM coordinates are converted
* into local coordinates with the current position of the vehicle as the
* origin;
*
* Third, the navigation line segment of the vehicle's current lane is merged
* with the perceived lane centerline.
*
* Fourth, a real-time relative map is dynamically created based on navigation
* line segments and perceived lane width;
*
* Fifth, the relative map is output as a `MapMsg` object pointer.
*/
class NavigationLane {
public:
NavigationLane() = default;
explicit NavigationLane(const NavigationLaneConfig& config);
~NavigationLane() = default;
/**
* @brief Set the configuration information required by the `NavigationLane`.
* @param config Configuration object.
* @return None.
*/
void SetConfig(const NavigationLaneConfig& config);
void SetVehicleStateProvider(
common::VehicleStateProvider* vehicle_state_provider);
/**
* @brief Update navigation line information.
* @param navigation_info Navigation line information to be updated.
* @return None.
*/
void UpdateNavigationInfo(const NavigationInfo& navigation_info);
/**
* @brief Set the default width of a lane.
* @param left_width Left half width of a lane.
* @param right_width Right half width of a lane.
* @return None.
*/
void SetDefaultWidth(const double left_width, const double right_width) {
default_left_width_ = left_width;
default_right_width_ = right_width;
}
/**
* @brief Generate a suitable path (i.e. a navigation line segment).
* @param
* @return True if a suitable path is created; false otherwise.
*/
bool GeneratePath();
/**
* @brief Update perceived lane line information.
* @param perception_obstacles Perceived lane line information to be updated.
* @return None.
*/
void UpdatePerception(
const perception::PerceptionObstacles& perception_obstacles) {
perception_obstacles_ = perception_obstacles;
}
/**
* @brief Get the generated lane segment where the vehicle is currently
* located.
* @param
* @return The generated lane segment where the vehicle is currently located.
*/
NavigationPath Path() const {
const auto& current_navi_path = std::get<3>(current_navi_path_tuple_);
if (current_navi_path) {
return *current_navi_path;
}
return NavigationPath();
}
/**
* @brief Generate a real-time relative map of approximately 250 m in length
* based on several navigation line segments and map generation configuration
* information.
* @param map_config Map generation configuration information.
* @param map_msg A pointer which outputs the real-time relative map.
* @return True if the real-time relative map is created; false otherwise.
*/
bool CreateMap(const MapGenerationParam& map_config,
MapMsg* const map_msg) const;
private:
/**
* @brief Calculate the value of a cubic polynomial according to the given
* coefficients and an independent variable.
* @param c0 Cubic polynomial coefficient.
* @param c1 Cubic polynomial coefficient.
* @param c2 Cubic polynomial coefficient.
* @param c3 Cubic polynomial coefficient.
* @param x Independent variable.
* @return Calculated value of the cubic polynomial.
*/
double EvaluateCubicPolynomial(const double c0, const double c1,
const double c2, const double c3,
const double x) const;
/**
* @brief Calculate the curvature value based on the cubic polynomial's
* coefficients and an independent variable.
* @param c1 Cubic polynomial coefficient.
* @param c2 Cubic polynomial coefficient.
* @param c3 Cubic polynomial coefficient.
* @param x Independent variable.
* @return Calculated curvature value.
*/
double GetKappa(const double c1, const double c2, const double c3,
const double x);
/**
* @brief In a navigation line segment, starting from the point given by
* `start_index`, the matched point after the distance `s` is calculated, and
* the index of the matched point is given.
* @param path The specific navigation line segment.
* @param start_index The index of the starting point.
* @param s The distance from the starting point.
* @param matched_index The pointer storing the index of the matched point.
* @return The matched point after the distance `s`.
*/
common::PathPoint GetPathPointByS(const common::Path& path,
const int start_index, const double s,
int* const matched_index);
/**
* @brief Generate a lane centerline from the perceived lane markings and
* convert it to a navigation line segment.
* @param lane_marker The perceived lane markings.
* @param path The converted navigation line segment.
* @return None.
*/
void ConvertLaneMarkerToPath(const perception::LaneMarkers& lane_marker,
common::Path* const path);
/**
* @brief A navigation line segment with the length of about 250 m are cut
* from the whole navigation lines and the UTM coordinates are converted
* into local coordinates with the current position of the vehicle as the
* origin.
* @param line_index The index of the navigation line segment vector.
* @param path The converted navigation line segment.
* @return True if a suitable path is created; false otherwise.
*/
bool ConvertNavigationLineToPath(const int line_index,
common::Path* const path);
/**
* @brief Merge the navigation line segment of the vehicle's current lane and
* the perceived lane centerline.
* @param line_index The index of the navigation line segment vector.
* @param path The merged navigation line segment.
* @return None.
*/
void MergeNavigationLineAndLaneMarker(const int line_index,
common::Path* const path);
/**
* @brief Update the index of the vehicle's current location in an entire
* navigation line.
* @param path The entire navigation line. Note that the path here refers to
* the entire navigation line stored in UTM coordinates.
* @param line_index The index of the whole navigation line vector stored in a
* `NavigationInfo` object.
* @return Updated projection index pair.
*/
ProjIndexPair UpdateProjectionIndex(const common::Path& path,
const int line_index);
/**
* @brief If an entire navigation line is a cyclic/circular
* route, the closest matching point at the starting and end positions is
* recorded so that the vehicle can drive cyclically.
* @param
* @return None.
*/
void UpdateStitchIndexInfo();
private:
// the configuration information required by the `NavigationLane`
NavigationLaneConfig config_;
// received from topic: /apollo/perception_obstacles
perception::PerceptionObstacles perception_obstacles_;
// received from topic: /apollo/navigation
NavigationInfo navigation_info_;
// navigation_path_list_ is a list of navigation paths. The internal paths
// are arranged from left to right based on the vehicle's driving direction.
// A navigation path is the combined results from perception and navigation.
std::list<NaviPathTuple> navigation_path_list_;
// the navigation path which the vehicle is currently on.
NaviPathTuple current_navi_path_tuple_;
// when invalid, left_width_ < 0
double perceived_left_width_ = -1.0;
// when invalid, right_width_ < 0
double perceived_right_width_ = -1.0;
// The standard lane width of China's expressway is 3.75 meters.
double default_left_width_ = 1.875;
double default_right_width_ = 1.875;
// key: line index,
// value: last projection index pair in the "key" line.
std::unordered_map<int, ProjIndexPair> last_project_index_map_;
// key: line index,
// value: stitching index pair in the "key" line.
std::unordered_map<int, StitchIndexPair> stitch_index_map_;
// in world coordination: ENU
localization::Pose original_pose_;
common::VehicleStateProvider* vehicle_state_provider_ = nullptr;
};
} // namespace relative_map
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/relative_map/BUILD | load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
load("//tools/install:install.bzl", "install")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
MAP_COPTS = ["-DMODULE_NAME=\\\"map\\\""]
install(
name = "install",
data_dest = "map/addition_data/relative_map",
library_dest = "map/lib",
data = [
":relative_map_conf",
":testdata",
],
targets = [
":librelative_map_component.so",
],
deps = [
"//modules/map/relative_map/proto:py_pb_map"
]
)
filegroup(
name = "relative_map_conf",
srcs = glob([
"conf/**",
"dag/*.dag",
"launch/*.launch",
]),
)
cc_library(
name = "relative_map_lib",
srcs = ["relative_map.cc"],
hdrs = ["relative_map.h"],
copts = MAP_COPTS,
data = [
":relative_map_conf",
],
deps = [
":navigation_lane_lib",
"//modules/common/math",
"//modules/common/monitor_log",
"//modules/common/status",
"//modules/common/util",
"//modules/map/relative_map/common:relative_map_gflags",
"//modules/common_msgs/planning_msgs:navigation_cc_proto",
"//modules/map/relative_map/proto:relative_map_config_cc_proto",
"//modules/common_msgs/perception_msgs:perception_obstacle_cc_proto",
],
)
cc_library(
name = "navigation_lane_lib",
srcs = ["navigation_lane.cc"],
hdrs = ["navigation_lane.h"],
copts = MAP_COPTS,
deps = [
"//cyber",
"//modules/common_msgs/localization_msgs:localization_cc_proto",
"//modules/common_msgs/map_msgs:map_lane_cc_proto",
"//modules/common_msgs/perception_msgs:perception_obstacle_cc_proto",
"//modules/common_msgs/planning_msgs:navigation_cc_proto",
"//modules/common/math",
"//modules/common/util",
"//modules/common/vehicle_state:vehicle_state_provider",
"//modules/common/vehicle_state/proto:vehicle_state_cc_proto",
"//modules/map/relative_map/common:relative_map_gflags",
"//modules/map/relative_map/proto:relative_map_config_cc_proto",
"@com_google_absl//:absl",
],
)
cc_library(
name = "relative_map_component_lib",
srcs = ["relative_map_component.cc"],
hdrs = ["relative_map_component.h"],
copts = MAP_COPTS,
deps = [
":relative_map_lib",
"//cyber",
"//modules/common/adapters:adapter_gflags",
"@com_github_gflags_gflags//:gflags",
],
)
cc_binary(
name = "librelative_map_component.so",
copts = MAP_COPTS,
linkshared = True,
linkstatic = True,
deps = [":relative_map_component_lib"],
)
filegroup(
name = "testdata",
srcs = glob([
"testdata/**",
]),
)
cc_test(
name = "navigation_lane_test",
size = "small",
srcs = ["navigation_lane_test.cc"],
data = [
":relative_map_conf",
":testdata",
],
deps = [
":relative_map_component_lib",
"@com_github_nlohmann_json//:json",
"@com_google_googletest//:gtest_main",
],
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/map/relative_map/testdata | apollo_public_repos/apollo/modules/map/relative_map/testdata/multi_lane_map/right.smoothed | {"kappa": -0.000388, "s": 0.000000, "theta": 1.538428, "x":691192.398107, "y":3118152.809103, "dkappa":0.000000}
{"kappa": -0.000388, "s": 0.400533, "theta": 1.538273, "x":691192.411100, "y":3118153.209425, "dkappa":0.000000}
{"kappa": -0.000388, "s": 0.801065, "theta": 1.538118, "x":691192.424156, "y":3118153.609745, "dkappa":0.000000}
{"kappa": -0.000388, "s": 1.201599, "theta": 1.537962, "x":691192.437274, "y":3118154.010064, "dkappa":0.000000}
{"kappa": -0.000388, "s": 1.602132, "theta": 1.537807, "x":691192.450453, "y":3118154.410380, "dkappa":0.000000}
{"kappa": -0.000387, "s": 2.002666, "theta": 1.537652, "x":691192.463695, "y":3118154.810695, "dkappa":0.000000}
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{"kappa": -0.002170, "s": 688.203873, "theta": 1.546380, "x":691204.424295, "y":3118829.820480, "dkappa":-0.000001}
{"kappa": -0.002171, "s": 688.569121, "theta": 1.545587, "x":691204.433356, "y":3118830.185616, "dkappa":-0.000002}
| 0 |
apollo_public_repos/apollo/modules/map/relative_map/testdata | apollo_public_repos/apollo/modules/map/relative_map/testdata/multi_lane_map/chassis_info.pb.txt | engine_started: true
engine_rpm: 1739
speed_mps: 9.1833334
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 24.44648
brake_percentage: 14.708171
steering_percentage: 0.23404256
steering_torque_nm: -0.3125
parking_brake: false
driving_mode: EMERGENCY_MODE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1527501470.8327246
module_name: "chassis"
sequence_num: 176167
}
signal {
turn_signal: TURN_NONE
horn: false
}
chassis_gps {
latitude: 28.175765333333331
longitude: 112.94745599999999
gps_valid: true
year: 18
month: 5
day: 28
hours: 9
minutes: 57
seconds: 50
compass_direction: 0
pdop: 1.8
is_gps_fault: false
is_inferred: false
altitude: 6
heading: 3.22
hdop: 0.8
vdop: 1.6
quality: FIX_3D
num_satellites: 18
gps_speed: 8.9408
}
engage_advice {
advice: READY_TO_ENGAGE
}
| 0 |
apollo_public_repos/apollo/modules/map/relative_map/testdata | apollo_public_repos/apollo/modules/map/relative_map/testdata/multi_lane_map/localization_info.pb.txt | header {
timestamp_sec: 1527501470.8319213
module_name: "localization"
sequence_num: 176952
}
pose {
position {
x: 691191.96683136618
y: 3118215.5540518095
z: 23.30362852383405
}
orientation {
qx: 0.0027043943538269748
qy: -0.0025763524622062868
qz: -0.028005831279621828
qw: 0.99960078134898778
}
linear_velocity {
x: 0.56815017656420053
y: 9.29794577776848
z: 0.070138063195533729
}
linear_acceleration {
x: 0.16129097636016865
y: -0.022201902372003295
z: -0.34247738729960436
}
angular_velocity {
x: 0.022231700061022833
y: 0.0090956953400956
z: 0.0023881491174802764
}
heading: 1.5147908243102881
linear_acceleration_vrf {
x: 0.16056710121881076
y: -0.015039498765358593
z: -0.34320618266399372
}
angular_velocity_vrf {
x: 0.021699081490098211
y: 0.010338978326063303
z: 0.0022223427255290452
}
euler_angles {
x: -0.00499926808989011
y: -0.0055509637101827441
z: 1.5147908243102879
}
}
measurement_time: 1527501470.8
| 0 |
apollo_public_repos/apollo/modules/map/relative_map | apollo_public_repos/apollo/modules/map/relative_map/tools/navigator.md | # Navigator
## Introduction
The Navigator converts the smoothed navigation data collected by a vehicle into a `NavigationInfo` format and sends it to the real-time relative map module with the message of `FLAGS_navigation_topic` for dynamically generating relative maps.
## Usage
Example 1:
```bash
bash scripts/navigator.sh /apollo/data/bag/path_csc_middle.bag.txt.smoothed /apollo/data/bag/path_csc_left.bag.txt.smoothed /apollo/data/bag/path_csc_right.bag.txt.smoothed
```
or
```bash
cd /apollo/data/bag
bash /apollo/scripts/navigator.sh path_csc_middle.bag.txt.smoothed path_csc_left.bag.txt.smoothed path_csc_right.bag.txt.smoothed
```
Example 2:
```bash
bash scripts/navigator.sh data/bag/csc/path_csc_left.bag.txt.smoothed data/bag/csc/path_csc_right.bag.txt.smoothed
```
or
```bash
cd /apollo/data/bag/csc
bash /apollo/scripts/navigator.sh path_csc_left.bag.txt.smoothed path_csc_right.bag.txt.smoothed
```
## Other Instructions
You can change the configuration information by modifying the `/apollo/modules/map/relative_map/conf/navigator_config.pb.txt` file. | 0 |
apollo_public_repos/apollo/modules/map/relative_map | apollo_public_repos/apollo/modules/map/relative_map/tools/navigator.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 <fstream>
#include <string>
#include <thread>
#include <vector>
#include "nlohmann/json.hpp"
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "cyber/cyber.h"
#include "cyber/time/rate.h"
#include "modules/common/adapters/adapter_gflags.h"
#include "modules/common/util/message_util.h"
#include "modules/map/relative_map/common/relative_map_gflags.h"
#include "modules/common_msgs/planning_msgs/navigation.pb.h"
#include "modules/map/relative_map/proto/navigator_config.pb.h"
using apollo::cyber::Rate;
using apollo::relative_map::NavigationInfo;
using apollo::relative_map::NavigationPath;
using apollo::relative_map::NavigatorConfig;
using nlohmann::json;
bool ParseNavigationLineFileNames(
int argc, char** argv, std::vector<std::string>* navigation_line_filenames);
bool GetNavigationPathFromFile(const std::string& filename,
const NavigatorConfig& navigator_config,
NavigationPath* navigation_path);
void CheckConfig(const apollo::relative_map::NavigatorConfig& navigator_config);
int main(int argc, char** argv) {
google::ParseCommandLineFlags(&argc, &argv, true);
// Init the cyber framework
apollo::cyber::Init(argv[0]);
FLAGS_alsologtostderr = true;
NavigatorConfig navigator_config;
AINFO << "The navigator configuration filename is: "
<< FLAGS_navigator_config_filename;
if (!apollo::cyber::common::GetProtoFromFile(FLAGS_navigator_config_filename,
&navigator_config)) {
AERROR << "Failed to parse " << FLAGS_navigator_config_filename;
return -1;
}
CheckConfig(navigator_config);
std::vector<std::string> navigation_line_filenames;
if (!ParseNavigationLineFileNames(argc, argv, &navigation_line_filenames)) {
AERROR << "Failed to get navigation file names.";
AINFO << "Usage: \n"
<< "\t" << argv[0]
<< " navigation_filename_1 navigation_filename_2 ...\n"
<< "For example: \n"
<< "\t" << argv[0]
<< " left.txt.smoothed right.txt.smoothed middle.txt.smoothed";
return -1;
}
ADEBUG << "The flag \"navigator_down_sample\" is: "
<< navigator_config.enable_navigator_downsample();
NavigationInfo navigation_info;
int i = 0;
for (const std::string& filename : navigation_line_filenames) {
auto* navigation_path = navigation_info.add_navigation_path();
if (!GetNavigationPathFromFile(filename, navigator_config,
navigation_path)) {
AWARN << "Failed to load file: " << filename;
continue;
}
AINFO << "The file: " << filename + " is processed ";
navigation_path->set_path_priority(i);
navigation_path->mutable_path()->set_name("Navigation path " + i);
++i;
}
if (navigation_info.navigation_path_size() < 1) {
AERROR << "No navigation information is fetched.";
return -1;
}
std::shared_ptr<apollo::cyber::Node> node(
apollo::cyber::CreateNode("navigation_info"));
auto writer = node->CreateWriter<apollo::relative_map::NavigationInfo>(
FLAGS_navigation_topic);
// In theory, the message only needs to be sent once. Considering the problems
// such as the network delay, We send it several times to ensure that the data
// is sent successfully.
Rate rate(1.0);
static constexpr int kTransNum = 3;
int trans_num = 0;
while (apollo::cyber::OK()) {
if (trans_num > kTransNum) {
break;
}
apollo::common::util::FillHeader(node->Name(), &navigation_info);
writer->Write(navigation_info);
ADEBUG << "Sending navigation info:" << navigation_info.DebugString();
rate.Sleep();
++trans_num;
}
return 0;
}
bool ParseNavigationLineFileNames(
int argc, char** argv,
std::vector<std::string>* navigation_line_filenames) {
CHECK_NOTNULL(navigation_line_filenames);
bool initialized = false;
if (argc > 1) {
try {
navigation_line_filenames->resize(argc - 1);
for (int i = 0; i < argc - 1; ++i) {
navigation_line_filenames->at(i) = argv[i + 1];
}
initialized = true;
} catch (const std::exception& e) {
AERROR << "Failed to get navigation line filenames: " << e.what();
initialized = false;
}
}
return initialized;
}
bool GetNavigationPathFromFile(const std::string& filename,
const NavigatorConfig& navigator_config,
NavigationPath* navigation_path) {
CHECK_NOTNULL(navigation_path);
std::ifstream ifs(filename, std::ios::in);
if (!ifs.is_open()) {
AERROR << "Failed to open " << filename;
return false;
}
std::string line_str;
double last_sampled_s = std::numeric_limits<double>::min();
double current_sampled_s = 0.0;
double diff_s = 0.0;
double current_kappa = 0.0;
int original_points_num = 0;
int down_sampled_points_num = 0;
const auto& sample_param = navigator_config.sample_param();
while (std::getline(ifs, line_str)) {
try {
auto json_obj = json::parse(line_str);
current_sampled_s = json_obj["s"];
current_kappa = json_obj["kappa"];
diff_s = std::fabs(current_sampled_s - last_sampled_s);
bool not_down_sampling =
navigator_config.enable_navigator_downsample()
? diff_s >= sample_param.straight_sample_interval() ||
(diff_s >= sample_param.small_kappa_sample_interval() &&
std::fabs(current_kappa) > sample_param.small_kappa()) ||
(diff_s >= sample_param.middle_kappa_sample_interval() &&
std::fabs(current_kappa) > sample_param.middle_kappa()) ||
(diff_s >= sample_param.large_kappa_sample_interval() &&
std::fabs(current_kappa) > sample_param.large_kappa())
: true;
// Add a condition: !navigation_path->has_path() to keep the first point
// when down_sampling
if (not_down_sampling || !navigation_path->has_path()) {
last_sampled_s = current_sampled_s;
auto* point = navigation_path->mutable_path()->add_path_point();
point->set_x(json_obj["x"]);
point->set_y(json_obj["y"]);
point->set_s(current_sampled_s);
point->set_theta(json_obj["theta"]);
point->set_kappa(current_kappa);
point->set_dkappa(json_obj["dkappa"]);
++down_sampled_points_num;
ADEBUG << "down_sample_x: " << json_obj["x"]
<< ", down_sample_y: " << json_obj["y"];
}
++original_points_num;
} catch (const std::exception& e) {
AERROR << "Failed to parse JSON data: " << e.what();
return false;
}
}
AINFO << "The number of original points is: " << original_points_num
<< " and the number of down sampled points is: "
<< down_sampled_points_num << " in the file: " << filename;
return true;
}
void CheckConfig(
const apollo::relative_map::NavigatorConfig& navigator_config) {
ACHECK(navigator_config.has_sample_param());
const auto& sample_param = navigator_config.sample_param();
ACHECK(sample_param.has_straight_sample_interval());
ACHECK(sample_param.has_small_kappa_sample_interval());
ACHECK(sample_param.has_middle_kappa_sample_interval());
ACHECK(sample_param.has_large_kappa_sample_interval());
ACHECK(sample_param.has_small_kappa());
ACHECK(sample_param.has_middle_kappa());
ACHECK(sample_param.has_large_kappa());
}
| 0 |
apollo_public_repos/apollo/modules/map/relative_map | apollo_public_repos/apollo/modules/map/relative_map/tools/navigation_dummy.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/file.h"
#include "cyber/common/log.h"
#include "cyber/cyber.h"
#include "cyber/time/rate.h"
#include "modules/common/adapters/adapter_gflags.h"
#include "modules/common/util/message_util.h"
#include "modules/common_msgs/planning_msgs/navigation.pb.h"
using apollo::cyber::Rate;
DEFINE_string(navigation_dummy_file,
"modules/map/testdata/navigation_dummy/navigation_info.pb.txt",
"Used for sending navigation result to relative_map node.");
int main(int argc, char** argv) {
google::ParseCommandLineFlags(&argc, &argv, true);
// Init the cyber framework
apollo::cyber::Init(argv[0]);
FLAGS_alsologtostderr = true;
apollo::relative_map::NavigationInfo navigation_info;
if (!apollo::cyber::common::GetProtoFromFile(FLAGS_navigation_dummy_file,
&navigation_info)) {
AERROR << "failed to load file: " << FLAGS_navigation_dummy_file;
return -1;
}
std::shared_ptr<apollo::cyber::Node> node(
apollo::cyber::CreateNode("navigation_info"));
auto writer = node->CreateWriter<apollo::relative_map::NavigationInfo>(
FLAGS_navigation_topic);
Rate rate(0.3);
while (apollo::cyber::OK()) {
apollo::common::util::FillHeader(node->Name(), &navigation_info);
writer->Write(navigation_info);
ADEBUG << "Sending navigation info:" << navigation_info.DebugString();
rate.Sleep();
}
return 0;
}
| 0 |
apollo_public_repos/apollo/modules/map/relative_map | apollo_public_repos/apollo/modules/map/relative_map/tools/BUILD | load("@rules_cc//cc:defs.bzl", "cc_binary")
load("//tools:cpplint.bzl", "cpplint")
load("//tools/install:install.bzl", "install")
package(default_visibility = ["//visibility:public"])
MAP_COPTS = ["-DMODULE_NAME=\\\"map\\\""]
install(
name = "install",
runtime_dest = "map/bin",
targets = [
":navigation_dummy",
":navigator",
],
visibility = ["//visibility:public"],
)
cc_binary(
name = "navigation_dummy",
srcs = ["navigation_dummy.cc"],
copts = MAP_COPTS,
deps = [
"//cyber",
"//modules/common/adapters:adapter_gflags",
"//modules/common/util",
"//modules/map/relative_map:relative_map_lib",
],
)
cc_binary(
name = "navigator",
srcs = ["navigator.cc"],
copts = MAP_COPTS,
deps = [
"//cyber",
"//modules/common/adapters:adapter_gflags",
"//modules/common/util",
"//modules/map/relative_map:relative_map_lib",
"//modules/map/relative_map/proto:navigator_config_cc_proto",
"@com_github_nlohmann_json//:json",
],
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/map/relative_map | apollo_public_repos/apollo/modules/map/relative_map/proto/navigator_config.proto | syntax = "proto2";
package apollo.relative_map;
message SampleParam {
// Sampling interval for a straight line.
optional double straight_sample_interval = 1 [default = 3.0];
// Sampling interval for a curve segment with a small curvature.
optional double small_kappa_sample_interval = 2 [default = 1.0];
// Sampling interval for a curve segment with a middle curvature.
optional double middle_kappa_sample_interval = 3 [default = 0.4];
// Sampling interval for a curve segment with a large curvature.
optional double large_kappa_sample_interval = 4 [default = 0.1];
// Small curvature threshold.
optional double small_kappa = 5 [default = 0.002];
// Middle curvature threshold.
optional double middle_kappa = 6 [default = 0.008];
// Large curvature threshold.
optional double large_kappa = 7 [default = 0.02];
}
message NavigatorConfig {
// When a navigation line is sent, the original data is downsampled to reduce
// unnecessary memory consumption.
optional bool enable_navigator_downsample = 1 [default = true];
// Smapling paramters.
optional SampleParam sample_param = 2;
}
| 0 |
apollo_public_repos/apollo/modules/map/relative_map | apollo_public_repos/apollo/modules/map/relative_map/proto/relative_map_config.proto | syntax = "proto2";
package apollo.relative_map;
message MapGenerationParam {
optional double default_left_width = 1 [default = 1.75];
optional double default_right_width = 2 [default = 1.75];
optional double default_speed_limit = 3
[default = 29.0576]; // default is 65mph
}
message NavigationLaneConfig {
optional double min_lane_marker_quality = 1 [default = 0.5];
enum LaneSource {
PERCEPTION = 1;
OFFLINE_GENERATED = 2;
}
optional LaneSource lane_source = 2;
// max navigation path length from navigation line
optional double max_len_from_navigation_line = 3 [default = 250.0];
// min generated navigation lane length
optional double min_len_for_navigation_lane = 4 [default = 150.0];
// max generated navigation lane length
optional double max_len_for_navigation_lane = 5 [default = 250.0];
// navigation lane length to adv speed ratio
optional double ratio_navigation_lane_len_to_speed = 6 [default = 8.0];
// max distance to navigation line in navigation mode
optional double max_distance_to_navigation_line = 7 [default = 15.0];
// min view range to use lane_marker
optional double min_view_range_to_use_lane_marker = 8 [default = 0.5];
// min lane half width in meters
optional double min_lane_half_width = 9 [default = 1.5];
// max lane half width in meters
optional double max_lane_half_width = 10 [default = 2.0];
// weight based on the lane marking detection result when the navigation line
// is generated.
optional double lane_marker_weight = 11 [default = 0.1];
}
message RelativeMapConfig {
optional MapGenerationParam map_param = 1;
optional NavigationLaneConfig navigation_lane = 2;
}
| 0 |
apollo_public_repos/apollo/modules/map/relative_map | apollo_public_repos/apollo/modules/map/relative_map/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"])
install_files(
name = "py_pb_map",
dest = "map/python/modules/map/relative_map/proto",
files = [
":navigator_config_py_pb2",
":relative_map_config_py_pb2",
]
)
cc_proto_library(
name = "navigator_config_cc_proto",
deps = [
":navigator_config_proto",
],
)
proto_library(
name = "navigator_config_proto",
srcs = ["navigator_config.proto"],
)
py_proto_library(
name = "navigator_config_py_pb2",
deps = [
":navigator_config_proto",
],
)
cc_proto_library(
name = "relative_map_config_cc_proto",
deps = [
":relative_map_config_proto",
],
)
proto_library(
name = "relative_map_config_proto",
srcs = ["relative_map_config.proto"],
)
py_proto_library(
name = "relative_map_config_py_pb2",
deps = [
":relative_map_config_proto",
],
)
| 0 |
apollo_public_repos/apollo/modules/map/relative_map | apollo_public_repos/apollo/modules/map/relative_map/launch/relative_map.launch | <cyber>
<module>
<name>relative_map</name>
<dag_conf>/apollo/modules/map/relative_map/dag/relative_map.dag</dag_conf>
<process_name>relative_map</process_name>
</module>
</cyber>
| 0 |
apollo_public_repos/apollo/modules/map/relative_map | apollo_public_repos/apollo/modules/map/relative_map/dag/relative_map.dag | module_config {
module_library : "/apollo/bazel-bin/modules/map/relative_map/librelative_map_component.so"
timer_components {
class_name : "RelativeMapComponent"
config {
name: "relative_map"
flag_file_path: "/apollo/modules/map/relative_map/conf/relative_map.conf"
interval: 100
}
}
}
| 0 |
apollo_public_repos/apollo/modules/map/relative_map | apollo_public_repos/apollo/modules/map/relative_map/common/relative_map_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/map/relative_map/common/relative_map_gflags.h"
DEFINE_string(
relative_map_config_filename,
"/apollo/modules/map/relative_map/conf/relative_map_config.pb.txt",
"Relative map configuration file");
DEFINE_string(navigator_config_filename,
"/apollo/modules/map/relative_map/conf/navigator_config.pb.txt",
"navigator config file name.");
DEFINE_int32(relative_map_loop_rate, 10, "Loop rate for relative_map node");
DEFINE_bool(enable_cyclic_rerouting, false,
"Enable auto rerouting in a in a cyclic/circular navigaton line.");
DEFINE_bool(relative_map_generate_left_boundray, true,
"Generate left boundary for detected lanes.");
| 0 |
apollo_public_repos/apollo/modules/map/relative_map | apollo_public_repos/apollo/modules/map/relative_map/common/BUILD | load("@rules_cc//cc:defs.bzl", "cc_library")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
cc_library(
name = "relative_map_gflags",
srcs = ["relative_map_gflags.cc"],
hdrs = ["relative_map_gflags.h"],
deps = [
"@com_github_gflags_gflags//:gflags",
],
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/map/relative_map | apollo_public_repos/apollo/modules/map/relative_map/common/relative_map_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(relative_map_config_filename);
DECLARE_string(navigator_config_filename);
DECLARE_int32(relative_map_loop_rate);
DECLARE_bool(enable_cyclic_rerouting);
DECLARE_bool(relative_map_generate_left_boundray);
| 0 |
apollo_public_repos/apollo/modules/map/relative_map | apollo_public_repos/apollo/modules/map/relative_map/conf/relative_map.conf | --flagfile=/apollo/modules/common/data/global_flagfile.txt
--use_navigation_mode
--relative_map_config_filename=/apollo/modules/map/relative_map/conf/relative_map_config.pb.txt
--enable_cyclic_rerouting=1
| 0 |
apollo_public_repos/apollo/modules/map/relative_map | apollo_public_repos/apollo/modules/map/relative_map/conf/navigator_config.pb.txt | enable_navigator_downsample: true
sample_param {
straight_sample_interval: 3.0
small_kappa_sample_interval: 1.0
middle_kappa_sample_interval: 0.4
large_kappa_sample_interval: 0.1
small_kappa: 0.002
middle_kappa: 0.008
large_kappa: 0.02
} | 0 |
apollo_public_repos/apollo/modules/map/relative_map | apollo_public_repos/apollo/modules/map/relative_map/conf/relative_map_config.pb.txt | map_param {
default_left_width: 1.875
default_right_width: 1.875
default_speed_limit : 29.06 # 65 mph
}
navigation_lane {
min_lane_marker_quality: 0.49
lane_source: OFFLINE_GENERATED
max_len_from_navigation_line: 250.0
min_len_for_navigation_lane: 150.0
max_len_for_navigation_lane: 250.0
ratio_navigation_lane_len_to_speed: 8.0
max_distance_to_navigation_line: 15.0
min_view_range_to_use_lane_marker: 0.5
min_lane_half_width: 1.5
max_lane_half_width: 2.0
lane_marker_weight: 0.1
}
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/hdmap/hdmap_common_test.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 "gtest/gtest.h"
#include "modules/map/hdmap/hdmap_impl.h"
namespace apollo {
namespace hdmap {
class HDMapCommonTestSuite : public ::testing::Test {
protected:
HDMapCommonTestSuite() {}
virtual ~HDMapCommonTestSuite() {}
virtual void SetUp() {}
virtual void TearDown() {}
void InitLaneObj(Lane* lane);
void InitJunctionObj(Junction* junction);
void InitSignalObj(Signal* signal);
void InitCrosswalkObj(Crosswalk* crosswalk);
void InitStopSignObj(StopSign* stop_sign);
void InitYieldSignObj(YieldSign* yield_sign);
void InitClearAreaObj(ClearArea* clear_area);
void InitSpeedBumpObj(SpeedBump* speed_bump);
void InitRoadObj(Road* road);
void InitParkingSpaceObj(ParkingSpace* parking_space);
};
void HDMapCommonTestSuite::InitLaneObj(Lane* lane) {
lane->mutable_id()->set_id("lane_1");
CurveSegment* curve_segment = lane->mutable_central_curve()->add_segment();
LineSegment* line_segment = curve_segment->mutable_line_segment();
apollo::common::PointENU* pt = line_segment->add_point();
pt->set_x(170001.0);
pt->set_y(1.0);
pt = line_segment->add_point();
pt->set_x(170002.0);
pt->set_y(1.0);
pt = line_segment->add_point();
pt->set_x(170003.0);
pt->set_y(1.0);
pt = line_segment->add_point();
pt->set_x(170004.0);
pt->set_y(1.0);
pt = line_segment->add_point();
pt->set_x(170005.0);
pt->set_y(1.0);
LaneSampleAssociation* lane_sample = lane->add_left_sample();
lane_sample->set_s(0.0);
lane_sample->set_width(1.5);
lane_sample = lane->add_left_sample();
lane_sample->set_s(1.0);
lane_sample->set_width(1.5);
lane_sample = lane->add_left_sample();
lane_sample->set_s(2.0);
lane_sample->set_width(1.5);
lane_sample = lane->add_left_sample();
lane_sample->set_s(3.0);
lane_sample->set_width(1.2);
lane_sample = lane->add_left_sample();
lane_sample->set_s(4.0);
lane_sample->set_width(1.2);
lane_sample = lane->add_right_sample();
lane_sample->set_s(0.0);
lane_sample->set_width(1.5);
lane_sample = lane->add_right_sample();
lane_sample->set_s(1.0);
lane_sample->set_width(1.5);
lane_sample = lane->add_right_sample();
lane_sample->set_s(2.0);
lane_sample->set_width(1.5);
lane_sample = lane->add_right_sample();
lane_sample->set_s(3.0);
lane_sample->set_width(1.2);
lane_sample = lane->add_right_sample();
lane_sample->set_s(4.0);
lane_sample->set_width(1.2);
lane->set_type(Lane::CITY_DRIVING);
}
void HDMapCommonTestSuite::InitJunctionObj(Junction* junction) {
junction->mutable_id()->set_id("junction_1");
Polygon* polygon = junction->mutable_polygon();
apollo::common::PointENU* pt = polygon->add_point();
pt->set_x(170001.0);
pt->set_y(170001.0);
pt = polygon->add_point();
pt->set_x(170002.0);
pt->set_y(170001.0);
pt = polygon->add_point();
pt->set_x(170003.0);
pt->set_y(170001.0);
pt = polygon->add_point();
pt->set_x(170004.0);
pt->set_y(170001.0);
pt = polygon->add_point();
pt->set_x(170005.0);
pt->set_y(170001.0);
pt = polygon->add_point();
pt->set_x(170005.0);
pt->set_y(170001.0);
pt = polygon->add_point();
pt->set_x(170005.0);
pt->set_y(170002.0);
pt = polygon->add_point();
pt->set_x(170001.0);
pt->set_y(170002.0);
pt = polygon->add_point();
pt->set_x(170001.0);
pt->set_y(170001.0);
}
void HDMapCommonTestSuite::InitSignalObj(Signal* signal) {
signal->mutable_id()->set_id("signal_1");
Polygon* polygon = signal->mutable_boundary();
apollo::common::PointENU* pt = polygon->add_point();
pt->set_x(170001.0);
pt->set_y(1.0);
pt->set_z(1.0);
pt = polygon->add_point();
pt->set_x(170001.0);
pt->set_y(1.0);
pt->set_z(5.0);
pt = polygon->add_point();
pt->set_x(170003.0);
pt->set_y(1.0);
pt->set_z(5.0);
pt = polygon->add_point();
pt->set_x(170003.0);
pt->set_y(1.0);
pt->set_z(1.0);
Subsignal* sub_signal = signal->add_subsignal();
sub_signal->mutable_id()->set_id("sub_signal_1");
pt = sub_signal->mutable_location();
pt->set_x(170002.0);
pt->set_y(1.0);
pt->set_z(4.0);
sub_signal = signal->add_subsignal();
sub_signal->mutable_id()->set_id("sub_signal_2");
pt = sub_signal->mutable_location();
pt->set_x(170002.0);
pt->set_y(1.0);
pt->set_z(3.0);
sub_signal = signal->add_subsignal();
sub_signal->mutable_id()->set_id("sub_signal_3");
pt = sub_signal->mutable_location();
pt->set_x(170002.0);
pt->set_y(1.0);
pt->set_z(2.0);
CurveSegment* curve_segment = signal->add_stop_line()->add_segment();
LineSegment* line_segment = curve_segment->mutable_line_segment();
pt = line_segment->add_point();
pt->set_x(170000.0);
pt->set_y(4.0);
pt->set_z(0.0);
pt = line_segment->add_point();
pt->set_x(170001.0);
pt->set_y(4.0);
pt->set_z(0.0);
pt = line_segment->add_point();
pt->set_x(170002.0);
pt->set_y(4.0);
pt->set_z(0.0);
curve_segment = signal->add_stop_line()->add_segment();
line_segment = curve_segment->mutable_line_segment();
pt = line_segment->add_point();
pt->set_x(170002.0);
pt->set_y(4.0);
pt->set_z(0.0);
pt = line_segment->add_point();
pt->set_x(170003.0);
pt->set_y(4.0);
pt->set_z(0.0);
pt = line_segment->add_point();
pt->set_x(170004.0);
pt->set_y(4.0);
pt->set_z(0.0);
}
void HDMapCommonTestSuite::InitCrosswalkObj(Crosswalk* crosswalk) {
crosswalk->mutable_id()->set_id("crosswalk_1");
Polygon* polygon = crosswalk->mutable_polygon();
apollo::common::PointENU* pt = polygon->add_point();
pt->set_x(170000.0);
pt->set_y(170000.0);
pt->set_z(0.0);
pt = polygon->add_point();
pt->set_x(170003.0);
pt->set_y(170000.0);
pt->set_z(0.0);
pt = polygon->add_point();
pt->set_x(170003.0);
pt->set_y(170003.0);
pt->set_z(0.0);
pt = polygon->add_point();
pt->set_x(170000.0);
pt->set_y(170003.0);
pt->set_z(0.0);
}
void HDMapCommonTestSuite::InitStopSignObj(StopSign* stop_sign) {
stop_sign->mutable_id()->set_id("stop_sign_1");
CurveSegment* curve_segment = stop_sign->add_stop_line()->add_segment();
LineSegment* line_segment = curve_segment->mutable_line_segment();
apollo::common::PointENU* pt = line_segment->add_point();
pt->set_x(170000.0);
pt->set_y(0.0);
pt->set_z(0.0);
pt = line_segment->add_point();
pt->set_x(170001.0);
pt->set_y(0.0);
pt->set_z(0.0);
pt = line_segment->add_point();
pt->set_x(170002.0);
pt->set_y(0.0);
pt->set_z(0.0);
}
void HDMapCommonTestSuite::InitYieldSignObj(YieldSign* yield_sign) {
yield_sign->mutable_id()->set_id("yield_sign_1");
CurveSegment* curve_segment = yield_sign->add_stop_line()->add_segment();
LineSegment* line_segment = curve_segment->mutable_line_segment();
apollo::common::PointENU* pt = line_segment->add_point();
pt->set_x(170000.0);
pt->set_y(0.0);
pt->set_z(0.0);
pt = line_segment->add_point();
pt->set_x(170001.0);
pt->set_y(0.0);
pt->set_z(0.0);
pt = line_segment->add_point();
pt->set_x(170002.0);
pt->set_y(0.0);
pt->set_z(0.0);
}
void HDMapCommonTestSuite::InitClearAreaObj(ClearArea* clear_area) {
clear_area->mutable_id()->set_id("clear_area_1");
Polygon* polygon = clear_area->mutable_polygon();
apollo::common::PointENU* pt = polygon->add_point();
pt->set_x(170000.0);
pt->set_y(170000.0);
pt->set_z(0.0);
pt = polygon->add_point();
pt->set_x(170003.0);
pt->set_y(170000.0);
pt->set_z(0.0);
pt = polygon->add_point();
pt->set_x(170003.0);
pt->set_y(170003.0);
pt->set_z(0.0);
pt = polygon->add_point();
pt->set_x(170000.0);
pt->set_y(170003.0);
pt->set_z(0.0);
}
void HDMapCommonTestSuite::InitSpeedBumpObj(SpeedBump* speed_bump) {
speed_bump->mutable_id()->set_id("speed_bump_1");
CurveSegment* curve_segment = speed_bump->add_position()->add_segment();
LineSegment* line_segment = curve_segment->mutable_line_segment();
apollo::common::PointENU* pt = line_segment->add_point();
pt->set_x(170000.0);
pt->set_y(0.0);
pt->set_z(0.0);
pt = line_segment->add_point();
pt->set_x(170001.0);
pt->set_y(0.0);
pt->set_z(0.0);
pt = line_segment->add_point();
pt->set_x(170002.0);
pt->set_y(0.0);
pt->set_z(0.0);
}
void HDMapCommonTestSuite::InitParkingSpaceObj(ParkingSpace* parking_space) {
parking_space->mutable_id()->set_id("parking_space_1");
Polygon* polygon = parking_space->mutable_polygon();
apollo::common::PointENU* pt = polygon->add_point();
pt->set_x(170000.0);
pt->set_y(170000.0);
pt->set_z(0.0);
pt = polygon->add_point();
pt->set_x(170003.0);
pt->set_y(170000.0);
pt->set_z(0.0);
pt = polygon->add_point();
pt->set_x(170003.0);
pt->set_y(170003.0);
pt->set_z(0.0);
pt = polygon->add_point();
pt->set_x(170000.0);
pt->set_y(170003.0);
pt->set_z(0.0);
}
void HDMapCommonTestSuite::InitRoadObj(Road* road) {
road->mutable_id()->set_id("road_1");
road->mutable_junction_id()->set_id("junction_1");
RoadSection* section = road->add_section();
section->mutable_id()->set_id("section_1");
section->add_lane_id()->set_id("section_1_1");
section->add_lane_id()->set_id("section_1_2");
section = road->add_section();
section->mutable_id()->set_id("section_2");
section->add_lane_id()->set_id("section_2_1");
}
TEST_F(HDMapCommonTestSuite, TestLaneInfo) {
Lane lane;
InitLaneObj(&lane);
LaneInfo lane_info(lane);
EXPECT_EQ(lane.id().id(), lane_info.id().id());
EXPECT_EQ(lane.central_curve().segment(0).line_segment().point_size(),
lane_info.points().size());
for (int i = 0; i < static_cast<int>(lane_info.points().size()); ++i) {
EXPECT_NEAR(lane.central_curve().segment(0).line_segment().point(i).x(),
lane_info.points()[i].x(), 1E-5);
EXPECT_NEAR(lane.central_curve().segment(0).line_segment().point(i).y(),
lane_info.points()[i].y(), 1E-5);
}
EXPECT_EQ(lane.central_curve().segment(0).line_segment().point_size() - 1,
lane_info.segments().size());
for (const auto& segment : lane_info.segments()) {
EXPECT_NEAR(1.0, segment.length(), 1E-4);
}
EXPECT_EQ(lane_info.unit_directions().size(),
lane_info.segments().size() + 1);
for (size_t i = 0; i < lane_info.segments().size(); ++i) {
EXPECT_EQ(lane_info.segments()[i].unit_direction(),
lane_info.unit_directions()[i]);
}
EXPECT_EQ(lane.central_curve().segment(0).line_segment().point_size(),
lane_info.accumulate_s().size());
for (size_t i = 0; i < lane_info.accumulate_s().size(); ++i) {
EXPECT_NEAR(static_cast<double>(i) * 1.0,
lane_info.accumulate_s()[static_cast<int>(i)], 1E-4);
}
EXPECT_EQ(lane.central_curve().segment(0).line_segment().point_size(),
lane_info.headings().size());
for (size_t i = 0; i < lane_info.headings().size(); ++i) {
EXPECT_NEAR(lane_info.unit_directions()[i].Angle(), lane_info.headings()[i],
1E-3);
}
double left_width = 0.0;
double right_width = 0.0;
lane_info.GetWidth(2.0, &left_width, &right_width);
EXPECT_NEAR(1.5, left_width, 1E-3);
EXPECT_NEAR(1.5, right_width, 1E-3);
lane_info.GetWidth(3.5, &left_width, &right_width);
EXPECT_NEAR(1.2, left_width, 1E-3);
EXPECT_NEAR(1.2, right_width, 1E-3);
EXPECT_NEAR(4.0, lane_info.total_length(), 1E-3);
}
TEST_F(HDMapCommonTestSuite, GetWidth) {
Lane lane;
InitLaneObj(&lane);
LaneInfo lane_info(lane);
EXPECT_NEAR(3.0, lane_info.GetWidth(2.0), 1E-3);
EXPECT_NEAR(2.4, lane_info.GetWidth(3.5), 1E-3);
}
TEST_F(HDMapCommonTestSuite, GetEffectiveWidth) {
Lane lane;
InitLaneObj(&lane);
LaneInfo lane_info(lane);
EXPECT_NEAR(3.0, lane_info.GetEffectiveWidth(2.0), 1E-3);
EXPECT_NEAR(2.4, lane_info.GetEffectiveWidth(3.5), 1E-3);
}
TEST_F(HDMapCommonTestSuite, PointIsOnLane) {
Lane lane;
InitLaneObj(&lane);
LaneInfo lane_info(lane);
EXPECT_TRUE(lane_info.IsOnLane({170001.5, 1.5}));
EXPECT_TRUE(lane_info.IsOnLane({170001.5, 0.5}));
EXPECT_FALSE(lane_info.IsOnLane({170000.5, 1.5}));
EXPECT_FALSE(lane_info.IsOnLane({170001.5, 3}));
}
TEST_F(HDMapCommonTestSuite, BoxIsOnLane) {
Lane lane;
InitLaneObj(&lane);
LaneInfo lane_info(lane);
apollo::common::math::Box2d target_in_box(
apollo::common::math::LineSegment2d({170002, 1}, {170003, 1}), 0.5);
EXPECT_TRUE(lane_info.IsOnLane(target_in_box));
apollo::common::math::Box2d target_out_box(
apollo::common::math::LineSegment2d({170002, 1}, {170003, 1}), 4);
EXPECT_FALSE(lane_info.IsOnLane(target_out_box));
}
TEST_F(HDMapCommonTestSuite, GetSmoothPoint) {
Lane lane;
InitLaneObj(&lane);
LaneInfo lane_info(lane);
auto smooth_point = lane_info.GetSmoothPoint(1.5);
EXPECT_NEAR(smooth_point.x(), 170002.5, 1E-3);
EXPECT_NEAR(smooth_point.y(), 1.0, 1E-3);
}
TEST_F(HDMapCommonTestSuite, DistanceTo) {
Lane lane;
InitLaneObj(&lane);
LaneInfo lane_info(lane);
double distance = lane_info.DistanceTo({170002.5, 3.0});
EXPECT_NEAR(distance, 2.0, 1E-3);
distance = lane_info.DistanceTo({170000.5, 3.0});
EXPECT_NEAR(distance, 2.0615, 1E-3);
}
TEST_F(HDMapCommonTestSuite, DistanceToWithMoreInfo) {
Lane lane;
InitLaneObj(&lane);
LaneInfo lane_info(lane);
apollo::common::math::Vec2d foot_point;
double s_offset = 0.0;
int s_offset_index = 0;
double distance = lane_info.DistanceTo({170002.5, 3.0}, &foot_point,
&s_offset, &s_offset_index);
EXPECT_NEAR(distance, 2.0, 1E-3);
EXPECT_NEAR(foot_point.x(), 170002.5, 1E-3);
EXPECT_NEAR(foot_point.y(), 1.0, 1E-3);
EXPECT_NEAR(s_offset, 1.5, 1E-3);
distance = lane_info.DistanceTo({170000.5, 3.0}, &foot_point, &s_offset,
&s_offset_index);
EXPECT_NEAR(distance, 2.06155, 1E-3);
EXPECT_NEAR(foot_point.x(), 170001.0, 1E-3);
EXPECT_NEAR(foot_point.y(), 1.0, 1E-3);
EXPECT_NEAR(s_offset, 0.0, 1E-3);
}
TEST_F(HDMapCommonTestSuite, GetNearestPoint) {
Lane lane;
InitLaneObj(&lane);
LaneInfo lane_info(lane);
double distance = 0.0;
auto nearest_point = lane_info.GetNearestPoint({170002.4, 3.0}, &distance);
EXPECT_NEAR(nearest_point.x(), 170002.4, 1E-3);
EXPECT_NEAR(nearest_point.y(), 1.0, 1E-3);
nearest_point = lane_info.GetNearestPoint({170000.5, 3.0}, &distance);
EXPECT_NEAR(nearest_point.x(), 170001.0, 1E-3);
EXPECT_NEAR(nearest_point.y(), 1.0, 1E-3);
nearest_point = lane_info.GetNearestPoint({170010.5, 3.0}, &distance);
EXPECT_NEAR(nearest_point.x(), 170005.0, 1E-3);
EXPECT_NEAR(nearest_point.y(), 1.0, 1E-3);
}
TEST_F(HDMapCommonTestSuite, GetProjection) {
Lane lane;
InitLaneObj(&lane);
LaneInfo lane_info(lane);
double accumulate_s = 0.0;
double lateral = 0.0;
bool success =
lane_info.GetProjection({170002.4, 3.0}, &accumulate_s, &lateral);
EXPECT_TRUE(success);
EXPECT_NEAR(accumulate_s, 1.4, 1E-3);
EXPECT_NEAR(lateral, 2.0, 1E-3);
success = lane_info.GetProjection({170000.5, 3.0}, &accumulate_s, &lateral);
EXPECT_TRUE(success);
EXPECT_NEAR(accumulate_s, -0.5, 1E-3);
EXPECT_NEAR(lateral, 2.0, 1E-3);
success = lane_info.GetProjection({170010.5, 3.0}, &accumulate_s, &lateral);
EXPECT_TRUE(success);
EXPECT_NEAR(accumulate_s, 9.5, 1E-3);
EXPECT_NEAR(lateral, 2.0, 1E-3);
}
TEST_F(HDMapCommonTestSuite, TestJunctionInfo) {
Junction junction;
InitJunctionObj(&junction);
JunctionInfo junction_info(junction);
EXPECT_EQ(junction.id().id(), junction_info.id().id());
EXPECT_EQ(7, junction_info.polygon().points().size());
for (size_t i = 0; i < 5; ++i) {
EXPECT_NEAR(static_cast<double>(i + 170001) * 1.0,
junction_info.polygon().points()[i].x(), 1E-3);
}
EXPECT_NEAR(170005.0, junction_info.polygon().points()[5].x(), 1E-3);
EXPECT_NEAR(170002.0, junction_info.polygon().points()[5].y(), 1E-3);
EXPECT_NEAR(170001.0, junction_info.polygon().points()[6].x(), 1E-3);
EXPECT_NEAR(170002.0, junction_info.polygon().points()[6].y(), 1E-3);
}
TEST_F(HDMapCommonTestSuite, TestSignalInfo) {
Signal signal;
InitSignalObj(&signal);
SignalInfo signal_info(signal);
EXPECT_EQ(signal.id().id(), signal_info.id().id());
EXPECT_EQ(4, signal_info.signal().boundary().point_size());
int segment_size = 0;
for (const auto& stop_line : signal.stop_line()) {
segment_size += stop_line.segment(0).line_segment().point_size() - 1;
}
EXPECT_EQ(segment_size, signal_info.segments().size());
for (const auto& segment : signal_info.segments()) {
EXPECT_NEAR(1.0, segment.length(), 1E-4);
}
}
TEST_F(HDMapCommonTestSuite, TestCrosswalkInfo) {
Crosswalk crosswalk;
InitCrosswalkObj(&crosswalk);
CrosswalkInfo crosswalk_info(crosswalk);
EXPECT_EQ(crosswalk.id().id(), crosswalk_info.id().id());
EXPECT_EQ(4, crosswalk_info.crosswalk().polygon().point_size());
EXPECT_NEAR(170000.0, crosswalk_info.polygon().points()[0].x(), 1E-3);
EXPECT_NEAR(170000.0, crosswalk_info.polygon().points()[0].y(), 1E-3);
EXPECT_NEAR(170003.0, crosswalk_info.polygon().points()[1].x(), 1E-3);
EXPECT_NEAR(170000.0, crosswalk_info.polygon().points()[1].y(), 1E-3);
EXPECT_NEAR(170003.0, crosswalk_info.polygon().points()[2].x(), 1E-3);
EXPECT_NEAR(170003.0, crosswalk_info.polygon().points()[2].y(), 1E-3);
EXPECT_NEAR(170000.0, crosswalk_info.polygon().points()[3].x(), 1E-3);
EXPECT_NEAR(170003.0, crosswalk_info.polygon().points()[3].y(), 1E-3);
}
TEST_F(HDMapCommonTestSuite, TestStopSignInfo) {
StopSign stop_sign;
InitStopSignObj(&stop_sign);
StopSignInfo stop_sign_info(stop_sign);
EXPECT_EQ(stop_sign.id().id(), stop_sign_info.id().id());
EXPECT_EQ(stop_sign.stop_line(0).segment(0).line_segment().point_size() - 1,
stop_sign_info.segments().size());
for (const auto& segment : stop_sign_info.segments()) {
EXPECT_NEAR(1.0, segment.length(), 1E-4);
}
}
TEST_F(HDMapCommonTestSuite, TestYieldSignInfo) {
YieldSign yield_sign;
InitYieldSignObj(&yield_sign);
YieldSignInfo yield_sign_info(yield_sign);
EXPECT_EQ(yield_sign.id().id(), yield_sign_info.id().id());
EXPECT_EQ(yield_sign.stop_line(0).segment(0).line_segment().point_size() - 1,
yield_sign_info.segments().size());
for (const auto& segment : yield_sign_info.segments()) {
EXPECT_NEAR(1.0, segment.length(), 1E-4);
}
}
TEST_F(HDMapCommonTestSuite, TestClearAreaInfo) {
ClearArea clear_area;
InitClearAreaObj(&clear_area);
ClearAreaInfo clear_area_info(clear_area);
EXPECT_EQ(clear_area.id().id(), clear_area_info.id().id());
EXPECT_EQ(4, clear_area_info.clear_area().polygon().point_size());
EXPECT_NEAR(170000.0, clear_area_info.polygon().points()[0].x(), 1E-3);
EXPECT_NEAR(170000.0, clear_area_info.polygon().points()[0].y(), 1E-3);
EXPECT_NEAR(170003.0, clear_area_info.polygon().points()[1].x(), 1E-3);
EXPECT_NEAR(170000.0, clear_area_info.polygon().points()[1].y(), 1E-3);
EXPECT_NEAR(170003.0, clear_area_info.polygon().points()[2].x(), 1E-3);
EXPECT_NEAR(170003.0, clear_area_info.polygon().points()[2].y(), 1E-3);
EXPECT_NEAR(170000.0, clear_area_info.polygon().points()[3].x(), 1E-3);
EXPECT_NEAR(170003.0, clear_area_info.polygon().points()[3].y(), 1E-3);
}
TEST_F(HDMapCommonTestSuite, TestSpeedBumpInfo) {
SpeedBump speed_bump;
InitSpeedBumpObj(&speed_bump);
SpeedBumpInfo speed_bump_info(speed_bump);
EXPECT_EQ(speed_bump.id().id(), speed_bump_info.id().id());
EXPECT_EQ(speed_bump.position(0).segment(0).line_segment().point_size() - 1,
speed_bump_info.segments().size());
for (const auto& segment : speed_bump_info.segments()) {
EXPECT_NEAR(1.0, segment.length(), 1E-4);
}
}
TEST_F(HDMapCommonTestSuite, TestRoadInfo) {
Road road;
InitRoadObj(&road);
RoadInfo road_info(road);
EXPECT_EQ(road.id().id(), road_info.id().id());
EXPECT_EQ(2, road_info.sections().size());
const RoadSection& section0 = road_info.sections()[0];
EXPECT_EQ(section0.id().id(), "section_1");
EXPECT_EQ(section0.lane_id_size(), 2);
EXPECT_EQ(section0.lane_id(0).id(), "section_1_1");
EXPECT_EQ(section0.lane_id(1).id(), "section_1_2");
const RoadSection& section1 = road_info.sections()[1];
EXPECT_EQ(section1.id().id(), "section_2");
EXPECT_EQ(section1.lane_id_size(), 1);
EXPECT_EQ(section1.lane_id(0).id(), "section_2_1");
}
TEST_F(HDMapCommonTestSuite, TestParkingSpaceInfo) {
ParkingSpace parking_space;
InitParkingSpaceObj(&parking_space);
ParkingSpaceInfo parking_space_info(parking_space);
EXPECT_EQ(parking_space.id().id(), parking_space_info.id().id());
EXPECT_EQ(4, parking_space_info.parking_space().polygon().point_size());
EXPECT_NEAR(170000.0, parking_space_info.polygon().points()[0].x(), 1E-3);
EXPECT_NEAR(170000.0, parking_space_info.polygon().points()[0].y(), 1E-3);
EXPECT_NEAR(170003.0, parking_space_info.polygon().points()[1].x(), 1E-3);
EXPECT_NEAR(170000.0, parking_space_info.polygon().points()[1].y(), 1E-3);
EXPECT_NEAR(170003.0, parking_space_info.polygon().points()[2].x(), 1E-3);
EXPECT_NEAR(170003.0, parking_space_info.polygon().points()[2].y(), 1E-3);
EXPECT_NEAR(170000.0, parking_space_info.polygon().points()[3].x(), 1E-3);
EXPECT_NEAR(170003.0, parking_space_info.polygon().points()[3].y(), 1E-3);
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/hdmap/hdmap_util_test.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/map/hdmap/hdmap_util.h"
#include "gtest/gtest.h"
namespace apollo {
namespace hdmap {
class HDMapUtilTestSuite : public ::testing::Test {
protected:
HDMapUtilTestSuite() {}
virtual ~HDMapUtilTestSuite() {}
virtual void SetUp() {}
virtual void TearDown() {}
void InitMapProto(Map* map_proto);
};
void HDMapUtilTestSuite::InitMapProto(Map* map_proto) {
auto* lane = map_proto->add_lane();
lane->mutable_id()->set_id("lane_1");
CurveSegment* curve_segment = lane->mutable_central_curve()->add_segment();
LineSegment* line_segment = curve_segment->mutable_line_segment();
double delta_s = 0.2;
double heading = M_PI / 2.0;
double x0 = 0.0;
double y0 = 0.0;
for (double s = 0; s < 200; s += delta_s) {
auto* pt = line_segment->add_point();
pt->set_x(x0 + s * cos(heading));
pt->set_y(y0 + s * sin(heading));
auto* left_sample = lane->add_left_sample();
left_sample->set_s(s);
left_sample->set_width(1.5);
auto* right_sample = lane->add_right_sample();
right_sample->set_s(s);
right_sample->set_width(1.5);
}
lane->set_type(Lane::CITY_DRIVING);
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/hdmap/hdmap.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 <string>
#include <utility>
#include <vector>
#include "cyber/common/macros.h"
#include "modules/common_msgs/basic_msgs/geometry.pb.h"
#include "modules/common_msgs/map_msgs/map_clear_area.pb.h"
#include "modules/common_msgs/map_msgs/map_crosswalk.pb.h"
#include "modules/common_msgs/map_msgs/map_junction.pb.h"
#include "modules/common_msgs/map_msgs/map_lane.pb.h"
#include "modules/common_msgs/map_msgs/map_overlap.pb.h"
#include "modules/common_msgs/map_msgs/map_parking_space.pb.h"
#include "modules/common_msgs/map_msgs/map_road.pb.h"
#include "modules/common_msgs/map_msgs/map_signal.pb.h"
#include "modules/common_msgs/map_msgs/map_speed_bump.pb.h"
#include "modules/common_msgs/map_msgs/map_stop_sign.pb.h"
#include "modules/common_msgs/map_msgs/map_yield_sign.pb.h"
#include "modules/map/hdmap/hdmap_common.h"
#include "modules/map/hdmap/hdmap_impl.h"
/**
* @namespace apollo::hdmap
* @brief apollo::hdmap
*/
namespace apollo {
namespace hdmap {
/**
* @class HDMap
*
* @brief High-precision map loader interface.
*/
class HDMap {
public:
/**
* @brief load map from local file
* @param map_filename path of map data file
* @return 0:success, otherwise failed
*/
int LoadMapFromFile(const std::string& map_filename);
/**
* @brief load map from a given protobuf message.
* @param map_proto map data in protobuf format
* @return 0:success, otherwise failed
*/
int LoadMapFromProto(const Map& map_proto);
LaneInfoConstPtr GetLaneById(const Id& id) const;
JunctionInfoConstPtr GetJunctionById(const Id& id) const;
SignalInfoConstPtr GetSignalById(const Id& id) const;
CrosswalkInfoConstPtr GetCrosswalkById(const Id& id) const;
StopSignInfoConstPtr GetStopSignById(const Id& id) const;
YieldSignInfoConstPtr GetYieldSignById(const Id& id) const;
ClearAreaInfoConstPtr GetClearAreaById(const Id& id) const;
SpeedBumpInfoConstPtr GetSpeedBumpById(const Id& id) const;
OverlapInfoConstPtr GetOverlapById(const Id& id) const;
RoadInfoConstPtr GetRoadById(const Id& id) const;
ParkingSpaceInfoConstPtr GetParkingSpaceById(const Id& id) const;
PNCJunctionInfoConstPtr GetPNCJunctionById(const Id& id) const;
RSUInfoConstPtr GetRSUById(const Id& id) const;
/**
* @brief get all lanes in certain range
* @param point the central point of the range
* @param distance the search radius
* @param lanes store all lanes in target range
* @return 0:success, otherwise failed
*/
int GetLanes(const apollo::common::PointENU& point, double distance,
std::vector<LaneInfoConstPtr>* lanes) const;
/**
* @brief get all junctions in certain range
* @param point the central point of the range
* @param distance the search radius
* @param junctions store all junctions in target range
* @return 0:success, otherwise failed
*/
int GetJunctions(const apollo::common::PointENU& point, double distance,
std::vector<JunctionInfoConstPtr>* junctions) const;
/**
* @brief get all signals in certain range
* @param point the central point of the range
* @param distance the search radius
* @param signals store all signals in target range
* @return 0:success, otherwise failed
*/
int GetSignals(const apollo::common::PointENU& point, double distance,
std::vector<SignalInfoConstPtr>* signals) const;
/**
* @brief get all crosswalks in certain range
* @param point the central point of the range
* @param distance the search radius
* @param crosswalks store all crosswalks in target range
* @return 0:success, otherwise failed
*/
int GetCrosswalks(const apollo::common::PointENU& point, double distance,
std::vector<CrosswalkInfoConstPtr>* crosswalks) const;
/**
* @brief get all stop signs in certain range
* @param point the central point of the range
* @param distance the search radius
* @param stop signs store all stop signs in target range
* @return 0:success, otherwise failed
*/
int GetStopSigns(const apollo::common::PointENU& point, double distance,
std::vector<StopSignInfoConstPtr>* stop_signs) const;
/**
* @brief get all yield signs in certain range
* @param point the central point of the range
* @param distance the search radius
* @param yield signs store all yield signs in target range
* @return 0:success, otherwise failed
*/
int GetYieldSigns(const apollo::common::PointENU& point, double distance,
std::vector<YieldSignInfoConstPtr>* yield_signs) const;
/**
* @brief get all clear areas in certain range
* @param point the central point of the range
* @param distance the search radius
* @param clear_areas store all clear areas in target range
* @return 0:success, otherwise failed
*/
int GetClearAreas(const apollo::common::PointENU& point, double distance,
std::vector<ClearAreaInfoConstPtr>* clear_areas) const;
/**
* @brief get all speed bumps in certain range
* @param point the central point of the range
* @param distance the search radius
* @param speed_bumps store all speed bumps in target range
* @return 0:success, otherwise failed
*/
int GetSpeedBumps(const apollo::common::PointENU& point, double distance,
std::vector<SpeedBumpInfoConstPtr>* speed_bumps) const;
/**
* @brief get all roads in certain range
* @param point the central point of the range
* @param distance the search radius
* @param roads store all roads in target range
* @return 0:success, otherwise failed
*/
int GetRoads(const apollo::common::PointENU& point, double distance,
std::vector<RoadInfoConstPtr>* roads) const;
/**
* @brief get all parking spaces in certain range
* @param point the central point of the range
* @param distance the search radius
* @param parking spaces store all clear areas in target range
* @return 0:success, otherwise failed
*/
int GetParkingSpaces(
const apollo::common::PointENU& point, double distance,
std::vector<ParkingSpaceInfoConstPtr>* parking_spaces) const;
/**
* @brief get all pnc junctions in certain range
* @param point the central point of the range
* @param distance the search radius
* @param junctions store all junctions in target range
* @return 0:success, otherwise failed
*/
int GetPNCJunctions(
const apollo::common::PointENU& point, double distance,
std::vector<PNCJunctionInfoConstPtr>* pnc_junctions) const;
/**
* @brief get nearest lane from target point,
* @param point the target point
* @param nearest_lane the nearest lane that match search conditions
* @param nearest_s the offset from lane start point along lane center line
* @param nearest_l the lateral offset from lane center line
* @return 0:success, otherwise, failed.
*/
int GetNearestLane(const apollo::common::PointENU& point,
LaneInfoConstPtr* nearest_lane, double* nearest_s,
double* nearest_l) const;
/**
* @brief get the nearest lane within a certain range by pose
* @param point the target position
* @param distance the search radius
* @param central_heading the base heading
* @param max_heading_difference the heading range
* @param nearest_lane the nearest lane that match search conditions
* @param nearest_s the offset from lane start point along lane center line
* @param nearest_l the lateral offset from lane center line
* @return 0:success, otherwise, failed.
*/
int GetNearestLaneWithHeading(const apollo::common::PointENU& point,
const double distance,
const double central_heading,
const double max_heading_difference,
LaneInfoConstPtr* nearest_lane,
double* nearest_s, double* nearest_l) const;
/**
* @brief get all lanes within a certain range by pose
* @param point the target position
* @param distance the search radius
* @param central_heading the base heading
* @param max_heading_difference the heading range
* @param nearest_lane all lanes that match search conditions
* @return 0:success, otherwise, failed.
*/
int GetLanesWithHeading(const apollo::common::PointENU& point,
const double distance, const double central_heading,
const double max_heading_difference,
std::vector<LaneInfoConstPtr>* lanes) const;
/**
* @brief get all road and junctions boundaries within certain range
* @param point the target position
* @param radius the search radius
* @param road_boundaries the roads' boundaries
* @param junctions the junctions' boundaries
* @return 0:success, otherwise failed
*/
int GetRoadBoundaries(const apollo::common::PointENU& point, double radius,
std::vector<RoadROIBoundaryPtr>* road_boundaries,
std::vector<JunctionBoundaryPtr>* junctions) const;
/**
* @brief get all road boundaries and junctions within certain range
* @param point the target position
* @param radius the search radius
* @param road_boundaries the roads' boundaries
* @param junctions the junctions
* @return 0:success, otherwise failed
*/
int GetRoadBoundaries(const apollo::common::PointENU& point, double radius,
std::vector<RoadRoiPtr>* road_boundaries,
std::vector<JunctionInfoConstPtr>* junctions) const;
/**
* @brief get ROI within certain range
* @param point the target position
* @param radius the search radius
* @param roads_roi the roads' boundaries
* @param polygons_roi the junctions' boundaries
* @return 0:success, otherwise failed
*/
int GetRoi(const apollo::common::PointENU& point, double radius,
std::vector<RoadRoiPtr>* roads_roi,
std::vector<PolygonRoiPtr>* polygons_roi);
/**
* @brief get forward nearest signals within certain range on the lane
* if there are two signals related to one stop line,
* return both signals.
* @param point the target position
* @param distance the forward search distance
* @param signals all signals match conditions
* @return 0:success, otherwise failed
*/
int GetForwardNearestSignalsOnLane(
const apollo::common::PointENU& point, const double distance,
std::vector<SignalInfoConstPtr>* signals) const;
/**
* @brief get all other stop signs associated with a stop sign
* in the same junction
* @param id id of stop sign
* @param stop_signs stop signs associated
* @return 0:success, otherwise failed
*/
int GetStopSignAssociatedStopSigns(
const Id& id, std::vector<StopSignInfoConstPtr>* stop_signs) const;
/**
* @brief get all lanes associated with a stop sign in the same junction
* @param id id of stop sign
* @param lanes all lanes match conditions
* @return 0:success, otherwise failed
*/
int GetStopSignAssociatedLanes(const Id& id,
std::vector<LaneInfoConstPtr>* lanes) const;
/**
* @brief get a local map which is identical to the origin map except that all
* map elements without overlap with the given region are deleted.
* @param point the target position
* @param range the size of local map region, [width, height]
* @param local_map local map in proto format
* @return 0:success, otherwise failed
*/
int GetLocalMap(const apollo::common::PointENU& point,
const std::pair<double, double>& range, Map* local_map) const;
/**
* @brief get forward nearest rsus within certain range
* @param point the target position
* @param distance the forward search distance
* @param central_heading the base heading
* @param max_heading_difference the heading range
* @param rsus all rsus that match search conditions
* @return 0:success, otherwise failed
*/
int GetForwardNearestRSUs(const apollo::common::PointENU& point,
double distance, double central_heading,
double max_heading_difference,
std::vector<RSUInfoConstPtr>* rsus) const;
private:
HDMapImpl impl_;
};
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/hdmap/hdmap_impl_test.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 <chrono>
#include "absl/strings/str_cat.h"
#include "gflags/gflags.h"
#include "gtest/gtest.h"
#include "cyber/common/file.h"
#include "modules/map/hdmap/hdmap_impl.h"
DEFINE_string(output_dir, "/tmp", "output map directory");
namespace {
constexpr char kMapFilename[] = "modules/map/hdmap/test-data/base_map.bin";
} // namespace
namespace apollo {
namespace hdmap {
class HDMapImplTestSuite : public ::testing::Test {
public:
HDMapImplTestSuite() {
EXPECT_EQ(0, hdmap_impl_.LoadMapFromFile(kMapFilename));
}
public:
HDMapImpl hdmap_impl_;
};
TEST_F(HDMapImplTestSuite, GetLaneById) {
Id lane_id;
lane_id.set_id("1");
EXPECT_EQ(nullptr, hdmap_impl_.GetLaneById(lane_id));
lane_id.set_id("1272_1_-1");
LaneInfoConstPtr lane_ptr = hdmap_impl_.GetLaneById(lane_id);
EXPECT_NE(nullptr, lane_ptr);
EXPECT_STREQ(lane_id.id().c_str(), lane_ptr->id().id().c_str());
}
TEST_F(HDMapImplTestSuite, GetJunctionById) {
Id junction_id;
junction_id.set_id("1");
EXPECT_EQ(nullptr, hdmap_impl_.GetJunctionById(junction_id));
junction_id.set_id("1183");
JunctionInfoConstPtr junction_ptr = hdmap_impl_.GetJunctionById(junction_id);
EXPECT_NE(nullptr, junction_ptr);
EXPECT_STREQ(junction_id.id().c_str(), junction_ptr->id().id().c_str());
}
TEST_F(HDMapImplTestSuite, GetSignalById) {
Id signal_id;
signal_id.set_id("abc");
EXPECT_EQ(nullptr, hdmap_impl_.GetSignalById(signal_id));
signal_id.set_id("1278");
SignalInfoConstPtr signal_ptr = hdmap_impl_.GetSignalById(signal_id);
EXPECT_NE(nullptr, signal_ptr);
EXPECT_STREQ(signal_id.id().c_str(), signal_ptr->id().id().c_str());
}
TEST_F(HDMapImplTestSuite, GetCrosswalkById) {
Id crosswalk_id;
crosswalk_id.set_id("1");
EXPECT_EQ(nullptr, hdmap_impl_.GetCrosswalkById(crosswalk_id));
crosswalk_id.set_id("1277");
CrosswalkInfoConstPtr crosswalk_ptr =
hdmap_impl_.GetCrosswalkById(crosswalk_id);
EXPECT_NE(nullptr, crosswalk_ptr);
EXPECT_STREQ(crosswalk_id.id().c_str(), crosswalk_ptr->id().id().c_str());
}
TEST_F(HDMapImplTestSuite, GetStopSignById) {
Id stop_sign_id;
stop_sign_id.set_id("1");
EXPECT_EQ(nullptr, hdmap_impl_.GetStopSignById(stop_sign_id));
stop_sign_id.set_id("1276");
StopSignInfoConstPtr stop_sign_ptr =
hdmap_impl_.GetStopSignById(stop_sign_id);
EXPECT_NE(nullptr, stop_sign_ptr);
EXPECT_STREQ(stop_sign_id.id().c_str(), stop_sign_ptr->id().id().c_str());
}
TEST_F(HDMapImplTestSuite, GetYieldSignById) {
Id yield_sign_id;
yield_sign_id.set_id("1");
EXPECT_EQ(nullptr, hdmap_impl_.GetYieldSignById(yield_sign_id));
yield_sign_id.set_id("1275");
YieldSignInfoConstPtr yield_sign_ptr =
hdmap_impl_.GetYieldSignById(yield_sign_id);
EXPECT_NE(nullptr, yield_sign_ptr);
EXPECT_STREQ(yield_sign_id.id().c_str(), yield_sign_ptr->id().id().c_str());
}
TEST_F(HDMapImplTestSuite, GetClearAreaById) {
Id clear_area_id;
clear_area_id.set_id("1");
EXPECT_EQ(nullptr, hdmap_impl_.GetClearAreaById(clear_area_id));
clear_area_id.set_id("1254");
ClearAreaInfoConstPtr clear_area_ptr =
hdmap_impl_.GetClearAreaById(clear_area_id);
EXPECT_NE(nullptr, clear_area_ptr);
EXPECT_STREQ(clear_area_id.id().c_str(), clear_area_ptr->id().id().c_str());
}
TEST_F(HDMapImplTestSuite, GetSpeedBumpById) {
Id speed_bump_id;
speed_bump_id.set_id("1");
EXPECT_EQ(nullptr, hdmap_impl_.GetSpeedBumpById(speed_bump_id));
}
TEST_F(HDMapImplTestSuite, GetOverlapById) {
Id overlap_id;
overlap_id.set_id("1");
EXPECT_EQ(nullptr, hdmap_impl_.GetOverlapById(overlap_id));
overlap_id.set_id("overlap_20");
OverlapInfoConstPtr overlap_ptr = hdmap_impl_.GetOverlapById(overlap_id);
EXPECT_NE(nullptr, overlap_ptr);
EXPECT_STREQ(overlap_id.id().c_str(), overlap_ptr->id().id().c_str());
}
TEST_F(HDMapImplTestSuite, GetRoadById) {
Id road_id;
road_id.set_id("1");
EXPECT_EQ(nullptr, hdmap_impl_.GetRoadById(road_id));
road_id.set_id("1272");
RoadInfoConstPtr road_ptr = hdmap_impl_.GetRoadById(road_id);
EXPECT_NE(nullptr, road_ptr);
EXPECT_STREQ(road_id.id().c_str(), road_ptr->id().id().c_str());
}
TEST_F(HDMapImplTestSuite, GetLanes) {
std::vector<LaneInfoConstPtr> lanes;
apollo::common::PointENU point;
point.set_x(586424.09);
point.set_y(4140727.02);
point.set_z(0.0);
EXPECT_EQ(0, hdmap_impl_.GetLanes(point, 1e-6, &lanes));
EXPECT_EQ(0, lanes.size());
EXPECT_EQ(0, hdmap_impl_.GetLanes(point, 5, &lanes));
EXPECT_EQ(1, lanes.size());
std::vector<std::string> ids;
for (const auto& lane : lanes) {
ids.push_back(lane->id().id());
}
EXPECT_EQ("773_1_-2", ids[0]);
}
TEST_F(HDMapImplTestSuite, GetNearestLaneWithHeading) {
apollo::common::PointENU point;
point.set_x(586424.09);
point.set_y(4140727.02);
point.set_z(0.0);
LaneInfoConstPtr nearest_lane;
double nearest_s = 0.0;
double nearest_l = 0.0;
EXPECT_EQ(-1,
hdmap_impl_.GetNearestLaneWithHeading(
point, 1e-6, 0.86, 0.2, &nearest_lane, &nearest_s, &nearest_l));
EXPECT_EQ(0,
hdmap_impl_.GetNearestLaneWithHeading(
point, 5, -2.35, 1.0, &nearest_lane, &nearest_s, &nearest_l));
EXPECT_EQ("773_1_-2", nearest_lane->id().id());
EXPECT_NEAR(nearest_l, -3.257, 1E-3);
EXPECT_NEAR(nearest_s, 25.891, 1E-3);
}
TEST_F(HDMapImplTestSuite, GetLanesWithHeading) {
apollo::common::PointENU point;
point.set_x(586424.09);
point.set_y(4140727.02);
point.set_z(0.0);
std::vector<LaneInfoConstPtr> lanes;
EXPECT_EQ(-1,
hdmap_impl_.GetLanesWithHeading(point, 1e-6, 0.86, 0.2, &lanes));
EXPECT_EQ(0, hdmap_impl_.GetLanesWithHeading(point, 5, -2.35, 1.0, &lanes));
EXPECT_EQ(1, lanes.size());
EXPECT_EQ("773_1_-2", lanes[0]->id().id());
}
TEST_F(HDMapImplTestSuite, GetJunctions) {
std::vector<JunctionInfoConstPtr> junctions;
apollo::common::PointENU point;
point.set_x(586441.61);
point.set_y(4140746.48);
point.set_z(0.0);
EXPECT_EQ(0, hdmap_impl_.GetJunctions(point, 1, &junctions));
EXPECT_EQ(0, junctions.size());
EXPECT_EQ(0, hdmap_impl_.GetJunctions(point, 3, &junctions));
EXPECT_EQ(1, junctions.size());
EXPECT_EQ("1183", junctions[0]->id().id());
}
TEST_F(HDMapImplTestSuite, GetCrosswalks) {
std::vector<CrosswalkInfoConstPtr> crosswalks;
apollo::common::PointENU point;
point.set_x(586449.32);
point.set_y(4140789.59);
point.set_z(0.0);
EXPECT_EQ(0, hdmap_impl_.GetCrosswalks(point, 1, &crosswalks));
EXPECT_EQ(0, crosswalks.size());
EXPECT_EQ(0, hdmap_impl_.GetCrosswalks(point, 3, &crosswalks));
EXPECT_EQ(1, crosswalks.size());
EXPECT_EQ("1277", crosswalks[0]->id().id());
}
TEST_F(HDMapImplTestSuite, GetSignals) {
std::vector<SignalInfoConstPtr> signals;
apollo::common::PointENU point;
point.set_x(586440.37);
point.set_y(4140738.64);
point.set_z(0.0);
EXPECT_EQ(0, hdmap_impl_.GetSignals(point, 7.0, &signals));
EXPECT_EQ(0, signals.size());
EXPECT_EQ(0, hdmap_impl_.GetSignals(point, 12, &signals));
EXPECT_EQ(1, signals.size());
EXPECT_EQ("1278", signals[0]->id().id());
}
TEST_F(HDMapImplTestSuite, GetStopSigns) {
std::vector<StopSignInfoConstPtr> stop_signs;
apollo::common::PointENU point;
point.set_x(586418.82);
point.set_y(4140779.06);
point.set_z(0.0);
EXPECT_EQ(0, hdmap_impl_.GetStopSigns(point, 100.0, &stop_signs));
EXPECT_EQ(1, stop_signs.size());
EXPECT_EQ("1276", stop_signs[0]->id().id());
}
TEST_F(HDMapImplTestSuite, GetYieldSigns) {
std::vector<YieldSignInfoConstPtr> yield_signs;
apollo::common::PointENU point;
point.set_x(586376.08);
point.set_y(4140785.77);
point.set_z(0.0);
EXPECT_EQ(0, hdmap_impl_.GetYieldSigns(point, 100.0, &yield_signs));
EXPECT_EQ(1, yield_signs.size());
EXPECT_EQ("1275", yield_signs[0]->id().id());
}
TEST_F(HDMapImplTestSuite, GetClearAreas) {
std::vector<ClearAreaInfoConstPtr> clear_areas;
apollo::common::PointENU point;
point.set_x(586426.24);
point.set_y(4140680.01);
point.set_z(0.0);
EXPECT_EQ(0, hdmap_impl_.GetClearAreas(point, 4.0, &clear_areas));
EXPECT_EQ(1, clear_areas.size());
EXPECT_EQ("1254", clear_areas[0]->id().id());
}
TEST_F(HDMapImplTestSuite, GetSpeedBumps) {
std::vector<SpeedBumpInfoConstPtr> speed_bumps;
apollo::common::PointENU point;
point.set_x(586410.13);
point.set_y(4140679.01);
point.set_z(0.0);
EXPECT_EQ(0, hdmap_impl_.GetSpeedBumps(point, 4.0, &speed_bumps));
EXPECT_EQ(0, speed_bumps.size());
}
TEST_F(HDMapImplTestSuite, GetRoads) {
std::vector<RoadInfoConstPtr> roads;
apollo::common::PointENU point;
point.set_x(586427.18);
point.set_y(4140741.36);
point.set_z(0.0);
EXPECT_EQ(0, hdmap_impl_.GetRoads(point, 4.0, &roads));
EXPECT_EQ(1, roads.size());
EXPECT_EQ(roads[0]->id().id(), "773");
EXPECT_FALSE(roads[0]->has_junction_id());
EXPECT_EQ(1, roads[0]->sections().size());
const apollo::hdmap::RoadSection& section = roads[0]->sections()[0];
EXPECT_EQ(section.id().id(), "1");
EXPECT_EQ(section.lane_id_size(), 2);
std::set<std::string> lane_ids;
lane_ids.insert("773_1_-1");
lane_ids.insert("773_1_-2");
for (int i = 0; i < section.lane_id_size(); ++i) {
const apollo::hdmap::Id& lane_id = section.lane_id(i);
EXPECT_GT(lane_ids.count(lane_id.id()), 0);
}
}
TEST_F(HDMapImplTestSuite, GetNearestLane) {
LaneInfoConstPtr lane;
double s = 0.0;
double l = 0.0;
apollo::common::PointENU point;
point.set_x(586424.09);
point.set_y(4140727.02);
point.set_z(0.0);
EXPECT_EQ(0, hdmap_impl_.GetNearestLane(point, &lane, &s, &l));
EXPECT_EQ("773_1_-2", lane->id().id());
EXPECT_NEAR(s, 25.891, 1e-3);
EXPECT_NEAR(l, -3.257, 1e-3);
}
TEST_F(HDMapImplTestSuite, GetRoadBoundaries) {
apollo::common::PointENU point;
point.set_x(586427.58);
point.set_y(4140749.35);
point.set_z(0.0);
std::vector<RoadROIBoundaryPtr> road_boundaries;
std::vector<JunctionBoundaryPtr> junctions;
EXPECT_EQ(-1, hdmap_impl_.GetRoadBoundaries(point, 3.0, &road_boundaries,
&junctions));
point.set_x(586434.75);
point.set_y(4140746.94);
point.set_z(0.0);
EXPECT_EQ(0, hdmap_impl_.GetRoadBoundaries(point, 2.0, &road_boundaries,
&junctions));
EXPECT_EQ(1, road_boundaries.size());
EXPECT_EQ(0, junctions.size());
point.set_x(586434.75);
point.set_y(4140746.94);
point.set_z(0.0);
EXPECT_EQ(0, hdmap_impl_.GetRoadBoundaries(point, 4.5, &road_boundaries,
&junctions));
EXPECT_EQ(1, road_boundaries.size());
EXPECT_EQ(1, junctions.size());
}
TEST_F(HDMapImplTestSuite, GetForwardNearestSignalsOnLane) {
apollo::common::PointENU point;
point.set_x(586441.73);
point.set_y(4140745.25);
point.set_z(0.0);
std::vector<SignalInfoConstPtr> signals;
EXPECT_EQ(0,
hdmap_impl_.GetForwardNearestSignalsOnLane(point, 10.0, &signals));
EXPECT_EQ(1, signals.size());
EXPECT_EQ("1278", signals[0]->id().id());
EXPECT_EQ(0,
hdmap_impl_.GetForwardNearestSignalsOnLane(point, 3.0, &signals));
EXPECT_EQ(0, signals.size());
point.set_x(586443.28);
point.set_y(4140751.22);
EXPECT_EQ(0,
hdmap_impl_.GetForwardNearestSignalsOnLane(point, 10.0, &signals));
EXPECT_EQ(1, signals.size());
EXPECT_EQ("1278", signals[0]->id().id());
}
TEST_F(HDMapImplTestSuite, GetRoi) {
apollo::common::PointENU point;
point.set_x(586441.73);
point.set_y(4140745.25);
double distance = 100.0;
std::vector<RoadRoiPtr> roads_roi;
std::vector<PolygonRoiPtr> polygons_roi;
ASSERT_EQ(0, hdmap_impl_.GetRoi(point, distance, &roads_roi, &polygons_roi));
ASSERT_EQ(5, roads_roi.size());
ASSERT_EQ(1, polygons_roi.size());
distance = 1.0;
ASSERT_EQ(0, hdmap_impl_.GetRoi(point, distance, &roads_roi, &polygons_roi));
ASSERT_EQ(1, roads_roi.size());
ASSERT_EQ(0, polygons_roi.size());
}
TEST_F(HDMapImplTestSuite, GetRoadBounrariesAndJunctions) {
apollo::common::PointENU point;
point.set_x(586441.73);
point.set_y(4140745.25);
double distance = 100.0;
std::vector<RoadRoiPtr> roads_roi;
std::vector<JunctionInfoConstPtr> junctions;
ASSERT_EQ(0, hdmap_impl_.GetRoadBoundaries(point, distance, &roads_roi,
&junctions));
ASSERT_EQ(5, roads_roi.size());
ASSERT_EQ(1, junctions.size());
distance = 1.0;
ASSERT_EQ(0, hdmap_impl_.GetRoadBoundaries(point, distance, &roads_roi,
&junctions));
ASSERT_EQ(1, roads_roi.size());
ASSERT_EQ(0, junctions.size());
}
TEST_F(HDMapImplTestSuite, GetLocalMap) {
apollo::common::PointENU point;
point.set_x(586441.73);
point.set_y(4140745.25);
Map local_map;
std::pair<double, double> range{10.0, 10.0};
ASSERT_EQ(0, hdmap_impl_.GetLocalMap(point, range, &local_map));
const std::string time_since_epoch = std::to_string(
std::chrono::steady_clock::now().time_since_epoch().count());
const std::string output_bin_file =
absl::StrCat(FLAGS_output_dir, "/base_map_", time_since_epoch, " .bin");
ACHECK(cyber::common::SetProtoToBinaryFile(local_map, output_bin_file))
<< "failed to output binary format base map";
local_map.Clear();
ACHECK(cyber::common::GetProtoFromFile(output_bin_file, &local_map))
<< "failed to load map";
cyber::common::DeleteFile(output_bin_file);
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/hdmap/hdmap_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.
=========================================================================*/
#include "modules/map/hdmap/hdmap_util.h"
#include <string>
#include <vector>
#include "absl/strings/str_split.h"
#include "cyber/common/file.h"
namespace apollo {
namespace hdmap {
using apollo::relative_map::MapMsg;
namespace {
// Find the first existing file from a list of candidates: "file_a|file_b|...".
std::string FindFirstExist(const std::string& dir, const std::string& files) {
const std::vector<std::string> candidates = absl::StrSplit(files, '|');
for (const auto& filename : candidates) {
const std::string file_path = absl::StrCat(FLAGS_map_dir, "/", filename);
if (cyber::common::PathExists(file_path)) {
return file_path;
}
}
AERROR << "No existing file found in " << dir << "/" << files
<< ". Fallback to first candidate as default result.";
ACHECK(!candidates.empty()) << "Please specify at least one map.";
return absl::StrCat(FLAGS_map_dir, "/", candidates[0]);
}
} // namespace
std::string BaseMapFile() {
if (FLAGS_use_navigation_mode) {
AWARN << "base_map file is not used when FLAGS_use_navigation_mode is true";
}
return FLAGS_test_base_map_filename.empty()
? FindFirstExist(FLAGS_map_dir, FLAGS_base_map_filename)
: FindFirstExist(FLAGS_map_dir, FLAGS_test_base_map_filename);
}
std::string SimMapFile() {
if (FLAGS_use_navigation_mode) {
AWARN << "sim_map file is not used when FLAGS_use_navigation_mode is true";
}
return FindFirstExist(FLAGS_map_dir, FLAGS_sim_map_filename);
}
std::string RoutingMapFile() {
if (FLAGS_use_navigation_mode) {
AWARN << "routing_map file is not used when FLAGS_use_navigation_mode is "
"true";
}
return FindFirstExist(FLAGS_map_dir, FLAGS_routing_map_filename);
}
std::unique_ptr<HDMap> CreateMap(const std::string& map_file_path) {
std::unique_ptr<HDMap> hdmap(new HDMap());
if (hdmap->LoadMapFromFile(map_file_path) != 0) {
AERROR << "Failed to load HDMap " << map_file_path;
return nullptr;
}
AINFO << "Load HDMap success: " << map_file_path;
return hdmap;
}
std::unique_ptr<HDMap> CreateMap(const MapMsg& map_msg) {
std::unique_ptr<HDMap> hdmap(new HDMap());
if (hdmap->LoadMapFromProto(map_msg.hdmap()) != 0) {
AERROR << "Failed to load RelativeMap: "
<< map_msg.header().ShortDebugString();
return nullptr;
}
return hdmap;
}
std::unique_ptr<HDMap> HDMapUtil::base_map_ = nullptr;
uint64_t HDMapUtil::base_map_seq_ = 0;
std::mutex HDMapUtil::base_map_mutex_;
std::unique_ptr<HDMap> HDMapUtil::sim_map_ = nullptr;
std::mutex HDMapUtil::sim_map_mutex_;
const HDMap* HDMapUtil::BaseMapPtr(const MapMsg& map_msg) {
std::lock_guard<std::mutex> lock(base_map_mutex_);
if (base_map_ != nullptr &&
base_map_seq_ == map_msg.header().sequence_num()) {
// avoid re-create map in the same cycle.
return base_map_.get();
} else {
base_map_ = CreateMap(map_msg);
base_map_seq_ = map_msg.header().sequence_num();
}
return base_map_.get();
}
const HDMap* HDMapUtil::BaseMapPtr() {
// TODO(all) Those logics should be removed to planning
/*if (FLAGS_use_navigation_mode) {
std::lock_guard<std::mutex> lock(base_map_mutex_);
auto* relative_map = AdapterManager::GetRelativeMap();
if (!relative_map) {
AERROR << "RelativeMap adapter is not registered";
return nullptr;
}
if (relative_map->Empty()) {
AERROR << "RelativeMap is empty";
return nullptr;
}
const auto& latest = relative_map->GetLatestObserved();
if (base_map_ != nullptr &&
base_map_seq_ == latest.header().sequence_num()) {
// avoid re-create map in the same cycle.
return base_map_.get();
} else {
base_map_ = CreateMap(latest);
base_map_seq_ = latest.header().sequence_num();
}
} else*/
if (base_map_ == nullptr) {
std::lock_guard<std::mutex> lock(base_map_mutex_);
if (base_map_ == nullptr) { // Double check.
base_map_ = CreateMap(BaseMapFile());
}
}
return base_map_.get();
}
const HDMap& HDMapUtil::BaseMap() { return *CHECK_NOTNULL(BaseMapPtr()); }
const HDMap* HDMapUtil::SimMapPtr() {
if (FLAGS_use_navigation_mode) {
return BaseMapPtr();
} else if (sim_map_ == nullptr) {
std::lock_guard<std::mutex> lock(sim_map_mutex_);
if (sim_map_ == nullptr) { // Double check.
sim_map_ = CreateMap(SimMapFile());
}
}
return sim_map_.get();
}
const HDMap& HDMapUtil::SimMap() { return *CHECK_NOTNULL(SimMapPtr()); }
bool HDMapUtil::ReloadMaps() {
{
std::lock_guard<std::mutex> lock(base_map_mutex_);
base_map_ = CreateMap(BaseMapFile());
}
{
std::lock_guard<std::mutex> lock(sim_map_mutex_);
sim_map_ = CreateMap(SimMapFile());
}
return base_map_ != nullptr && sim_map_ != nullptr;
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/hdmap/hdmap_common.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 <memory>
#include <string>
#include <utility>
#include <vector>
#include "modules/common/math/aabox2d.h"
#include "modules/common/math/aaboxkdtree2d.h"
#include "modules/common/math/math_utils.h"
#include "modules/common/math/polygon2d.h"
#include "modules/common/math/vec2d.h"
#include "modules/common_msgs/map_msgs/map_clear_area.pb.h"
#include "modules/common_msgs/map_msgs/map_crosswalk.pb.h"
#include "modules/common_msgs/map_msgs/map_id.pb.h"
#include "modules/common_msgs/map_msgs/map_junction.pb.h"
#include "modules/common_msgs/map_msgs/map_lane.pb.h"
#include "modules/common_msgs/map_msgs/map_overlap.pb.h"
#include "modules/common_msgs/map_msgs/map_parking_space.pb.h"
#include "modules/common_msgs/map_msgs/map_pnc_junction.pb.h"
#include "modules/common_msgs/map_msgs/map_road.pb.h"
#include "modules/common_msgs/map_msgs/map_signal.pb.h"
#include "modules/common_msgs/map_msgs/map_speed_bump.pb.h"
#include "modules/common_msgs/map_msgs/map_stop_sign.pb.h"
#include "modules/common_msgs/map_msgs/map_yield_sign.pb.h"
#include "modules/common_msgs/map_msgs/map_rsu.pb.h"
/**
* @namespace apollo::hdmap
* @brief apollo::hdmap
*/
namespace apollo {
namespace hdmap {
template <class Object, class GeoObject>
class ObjectWithAABox {
public:
ObjectWithAABox(const apollo::common::math::AABox2d &aabox,
const Object *object, const GeoObject *geo_object,
const int id)
: aabox_(aabox), object_(object), geo_object_(geo_object), id_(id) {}
~ObjectWithAABox() {}
const apollo::common::math::AABox2d &aabox() const { return aabox_; }
double DistanceTo(const apollo::common::math::Vec2d &point) const {
return geo_object_->DistanceTo(point);
}
double DistanceSquareTo(const apollo::common::math::Vec2d &point) const {
return geo_object_->DistanceSquareTo(point);
}
const Object *object() const { return object_; }
const GeoObject *geo_object() const { return geo_object_; }
int id() const { return id_; }
private:
apollo::common::math::AABox2d aabox_;
const Object *object_;
const GeoObject *geo_object_;
int id_;
};
class LaneInfo;
class JunctionInfo;
class CrosswalkInfo;
class SignalInfo;
class StopSignInfo;
class YieldSignInfo;
class OverlapInfo;
class ClearAreaInfo;
class SpeedBumpInfo;
class RoadInfo;
class ParkingSpaceInfo;
class PNCJunctionInfo;
class RSUInfo;
class HDMapImpl;
struct LineBoundary {
std::vector<apollo::common::PointENU> line_points;
};
struct PolygonBoundary {
std::vector<apollo::common::PointENU> polygon_points;
};
enum class PolygonType {
JUNCTION_POLYGON = 0,
PARKINGSPACE_POLYGON = 1,
ROAD_HOLE_POLYGON = 2,
};
struct RoiAttribute {
PolygonType type;
Id id;
};
struct PolygonRoi {
apollo::common::math::Polygon2d polygon;
RoiAttribute attribute;
};
struct RoadRoi {
Id id;
LineBoundary left_boundary;
LineBoundary right_boundary;
std::vector<PolygonBoundary> holes_boundary;
};
using LaneSegmentBox =
ObjectWithAABox<LaneInfo, apollo::common::math::LineSegment2d>;
using LaneSegmentKDTree = apollo::common::math::AABoxKDTree2d<LaneSegmentBox>;
using OverlapInfoConstPtr = std::shared_ptr<const OverlapInfo>;
using LaneInfoConstPtr = std::shared_ptr<const LaneInfo>;
using JunctionInfoConstPtr = std::shared_ptr<const JunctionInfo>;
using SignalInfoConstPtr = std::shared_ptr<const SignalInfo>;
using CrosswalkInfoConstPtr = std::shared_ptr<const CrosswalkInfo>;
using StopSignInfoConstPtr = std::shared_ptr<const StopSignInfo>;
using YieldSignInfoConstPtr = std::shared_ptr<const YieldSignInfo>;
using ClearAreaInfoConstPtr = std::shared_ptr<const ClearAreaInfo>;
using SpeedBumpInfoConstPtr = std::shared_ptr<const SpeedBumpInfo>;
using RoadInfoConstPtr = std::shared_ptr<const RoadInfo>;
using ParkingSpaceInfoConstPtr = std::shared_ptr<const ParkingSpaceInfo>;
using RoadROIBoundaryPtr = std::shared_ptr<RoadROIBoundary>;
using PolygonRoiPtr = std::shared_ptr<PolygonRoi>;
using RoadRoiPtr = std::shared_ptr<RoadRoi>;
using PNCJunctionInfoConstPtr = std::shared_ptr<const PNCJunctionInfo>;
using RSUInfoConstPtr = std::shared_ptr<const RSUInfo>;
class LaneInfo {
public:
explicit LaneInfo(const Lane &lane);
const Id &id() const { return lane_.id(); }
const Id &road_id() const { return road_id_; }
const Id §ion_id() const { return section_id_; }
const Lane &lane() const { return lane_; }
const std::vector<apollo::common::math::Vec2d> &points() const {
return points_;
}
const std::vector<apollo::common::math::Vec2d> &unit_directions() const {
return unit_directions_;
}
double Heading(const double s) const;
double Curvature(const double s) const;
const std::vector<double> &headings() const { return headings_; }
const std::vector<apollo::common::math::LineSegment2d> &segments() const {
return segments_;
}
const std::vector<double> &accumulate_s() const { return accumulated_s_; }
const std::vector<OverlapInfoConstPtr> &overlaps() const { return overlaps_; }
const std::vector<OverlapInfoConstPtr> &cross_lanes() const {
return cross_lanes_;
}
const std::vector<OverlapInfoConstPtr> &signals() const { return signals_; }
const std::vector<OverlapInfoConstPtr> &yield_signs() const {
return yield_signs_;
}
const std::vector<OverlapInfoConstPtr> &stop_signs() const {
return stop_signs_;
}
const std::vector<OverlapInfoConstPtr> &crosswalks() const {
return crosswalks_;
}
const std::vector<OverlapInfoConstPtr> &junctions() const {
return junctions_;
}
const std::vector<OverlapInfoConstPtr> &clear_areas() const {
return clear_areas_;
}
const std::vector<OverlapInfoConstPtr> &speed_bumps() const {
return speed_bumps_;
}
const std::vector<OverlapInfoConstPtr> &parking_spaces() const {
return parking_spaces_;
}
const std::vector<OverlapInfoConstPtr> &pnc_junctions() const {
return pnc_junctions_;
}
double total_length() const { return total_length_; }
using SampledWidth = std::pair<double, double>;
const std::vector<SampledWidth> &sampled_left_width() const {
return sampled_left_width_;
}
const std::vector<SampledWidth> &sampled_right_width() const {
return sampled_right_width_;
}
void GetWidth(const double s, double *left_width, double *right_width) const;
double GetWidth(const double s) const;
double GetEffectiveWidth(const double s) const;
const std::vector<SampledWidth> &sampled_left_road_width() const {
return sampled_left_road_width_;
}
const std::vector<SampledWidth> &sampled_right_road_width() const {
return sampled_right_road_width_;
}
void GetRoadWidth(const double s, double *left_width,
double *right_width) const;
double GetRoadWidth(const double s) const;
bool IsOnLane(const apollo::common::math::Vec2d &point) const;
bool IsOnLane(const apollo::common::math::Box2d &box) const;
apollo::common::PointENU GetSmoothPoint(double s) const;
double DistanceTo(const apollo::common::math::Vec2d &point) const;
double DistanceTo(const apollo::common::math::Vec2d &point,
apollo::common::math::Vec2d *map_point, double *s_offset,
int *s_offset_index) const;
apollo::common::PointENU GetNearestPoint(
const apollo::common::math::Vec2d &point, double *distance) const;
bool GetProjection(const apollo::common::math::Vec2d &point,
double *accumulate_s, double *lateral) const;
private:
friend class HDMapImpl;
friend class RoadInfo;
void Init();
void PostProcess(const HDMapImpl &map_instance);
void UpdateOverlaps(const HDMapImpl &map_instance);
double GetWidthFromSample(const std::vector<LaneInfo::SampledWidth> &samples,
const double s) const;
void CreateKDTree();
void set_road_id(const Id &road_id) { road_id_ = road_id; }
void set_section_id(const Id §ion_id) { section_id_ = section_id; }
private:
const Lane &lane_;
std::vector<apollo::common::math::Vec2d> points_;
std::vector<apollo::common::math::Vec2d> unit_directions_;
std::vector<double> headings_;
std::vector<apollo::common::math::LineSegment2d> segments_;
std::vector<double> accumulated_s_;
std::vector<std::string> overlap_ids_;
std::vector<OverlapInfoConstPtr> overlaps_;
std::vector<OverlapInfoConstPtr> cross_lanes_;
std::vector<OverlapInfoConstPtr> signals_;
std::vector<OverlapInfoConstPtr> yield_signs_;
std::vector<OverlapInfoConstPtr> stop_signs_;
std::vector<OverlapInfoConstPtr> crosswalks_;
std::vector<OverlapInfoConstPtr> junctions_;
std::vector<OverlapInfoConstPtr> clear_areas_;
std::vector<OverlapInfoConstPtr> speed_bumps_;
std::vector<OverlapInfoConstPtr> parking_spaces_;
std::vector<OverlapInfoConstPtr> pnc_junctions_;
double total_length_ = 0.0;
std::vector<SampledWidth> sampled_left_width_;
std::vector<SampledWidth> sampled_right_width_;
std::vector<SampledWidth> sampled_left_road_width_;
std::vector<SampledWidth> sampled_right_road_width_;
std::vector<LaneSegmentBox> segment_box_list_;
std::unique_ptr<LaneSegmentKDTree> lane_segment_kdtree_;
Id road_id_;
Id section_id_;
};
class JunctionInfo {
public:
explicit JunctionInfo(const Junction &junction);
const Id &id() const { return junction_.id(); }
const Junction &junction() const { return junction_; }
const apollo::common::math::Polygon2d &polygon() const { return polygon_; }
const std::vector<Id> &OverlapStopSignIds() const {
return overlap_stop_sign_ids_;
}
private:
friend class HDMapImpl;
void Init();
void PostProcess(const HDMapImpl &map_instance);
void UpdateOverlaps(const HDMapImpl &map_instance);
private:
const Junction &junction_;
apollo::common::math::Polygon2d polygon_;
std::vector<Id> overlap_stop_sign_ids_;
std::vector<Id> overlap_ids_;
};
using JunctionPolygonBox =
ObjectWithAABox<JunctionInfo, apollo::common::math::Polygon2d>;
using JunctionPolygonKDTree =
apollo::common::math::AABoxKDTree2d<JunctionPolygonBox>;
class SignalInfo {
public:
explicit SignalInfo(const Signal &signal);
const Id &id() const { return signal_.id(); }
const Signal &signal() const { return signal_; }
const std::vector<apollo::common::math::LineSegment2d> &segments() const {
return segments_;
}
private:
void Init();
private:
const Signal &signal_;
std::vector<apollo::common::math::LineSegment2d> segments_;
};
using SignalSegmentBox =
ObjectWithAABox<SignalInfo, apollo::common::math::LineSegment2d>;
using SignalSegmentKDTree =
apollo::common::math::AABoxKDTree2d<SignalSegmentBox>;
class CrosswalkInfo {
public:
explicit CrosswalkInfo(const Crosswalk &crosswalk);
const Id &id() const { return crosswalk_.id(); }
const Crosswalk &crosswalk() const { return crosswalk_; }
const apollo::common::math::Polygon2d &polygon() const { return polygon_; }
private:
void Init();
private:
const Crosswalk &crosswalk_;
apollo::common::math::Polygon2d polygon_;
};
using CrosswalkPolygonBox =
ObjectWithAABox<CrosswalkInfo, apollo::common::math::Polygon2d>;
using CrosswalkPolygonKDTree =
apollo::common::math::AABoxKDTree2d<CrosswalkPolygonBox>;
class StopSignInfo {
public:
explicit StopSignInfo(const StopSign &stop_sign);
const Id &id() const { return stop_sign_.id(); }
const StopSign &stop_sign() const { return stop_sign_; }
const std::vector<apollo::common::math::LineSegment2d> &segments() const {
return segments_;
}
const std::vector<Id> &OverlapLaneIds() const { return overlap_lane_ids_; }
const std::vector<Id> &OverlapJunctionIds() const {
return overlap_junction_ids_;
}
private:
friend class HDMapImpl;
void init();
void PostProcess(const HDMapImpl &map_instance);
void UpdateOverlaps(const HDMapImpl &map_instance);
private:
const StopSign &stop_sign_;
std::vector<apollo::common::math::LineSegment2d> segments_;
std::vector<Id> overlap_lane_ids_;
std::vector<Id> overlap_junction_ids_;
std::vector<Id> overlap_ids_;
};
using StopSignSegmentBox =
ObjectWithAABox<StopSignInfo, apollo::common::math::LineSegment2d>;
using StopSignSegmentKDTree =
apollo::common::math::AABoxKDTree2d<StopSignSegmentBox>;
class YieldSignInfo {
public:
explicit YieldSignInfo(const YieldSign &yield_sign);
const Id &id() const { return yield_sign_.id(); }
const YieldSign &yield_sign() const { return yield_sign_; }
const std::vector<apollo::common::math::LineSegment2d> &segments() const {
return segments_;
}
private:
void Init();
private:
const YieldSign &yield_sign_;
std::vector<apollo::common::math::LineSegment2d> segments_;
};
using YieldSignSegmentBox =
ObjectWithAABox<YieldSignInfo, apollo::common::math::LineSegment2d>;
using YieldSignSegmentKDTree =
apollo::common::math::AABoxKDTree2d<YieldSignSegmentBox>;
class ClearAreaInfo {
public:
explicit ClearAreaInfo(const ClearArea &clear_area);
const Id &id() const { return clear_area_.id(); }
const ClearArea &clear_area() const { return clear_area_; }
const apollo::common::math::Polygon2d &polygon() const { return polygon_; }
private:
void Init();
private:
const ClearArea &clear_area_;
apollo::common::math::Polygon2d polygon_;
};
using ClearAreaPolygonBox =
ObjectWithAABox<ClearAreaInfo, apollo::common::math::Polygon2d>;
using ClearAreaPolygonKDTree =
apollo::common::math::AABoxKDTree2d<ClearAreaPolygonBox>;
class SpeedBumpInfo {
public:
explicit SpeedBumpInfo(const SpeedBump &speed_bump);
const Id &id() const { return speed_bump_.id(); }
const SpeedBump &speed_bump() const { return speed_bump_; }
const std::vector<apollo::common::math::LineSegment2d> &segments() const {
return segments_;
}
private:
void Init();
private:
const SpeedBump &speed_bump_;
std::vector<apollo::common::math::LineSegment2d> segments_;
};
using SpeedBumpSegmentBox =
ObjectWithAABox<SpeedBumpInfo, apollo::common::math::LineSegment2d>;
using SpeedBumpSegmentKDTree =
apollo::common::math::AABoxKDTree2d<SpeedBumpSegmentBox>;
class OverlapInfo {
public:
explicit OverlapInfo(const Overlap &overlap);
const Id &id() const { return overlap_.id(); }
const Overlap &overlap() const { return overlap_; }
const ObjectOverlapInfo *GetObjectOverlapInfo(const Id &id) const;
private:
const Overlap &overlap_;
};
class RoadInfo {
public:
explicit RoadInfo(const Road &road);
const Id &id() const { return road_.id(); }
const Road &road() const { return road_; }
const std::vector<RoadSection> §ions() const { return sections_; }
const Id &junction_id() const { return road_.junction_id(); }
bool has_junction_id() const { return road_.has_junction_id(); }
const std::vector<RoadBoundary> &GetBoundaries() const;
apollo::hdmap::Road_Type type() const { return road_.type(); }
private:
Road road_;
std::vector<RoadSection> sections_;
std::vector<RoadBoundary> road_boundaries_;
};
class ParkingSpaceInfo {
public:
explicit ParkingSpaceInfo(const ParkingSpace &parkingspace);
const Id &id() const { return parking_space_.id(); }
const ParkingSpace &parking_space() const { return parking_space_; }
const apollo::common::math::Polygon2d &polygon() const { return polygon_; }
private:
void Init();
private:
const ParkingSpace &parking_space_;
apollo::common::math::Polygon2d polygon_;
};
using ParkingSpacePolygonBox =
ObjectWithAABox<ParkingSpaceInfo, apollo::common::math::Polygon2d>;
using ParkingSpacePolygonKDTree =
apollo::common::math::AABoxKDTree2d<ParkingSpacePolygonBox>;
class PNCJunctionInfo {
public:
explicit PNCJunctionInfo(const PNCJunction &pnc_junction);
const Id &id() const { return junction_.id(); }
const PNCJunction &pnc_junction() const { return junction_; }
const apollo::common::math::Polygon2d &polygon() const { return polygon_; }
private:
void Init();
private:
const PNCJunction &junction_;
apollo::common::math::Polygon2d polygon_;
std::vector<Id> overlap_ids_;
};
using PNCJunctionPolygonBox =
ObjectWithAABox<PNCJunctionInfo, apollo::common::math::Polygon2d>;
using PNCJunctionPolygonKDTree =
apollo::common::math::AABoxKDTree2d<PNCJunctionPolygonBox>;
struct JunctionBoundary {
JunctionInfoConstPtr junction_info;
};
using JunctionBoundaryPtr = std::shared_ptr<JunctionBoundary>;
class RSUInfo {
public:
explicit RSUInfo(const RSU& rsu);
const Id& id() const {
return _rsu.id();
}
const RSU& rsu() const {
return _rsu;
}
private:
RSU _rsu;
};
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/hdmap/hdmap_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.
=========================================================================*/
#pragma once
#include <memory>
#include <string>
#include "absl/strings/str_cat.h"
#include "modules/common_msgs/map_msgs/map_id.pb.h"
#include "modules/common_msgs/planning_msgs/navigation.pb.h"
#include "modules/common/configs/config_gflags.h"
#include "modules/map/hdmap/hdmap.h"
/**
* @namespace apollo::hdmap
* @brief apollo::hdmap
*/
namespace apollo {
namespace hdmap {
/**
* @brief get base map file path from flags.
* @return base map path
*/
std::string BaseMapFile();
/**
* @brief get simulation map file path from flags.
* @return simulation map path
*/
std::string SimMapFile();
/**
* @brief get routing map file path from flags.
* @return routing map path
*/
std::string RoutingMapFile();
/**
* @brief get end way point file path from flags.
* @return end way point file path
*/
inline std::string EndWayPointFile() {
if (FLAGS_use_navigation_mode) {
return absl::StrCat(FLAGS_navigation_mode_end_way_point_file);
} else {
return absl::StrCat(FLAGS_map_dir, "/", FLAGS_end_way_point_filename);
}
}
/**
* @brief get default routing file path from flags.
* @return default routing points file path
*/
inline std::string DefaultRoutingFile() {
return absl::StrCat(FLAGS_map_dir, "_", FLAGS_default_routing_filename);
}
/**
* @brief get park and go routings file path from flags.
* @return park and routng routings file path
*/
inline std::string ParkGoRoutingFile() {
return absl::StrCat(FLAGS_map_dir, "_", FLAGS_park_go_routing_filename);
}
/**
* @brief create a Map ID given a string.
* @param id a string id
* @return a Map ID instance
*/
inline apollo::hdmap::Id MakeMapId(const std::string& id) {
apollo::hdmap::Id map_id;
map_id.set_id(id);
return map_id;
}
std::unique_ptr<HDMap> CreateMap(const std::string& map_file_path);
class HDMapUtil {
public:
// Get default base map from the file specified by global flags.
// Return nullptr if failed to load.
static const HDMap* BaseMapPtr();
static const HDMap* BaseMapPtr(const relative_map::MapMsg& map_msg);
// Guarantee to return a valid base_map, or else raise fatal error.
static const HDMap& BaseMap();
// Get default sim_map from the file specified by global flags.
// Return nullptr if failed to load.
static const HDMap* SimMapPtr();
// Guarantee to return a valid sim_map, or else raise fatal error.
static const HDMap& SimMap();
// Reload maps from the file specified by global flags.
static bool ReloadMaps();
private:
HDMapUtil() = delete;
static std::unique_ptr<HDMap> base_map_;
static uint64_t base_map_seq_;
static std::mutex base_map_mutex_;
static std::unique_ptr<HDMap> sim_map_;
static std::mutex sim_map_mutex_;
};
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/hdmap/hdmap.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/map/hdmap/hdmap.h"
#include "modules/map/hdmap/hdmap_util.h"
namespace apollo {
namespace hdmap {
int HDMap::LoadMapFromFile(const std::string& map_filename) {
AINFO << "Loading HDMap: " << map_filename << " ...";
return impl_.LoadMapFromFile(map_filename);
}
int HDMap::LoadMapFromProto(const Map& map_proto) {
ADEBUG << "Loading HDMap with header: "
<< map_proto.header().ShortDebugString();
return impl_.LoadMapFromProto(map_proto);
}
LaneInfoConstPtr HDMap::GetLaneById(const Id& id) const {
return impl_.GetLaneById(id);
}
JunctionInfoConstPtr HDMap::GetJunctionById(const Id& id) const {
return impl_.GetJunctionById(id);
}
SignalInfoConstPtr HDMap::GetSignalById(const Id& id) const {
return impl_.GetSignalById(id);
}
CrosswalkInfoConstPtr HDMap::GetCrosswalkById(const Id& id) const {
return impl_.GetCrosswalkById(id);
}
StopSignInfoConstPtr HDMap::GetStopSignById(const Id& id) const {
return impl_.GetStopSignById(id);
}
YieldSignInfoConstPtr HDMap::GetYieldSignById(const Id& id) const {
return impl_.GetYieldSignById(id);
}
ClearAreaInfoConstPtr HDMap::GetClearAreaById(const Id& id) const {
return impl_.GetClearAreaById(id);
}
SpeedBumpInfoConstPtr HDMap::GetSpeedBumpById(const Id& id) const {
return impl_.GetSpeedBumpById(id);
}
OverlapInfoConstPtr HDMap::GetOverlapById(const Id& id) const {
return impl_.GetOverlapById(id);
}
RoadInfoConstPtr HDMap::GetRoadById(const Id& id) const {
return impl_.GetRoadById(id);
}
ParkingSpaceInfoConstPtr HDMap::GetParkingSpaceById(const Id& id) const {
return impl_.GetParkingSpaceById(id);
}
PNCJunctionInfoConstPtr HDMap::GetPNCJunctionById(const Id& id) const {
return impl_.GetPNCJunctionById(id);
}
int HDMap::GetLanes(const apollo::common::PointENU& point, double distance,
std::vector<LaneInfoConstPtr>* lanes) const {
return impl_.GetLanes(point, distance, lanes);
}
int HDMap::GetJunctions(const apollo::common::PointENU& point, double distance,
std::vector<JunctionInfoConstPtr>* junctions) const {
return impl_.GetJunctions(point, distance, junctions);
}
int HDMap::GetSignals(const apollo::common::PointENU& point, double distance,
std::vector<SignalInfoConstPtr>* signals) const {
return impl_.GetSignals(point, distance, signals);
}
int HDMap::GetCrosswalks(const apollo::common::PointENU& point, double distance,
std::vector<CrosswalkInfoConstPtr>* crosswalks) const {
return impl_.GetCrosswalks(point, distance, crosswalks);
}
int HDMap::GetStopSigns(const apollo::common::PointENU& point, double distance,
std::vector<StopSignInfoConstPtr>* stop_signs) const {
return impl_.GetStopSigns(point, distance, stop_signs);
}
int HDMap::GetYieldSigns(
const apollo::common::PointENU& point, double distance,
std::vector<YieldSignInfoConstPtr>* yield_signs) const {
return impl_.GetYieldSigns(point, distance, yield_signs);
}
int HDMap::GetClearAreas(
const apollo::common::PointENU& point, double distance,
std::vector<ClearAreaInfoConstPtr>* clear_areas) const {
return impl_.GetClearAreas(point, distance, clear_areas);
}
int HDMap::GetSpeedBumps(
const apollo::common::PointENU& point, double distance,
std::vector<SpeedBumpInfoConstPtr>* speed_bumps) const {
return impl_.GetSpeedBumps(point, distance, speed_bumps);
}
int HDMap::GetRoads(const apollo::common::PointENU& point, double distance,
std::vector<RoadInfoConstPtr>* roads) const {
return impl_.GetRoads(point, distance, roads);
}
int HDMap::GetParkingSpaces(
const apollo::common::PointENU& point, double distance,
std::vector<ParkingSpaceInfoConstPtr>* parking_spaces) const {
return impl_.GetParkingSpaces(point, distance, parking_spaces);
}
int HDMap::GetPNCJunctions(
const apollo::common::PointENU& point, double distance,
std::vector<PNCJunctionInfoConstPtr>* pnc_junctions) const {
return impl_.GetPNCJunctions(point, distance, pnc_junctions);
}
int HDMap::GetNearestLane(const common::PointENU& point,
LaneInfoConstPtr* nearest_lane, double* nearest_s,
double* nearest_l) const {
return impl_.GetNearestLane(point, nearest_lane, nearest_s, nearest_l);
}
int HDMap::GetNearestLaneWithHeading(const apollo::common::PointENU& point,
const double distance,
const double central_heading,
const double max_heading_difference,
LaneInfoConstPtr* nearest_lane,
double* nearest_s,
double* nearest_l) const {
return impl_.GetNearestLaneWithHeading(point, distance, central_heading,
max_heading_difference, nearest_lane,
nearest_s, nearest_l);
}
int HDMap::GetLanesWithHeading(const apollo::common::PointENU& point,
const double distance,
const double central_heading,
const double max_heading_difference,
std::vector<LaneInfoConstPtr>* lanes) const {
return impl_.GetLanesWithHeading(point, distance, central_heading,
max_heading_difference, lanes);
}
int HDMap::GetRoadBoundaries(
const apollo::common::PointENU& point, double radius,
std::vector<RoadROIBoundaryPtr>* road_boundaries,
std::vector<JunctionBoundaryPtr>* junctions) const {
return impl_.GetRoadBoundaries(point, radius, road_boundaries, junctions);
}
int HDMap::GetRoadBoundaries(
const apollo::common::PointENU& point, double radius,
std::vector<RoadRoiPtr>* road_boundaries,
std::vector<JunctionInfoConstPtr>* junctions) const {
return impl_.GetRoadBoundaries(point, radius, road_boundaries, junctions);
}
int HDMap::GetRoi(const apollo::common::PointENU& point, double radius,
std::vector<RoadRoiPtr>* roads_roi,
std::vector<PolygonRoiPtr>* polygons_roi) {
return impl_.GetRoi(point, radius, roads_roi, polygons_roi);
}
int HDMap::GetForwardNearestSignalsOnLane(
const apollo::common::PointENU& point, const double distance,
std::vector<SignalInfoConstPtr>* signals) const {
return impl_.GetForwardNearestSignalsOnLane(point, distance, signals);
}
int HDMap::GetStopSignAssociatedStopSigns(
const Id& id, std::vector<StopSignInfoConstPtr>* stop_signs) const {
return impl_.GetStopSignAssociatedStopSigns(id, stop_signs);
}
int HDMap::GetStopSignAssociatedLanes(
const Id& id, std::vector<LaneInfoConstPtr>* lanes) const {
return impl_.GetStopSignAssociatedLanes(id, lanes);
}
int HDMap::GetLocalMap(const apollo::common::PointENU& point,
const std::pair<double, double>& range,
Map* local_map) const {
return impl_.GetLocalMap(point, range, local_map);
}
int HDMap::GetForwardNearestRSUs(const apollo::common::PointENU& point,
double distance, double central_heading,
double max_heading_difference,
std::vector<RSUInfoConstPtr>* rsus) const {
return impl_.GetForwardNearestRSUs(point, distance,
central_heading,
max_heading_difference, rsus);
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/hdmap/BUILD | load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
load("//tools:cpplint.bzl", "cpplint")
load("//tools/install:install.bzl", "install")
MAP_COPTS = ["-DMODULE_NAME=\\\"map\\\""]
install(
name = "install",
library_dest = "map/lib",
targets = [
":libhdmap.so",
":libhdmap_util.so"
],
visibility = ["//visibility:public"],
)
cc_binary(
name = "libhdmap.so",
srcs = [
"hdmap.cc",
"hdmap_common.cc",
"hdmap_impl.cc",
"hdmap.h",
"hdmap_common.h",
"hdmap_impl.h",
"hdmap_util.h",
],
linkshared = True,
linkstatic = True,
copts = MAP_COPTS,
deps = [
"//cyber",
"//modules/common_msgs/map_msgs:map_cc_proto",
"//modules/common_msgs/planning_msgs:navigation_cc_proto",
"//modules/common/configs:config_gflags",
"//modules/common/math",
"//modules/common/util:util_tool",
"//modules/map/hdmap/adapter:opendrive_adapter",
"@com_google_absl//:absl",
"@com_github_google_glog//:glog",
"@eigen",
],
)
cc_library(
name = "hdmap",
srcs = ["libhdmap.so"],
hdrs = [
"hdmap.h",
"hdmap_common.h",
"hdmap_impl.h",
],
copts = MAP_COPTS,
deps = [
"//cyber",
"//modules/common_msgs/map_msgs:map_cc_proto",
"//modules/common/configs:config_gflags",
"//modules/common/math",
"//modules/common/util:util_tool",
"//modules/map/hdmap/adapter:opendrive_adapter",
],
visibility = ["//visibility:public"],
)
cc_binary(
name = "libhdmap_util.so",
srcs = [
"hdmap_util.cc",
"hdmap_util.h",
],
linkshared = True,
linkstatic = True,
copts = MAP_COPTS,
deps = [
":hdmap",
"//cyber",
"//modules/common_msgs/map_msgs:map_id_cc_proto",
"//modules/common_msgs/planning_msgs:navigation_cc_proto",
"//modules/common/configs:config_gflags",
"@com_google_absl//:absl",
],
)
cc_library(
name = "hdmap_util",
srcs = ["libhdmap_util.so"],
hdrs = ["hdmap_util.h"],
copts = MAP_COPTS,
deps = [
":hdmap",
"//cyber",
"//modules/common_msgs/map_msgs:map_id_cc_proto",
"//modules/common_msgs/planning_msgs:navigation_cc_proto",
"//modules/common/configs:config_gflags",
"@com_google_absl//:absl",
],
visibility = ["//visibility:public"],
)
filegroup(
name = "testdata",
srcs = glob([
"test-data/*",
]),
)
cc_test(
name = "hdmap_map_test",
size = "small",
timeout = "short",
srcs = [
"hdmap_common_test.cc",
"hdmap_impl_test.cc",
],
tags = ["exclude"],
data = [
":testdata",
#"//modules/common/util",
],
deps = [
":hdmap",
"//cyber",
"@com_github_google_glog//:glog",
"@com_google_googletest//:gtest_main",
],
)
cc_test(
name = "hdmap_util_test",
size = "small",
timeout = "short",
srcs = ["hdmap_util_test.cc"],
data = [
":testdata",
],
deps = [
":hdmap_util",
"@com_google_absl//:absl",
"@com_github_google_glog//:glog",
"@com_google_googletest//:gtest_main",
],
linkstatic = True,
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/hdmap/hdmap_impl.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 <memory>
#include <string>
#include <unordered_map>
#include <utility>
#include <vector>
#include "modules/common/math/aabox2d.h"
#include "modules/common/math/aaboxkdtree2d.h"
#include "modules/common/math/line_segment2d.h"
#include "modules/common/math/polygon2d.h"
#include "modules/common/math/vec2d.h"
#include "modules/map/hdmap/hdmap_common.h"
#include "modules/common_msgs/map_msgs/map.pb.h"
#include "modules/common_msgs/map_msgs/map_clear_area.pb.h"
#include "modules/common_msgs/map_msgs/map_crosswalk.pb.h"
#include "modules/common_msgs/map_msgs/map_geometry.pb.h"
#include "modules/common_msgs/map_msgs/map_junction.pb.h"
#include "modules/common_msgs/map_msgs/map_lane.pb.h"
#include "modules/common_msgs/map_msgs/map_overlap.pb.h"
#include "modules/common_msgs/map_msgs/map_parking_space.pb.h"
#include "modules/common_msgs/map_msgs/map_pnc_junction.pb.h"
#include "modules/common_msgs/map_msgs/map_signal.pb.h"
#include "modules/common_msgs/map_msgs/map_speed_bump.pb.h"
#include "modules/common_msgs/map_msgs/map_stop_sign.pb.h"
#include "modules/common_msgs/map_msgs/map_yield_sign.pb.h"
/**
* @namespace apollo::hdmap
* @brief apollo::hdmap
*/
namespace apollo {
namespace hdmap {
/**
* @class HDMapImpl
*
* @brief High-precision map loader implement.
*/
class HDMapImpl {
public:
using LaneTable = std::unordered_map<std::string, std::shared_ptr<LaneInfo>>;
using JunctionTable =
std::unordered_map<std::string, std::shared_ptr<JunctionInfo>>;
using SignalTable =
std::unordered_map<std::string, std::shared_ptr<SignalInfo>>;
using CrosswalkTable =
std::unordered_map<std::string, std::shared_ptr<CrosswalkInfo>>;
using StopSignTable =
std::unordered_map<std::string, std::shared_ptr<StopSignInfo>>;
using YieldSignTable =
std::unordered_map<std::string, std::shared_ptr<YieldSignInfo>>;
using ClearAreaTable =
std::unordered_map<std::string, std::shared_ptr<ClearAreaInfo>>;
using SpeedBumpTable =
std::unordered_map<std::string, std::shared_ptr<SpeedBumpInfo>>;
using OverlapTable =
std::unordered_map<std::string, std::shared_ptr<OverlapInfo>>;
using RoadTable = std::unordered_map<std::string, std::shared_ptr<RoadInfo>>;
using ParkingSpaceTable =
std::unordered_map<std::string, std::shared_ptr<ParkingSpaceInfo>>;
using PNCJunctionTable =
std::unordered_map<std::string, std::shared_ptr<PNCJunctionInfo>>;
using RSUTable =
std::unordered_map<std::string, std::shared_ptr<RSUInfo>>;
public:
/**
* @brief load map from local file
* @param map_filename path of map data file
* @return 0:success, otherwise failed
*/
int LoadMapFromFile(const std::string& map_filename);
/**
* @brief load map from a protobuf message
* @param map_proto map data in protobuf format
* @return 0:success, otherwise failed
*/
int LoadMapFromProto(const Map& map_proto);
LaneInfoConstPtr GetLaneById(const Id& id) const;
JunctionInfoConstPtr GetJunctionById(const Id& id) const;
SignalInfoConstPtr GetSignalById(const Id& id) const;
CrosswalkInfoConstPtr GetCrosswalkById(const Id& id) const;
StopSignInfoConstPtr GetStopSignById(const Id& id) const;
YieldSignInfoConstPtr GetYieldSignById(const Id& id) const;
ClearAreaInfoConstPtr GetClearAreaById(const Id& id) const;
SpeedBumpInfoConstPtr GetSpeedBumpById(const Id& id) const;
OverlapInfoConstPtr GetOverlapById(const Id& id) const;
RoadInfoConstPtr GetRoadById(const Id& id) const;
ParkingSpaceInfoConstPtr GetParkingSpaceById(const Id& id) const;
PNCJunctionInfoConstPtr GetPNCJunctionById(const Id& id) const;
RSUInfoConstPtr GetRSUById(const Id& id) const;
/**
* @brief get all lanes in certain range
* @param point the central point of the range
* @param distance the search radius
* @param lanes store all lanes in target range
* @return 0:success, otherwise failed
*/
int GetLanes(const apollo::common::PointENU& point, double distance,
std::vector<LaneInfoConstPtr>* lanes) const;
/**
* @brief get all junctions in certain range
* @param point the central point of the range
* @param distance the search radius
* @param junctions store all junctions in target range
* @return 0:success, otherwise failed
*/
int GetJunctions(const apollo::common::PointENU& point, double distance,
std::vector<JunctionInfoConstPtr>* junctions) const;
/**
* @brief get all crosswalks in certain range
* @param point the central point of the range
* @param distance the search radius
* @param crosswalks store all crosswalks in target range
* @return 0:success, otherwise failed
*/
int GetCrosswalks(const apollo::common::PointENU& point, double distance,
std::vector<CrosswalkInfoConstPtr>* crosswalks) const;
/**
* @brief get all signals in certain range
* @param point the central point of the range
* @param distance the search radius
* @param signals store all signals in target range
* @return 0:success, otherwise failed
*/
int GetSignals(const apollo::common::PointENU& point, double distance,
std::vector<SignalInfoConstPtr>* signals) const;
/**
* @brief get all stop signs in certain range
* @param point the central point of the range
* @param distance the search radius
* @param stop signs store all stop signs in target range
* @return 0:success, otherwise failed
*/
int GetStopSigns(const apollo::common::PointENU& point, double distance,
std::vector<StopSignInfoConstPtr>* stop_signs) const;
/**
* @brief get all yield signs in certain range
* @param point the central point of the range
* @param distance the search radius
* @param yield signs store all yield signs in target range
* @return 0:success, otherwise failed
*/
int GetYieldSigns(const apollo::common::PointENU& point, double distance,
std::vector<YieldSignInfoConstPtr>* yield_signs) const;
/**
* @brief get all clear areas in certain range
* @param point the central point of the range
* @param distance the search radius
* @param clear_areas store all clear areas in target range
* @return 0:success, otherwise failed
*/
int GetClearAreas(const apollo::common::PointENU& point, double distance,
std::vector<ClearAreaInfoConstPtr>* clear_areas) const;
/**
* @brief get all speed bumps in certain range
* @param point the central point of the range
* @param distance the search radius
* @param speed_bumps store all speed bumps in target range
* @return 0:success, otherwise failed
*/
int GetSpeedBumps(const apollo::common::PointENU& point, double distance,
std::vector<SpeedBumpInfoConstPtr>* speed_bumps) const;
/**
* @brief get all roads in certain range
* @param point the central point of the range
* @param distance the search radius
* @param roads store all roads in target range
* @return 0:success, otherwise failed
*/
int GetRoads(const apollo::common::PointENU& point, double distance,
std::vector<RoadInfoConstPtr>* roads) const;
/**
* @brief get all parking space in certain range
* @param point the central point of the range
* @param distance the search radius
* @param parking_spaces store all parking spaces in target range
* @return 0:success, otherwise failed
*/
int GetParkingSpaces(
const apollo::common::PointENU& point, double distance,
std::vector<ParkingSpaceInfoConstPtr>* parking_spaces) const;
/**
* @brief get all pnc junctions in certain range
* @param point the central point of the range
* @param distance the search radius
* @param junctions store all junctions in target range
* @return 0:success, otherwise failed
*/
int GetPNCJunctions(
const apollo::common::PointENU& point, double distance,
std::vector<PNCJunctionInfoConstPtr>* pnc_junctions) const;
/**
* @brief get nearest lane from target point,
* @param point the target point
* @param nearest_lane the nearest lane that match search conditions
* @param nearest_s the offset from lane start point along lane center line
* @param nearest_l the lateral offset from lane center line
* @return 0:success, otherwise, failed.
*/
int GetNearestLane(const apollo::common::PointENU& point,
LaneInfoConstPtr* nearest_lane, double* nearest_s,
double* nearest_l) const;
/**
* @brief get the nearest lane within a certain range by pose
* @param point the target position
* @param distance the search radius
* @param central_heading the base heading
* @param max_heading_difference the heading range
* @param nearest_lane the nearest lane that match search conditions
* @param nearest_s the offset from lane start point along lane center line
* @param nearest_l the lateral offset from lane center line
* @return 0:success, otherwise, failed.
*/
int GetNearestLaneWithHeading(const apollo::common::PointENU& point,
const double distance,
const double central_heading,
const double max_heading_difference,
LaneInfoConstPtr* nearest_lane,
double* nearest_s, double* nearest_l) const;
/**
* @brief get all lanes within a certain range by pose
* @param point the target position
* @param distance the search radius
* @param central_heading the base heading
* @param max_heading_difference the heading range
* @param nearest_lane all lanes that match search conditions
* @return 0:success, otherwise, failed.
*/
int GetLanesWithHeading(const apollo::common::PointENU& point,
const double distance, const double central_heading,
const double max_heading_difference,
std::vector<LaneInfoConstPtr>* lanes) const;
/**
* @brief get all road and junctions boundaries within certain range
* @param point the target position
* @param radius the search radius
* @param road_boundaries the roads' boundaries
* @param junctions the junctions' boundaries
* @return 0:success, otherwise failed
*/
int GetRoadBoundaries(const apollo::common::PointENU& point, double radius,
std::vector<RoadROIBoundaryPtr>* road_boundaries,
std::vector<JunctionBoundaryPtr>* junctions) const;
/**
* @brief get all road boundaries and junctions within certain range
* @param point the target position
* @param radius the search radius
* @param road_boundaries the roads' boundaries
* @param junctions the junctions
* @return 0:success, otherwise failed
*/
int GetRoadBoundaries(const apollo::common::PointENU& point, double radius,
std::vector<RoadRoiPtr>* road_boundaries,
std::vector<JunctionInfoConstPtr>* junctions) const;
/**
* @brief get ROI within certain range
* @param point the target position
* @param radius the search radius
* @param roads_roi the roads' boundaries
* @param polygons_roi the junctions' boundaries
* @return 0:success, otherwise failed
*/
int GetRoi(const apollo::common::PointENU& point, double radius,
std::vector<RoadRoiPtr>* roads_roi,
std::vector<PolygonRoiPtr>* polygons_roi);
/**
* @brief get forward nearest signals within certain range on the lane
* if there are two signals related to one stop line,
* return both signals.
* @param point the target position
* @param distance the forward search distance
* @param signals all signals match conditions
* @return 0:success, otherwise failed
*/
int GetForwardNearestSignalsOnLane(
const apollo::common::PointENU& point, const double distance,
std::vector<SignalInfoConstPtr>* signals) const;
/**
* @brief get all other stop signs associated with a stop sign
* in the same junction
* @param id id of stop sign
* @param stop_signs stop signs associated
* @return 0:success, otherwise failed
*/
int GetStopSignAssociatedStopSigns(
const Id& id, std::vector<StopSignInfoConstPtr>* stop_signs) const;
/**
* @brief get all lanes associated with a stop sign in the same junction
* @param id id of stop sign
* @param lanes all lanes match conditions
* @return 0:success, otherwise failed
*/
int GetStopSignAssociatedLanes(const Id& id,
std::vector<LaneInfoConstPtr>* lanes) const;
/**
* @brief get a local map which is identical to the origin map except that all
* map elements without overlap with the given region are deleted.
* @param point the target position
* @param range the size of local map region, [width, height]
* @param local_map local map in proto format
* @return 0:success, otherwise failed
*/
int GetLocalMap(const apollo::common::PointENU& point,
const std::pair<double, double>& range, Map* local_map) const;
/**
* @brief get forward nearest rsus within certain range
* @param point the target position
* @param distance the forward search distance
* @param central_heading the base heading
* @param max_heading_difference the heading range
* @param rsus all rsus that match search conditions
* @return 0:success, otherwise failed
*/
int GetForwardNearestRSUs(const apollo::common::PointENU& point,
double distance, double central_heading,
double max_heading_difference,
std::vector<RSUInfoConstPtr>* rsus) const;
private:
int GetLanes(const apollo::common::math::Vec2d& point, double distance,
std::vector<LaneInfoConstPtr>* lanes) const;
int GetJunctions(const apollo::common::math::Vec2d& point, double distance,
std::vector<JunctionInfoConstPtr>* junctions) const;
int GetCrosswalks(const apollo::common::math::Vec2d& point, double distance,
std::vector<CrosswalkInfoConstPtr>* crosswalks) const;
int GetSignals(const apollo::common::math::Vec2d& point, double distance,
std::vector<SignalInfoConstPtr>* signals) const;
int GetStopSigns(const apollo::common::math::Vec2d& point, double distance,
std::vector<StopSignInfoConstPtr>* stop_signs) const;
int GetYieldSigns(const apollo::common::math::Vec2d& point, double distance,
std::vector<YieldSignInfoConstPtr>* yield_signs) const;
int GetClearAreas(const apollo::common::math::Vec2d& point, double distance,
std::vector<ClearAreaInfoConstPtr>* clear_areas) const;
int GetSpeedBumps(const apollo::common::math::Vec2d& point, double distance,
std::vector<SpeedBumpInfoConstPtr>* speed_bumps) const;
int GetParkingSpaces(
const apollo::common::math::Vec2d& point, double distance,
std::vector<ParkingSpaceInfoConstPtr>* parking_spaces) const;
int GetPNCJunctions(
const apollo::common::math::Vec2d& point, double distance,
std::vector<PNCJunctionInfoConstPtr>* pnc_junctions) const;
int GetNearestLane(const apollo::common::math::Vec2d& point,
LaneInfoConstPtr* nearest_lane, double* nearest_s,
double* nearest_l) const;
int GetNearestLaneWithHeading(const apollo::common::math::Vec2d& point,
const double distance,
const double central_heading,
const double max_heading_difference,
LaneInfoConstPtr* nearest_lane,
double* nearest_s, double* nearest_l) const;
int GetLanesWithHeading(const apollo::common::math::Vec2d& point,
const double distance, const double central_heading,
const double max_heading_difference,
std::vector<LaneInfoConstPtr>* lanes) const;
int GetRoads(const apollo::common::math::Vec2d& point, double distance,
std::vector<RoadInfoConstPtr>* roads) const;
template <class Table, class BoxTable, class KDTree>
static void BuildSegmentKDTree(
const Table& table, const apollo::common::math::AABoxKDTreeParams& params,
BoxTable* const box_table, std::unique_ptr<KDTree>* const kdtree);
template <class Table, class BoxTable, class KDTree>
static void BuildPolygonKDTree(
const Table& table, const apollo::common::math::AABoxKDTreeParams& params,
BoxTable* const box_table, std::unique_ptr<KDTree>* const kdtree);
void BuildLaneSegmentKDTree();
void BuildJunctionPolygonKDTree();
void BuildCrosswalkPolygonKDTree();
void BuildSignalSegmentKDTree();
void BuildStopSignSegmentKDTree();
void BuildYieldSignSegmentKDTree();
void BuildClearAreaPolygonKDTree();
void BuildSpeedBumpSegmentKDTree();
void BuildParkingSpacePolygonKDTree();
void BuildPNCJunctionPolygonKDTree();
template <class KDTree>
static int SearchObjects(const apollo::common::math::Vec2d& center,
const double radius, const KDTree& kdtree,
std::vector<std::string>* const results);
void Clear();
private:
Map map_;
LaneTable lane_table_;
JunctionTable junction_table_;
CrosswalkTable crosswalk_table_;
SignalTable signal_table_;
StopSignTable stop_sign_table_;
YieldSignTable yield_sign_table_;
ClearAreaTable clear_area_table_;
SpeedBumpTable speed_bump_table_;
OverlapTable overlap_table_;
RoadTable road_table_;
ParkingSpaceTable parking_space_table_;
PNCJunctionTable pnc_junction_table_;
RSUTable rsu_table_;
std::vector<LaneSegmentBox> lane_segment_boxes_;
std::unique_ptr<LaneSegmentKDTree> lane_segment_kdtree_;
std::vector<JunctionPolygonBox> junction_polygon_boxes_;
std::unique_ptr<JunctionPolygonKDTree> junction_polygon_kdtree_;
std::vector<CrosswalkPolygonBox> crosswalk_polygon_boxes_;
std::unique_ptr<CrosswalkPolygonKDTree> crosswalk_polygon_kdtree_;
std::vector<SignalSegmentBox> signal_segment_boxes_;
std::unique_ptr<SignalSegmentKDTree> signal_segment_kdtree_;
std::vector<StopSignSegmentBox> stop_sign_segment_boxes_;
std::unique_ptr<StopSignSegmentKDTree> stop_sign_segment_kdtree_;
std::vector<YieldSignSegmentBox> yield_sign_segment_boxes_;
std::unique_ptr<YieldSignSegmentKDTree> yield_sign_segment_kdtree_;
std::vector<ClearAreaPolygonBox> clear_area_polygon_boxes_;
std::unique_ptr<ClearAreaPolygonKDTree> clear_area_polygon_kdtree_;
std::vector<SpeedBumpSegmentBox> speed_bump_segment_boxes_;
std::unique_ptr<SpeedBumpSegmentKDTree> speed_bump_segment_kdtree_;
std::vector<ParkingSpacePolygonBox> parking_space_polygon_boxes_;
std::unique_ptr<ParkingSpacePolygonKDTree> parking_space_polygon_kdtree_;
std::vector<PNCJunctionPolygonBox> pnc_junction_polygon_boxes_;
std::unique_ptr<PNCJunctionPolygonKDTree> pnc_junction_polygon_kdtree_;
};
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/hdmap/hdmap_common.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/map/hdmap/hdmap_common.h"
#include <algorithm>
#include <limits>
#include "cyber/common/log.h"
#include "modules/common/math/linear_interpolation.h"
#include "modules/common/math/math_utils.h"
#include "modules/map/hdmap/hdmap_impl.h"
#include "modules/map/hdmap/hdmap_util.h"
namespace apollo {
namespace hdmap {
namespace {
using apollo::common::PointENU;
using apollo::common::math::Vec2d;
// Minimum error in lane segmentation.
// const double kSegmentationEpsilon = 0.2;
// Minimum distance to remove duplicated points.
constexpr double kDuplicatedPointsEpsilon = 1e-7;
// Margin for comparation
constexpr double kEpsilon = 0.1;
void RemoveDuplicates(std::vector<Vec2d> *points) {
RETURN_IF_NULL(points);
int count = 0;
const double limit = kDuplicatedPointsEpsilon * kDuplicatedPointsEpsilon;
for (const auto &point : *points) {
if (count == 0 || point.DistanceSquareTo((*points)[count - 1]) > limit) {
(*points)[count++] = point;
}
}
points->resize(count);
}
void PointsFromCurve(const Curve &input_curve, std::vector<Vec2d> *points) {
RETURN_IF_NULL(points);
points->clear();
for (const auto &curve : input_curve.segment()) {
if (curve.has_line_segment()) {
for (const auto &point : curve.line_segment().point()) {
points->emplace_back(point.x(), point.y());
}
} else {
AERROR << "Can not handle curve type.";
}
}
RemoveDuplicates(points);
}
apollo::common::math::Polygon2d ConvertToPolygon2d(const Polygon &polygon) {
std::vector<Vec2d> points;
points.reserve(polygon.point_size());
for (const auto &point : polygon.point()) {
points.emplace_back(point.x(), point.y());
}
RemoveDuplicates(&points);
while (points.size() >= 2 && points[0].DistanceTo(points.back()) <=
apollo::common::math::kMathEpsilon) {
points.pop_back();
}
return apollo::common::math::Polygon2d(points);
}
void SegmentsFromCurve(
const Curve &curve,
std::vector<apollo::common::math::LineSegment2d> *segments) {
RETURN_IF_NULL(segments);
std::vector<Vec2d> points;
PointsFromCurve(curve, &points);
for (size_t i = 0; i + 1 < points.size(); ++i) {
segments->emplace_back(points[i], points[i + 1]);
}
}
PointENU PointFromVec2d(const Vec2d &point) {
PointENU pt;
pt.set_x(point.x());
pt.set_y(point.y());
return pt;
}
} // namespace
LaneInfo::LaneInfo(const Lane &lane) : lane_(lane) { Init(); }
void LaneInfo::Init() {
PointsFromCurve(lane_.central_curve(), &points_);
CHECK_GE(points_.size(), 2U);
segments_.clear();
accumulated_s_.clear();
unit_directions_.clear();
headings_.clear();
double s = 0;
for (size_t i = 0; i + 1 < points_.size(); ++i) {
segments_.emplace_back(points_[i], points_[i + 1]);
accumulated_s_.push_back(s);
unit_directions_.push_back(segments_.back().unit_direction());
s += segments_.back().length();
}
accumulated_s_.push_back(s);
total_length_ = s;
ACHECK(!unit_directions_.empty());
unit_directions_.push_back(unit_directions_.back());
for (const auto &direction : unit_directions_) {
headings_.push_back(direction.Angle());
}
for (const auto &overlap_id : lane_.overlap_id()) {
overlap_ids_.emplace_back(overlap_id.id());
}
ACHECK(!segments_.empty());
sampled_left_width_.clear();
sampled_right_width_.clear();
for (const auto &sample : lane_.left_sample()) {
sampled_left_width_.emplace_back(sample.s(), sample.width());
}
for (const auto &sample : lane_.right_sample()) {
sampled_right_width_.emplace_back(sample.s(), sample.width());
}
if (lane_.has_type()) {
if (lane_.type() == Lane::CITY_DRIVING) {
for (const auto &p : sampled_left_width_) {
if (p.second < FLAGS_half_vehicle_width) {
AERROR
<< "lane[id = " << lane_.id().DebugString()
<< "]. sampled_left_width_[" << p.second
<< "] is too small. It should be larger than half vehicle width["
<< FLAGS_half_vehicle_width << "].";
}
}
for (const auto &p : sampled_right_width_) {
if (p.second < FLAGS_half_vehicle_width) {
AERROR
<< "lane[id = " << lane_.id().DebugString()
<< "]. sampled_right_width_[" << p.second
<< "] is too small. It should be larger than half vehicle width["
<< FLAGS_half_vehicle_width << "].";
}
}
} else if (lane_.type() == Lane::NONE) {
AERROR << "lane_[id = " << lane_.id().DebugString() << "] type is NONE.";
}
} else {
AERROR << "lane_[id = " << lane_.id().DebugString() << "] has NO type.";
}
sampled_left_road_width_.clear();
sampled_right_road_width_.clear();
for (const auto &sample : lane_.left_road_sample()) {
sampled_left_road_width_.emplace_back(sample.s(), sample.width());
}
for (const auto &sample : lane_.right_road_sample()) {
sampled_right_road_width_.emplace_back(sample.s(), sample.width());
}
CreateKDTree();
}
void LaneInfo::GetWidth(const double s, double *left_width,
double *right_width) const {
if (left_width != nullptr) {
*left_width = GetWidthFromSample(sampled_left_width_, s);
}
if (right_width != nullptr) {
*right_width = GetWidthFromSample(sampled_right_width_, s);
}
}
double LaneInfo::Heading(const double s) const {
if (accumulated_s_.empty()) {
return 0.0;
}
const double kEpsilon = 0.001;
if (s + kEpsilon < accumulated_s_.front()) {
AWARN << "s:" << s << " should be >= " << accumulated_s_.front();
return headings_.front();
}
if (s - kEpsilon > accumulated_s_.back()) {
AWARN << "s:" << s << " should be <= " << accumulated_s_.back();
return headings_.back();
}
auto iter = std::lower_bound(accumulated_s_.begin(), accumulated_s_.end(), s);
int index = static_cast<int>(std::distance(accumulated_s_.begin(), iter));
if (index == 0 || *iter - s <= common::math::kMathEpsilon) {
return headings_[index];
}
return common::math::slerp(headings_[index - 1], accumulated_s_[index - 1],
headings_[index], accumulated_s_[index], s);
}
double LaneInfo::Curvature(const double s) const {
if (points_.size() < 2U) {
AERROR << "Not enough points to compute curvature.";
return 0.0;
}
const double kEpsilon = 0.001;
if (s + kEpsilon < accumulated_s_.front()) {
AERROR << "s:" << s << " should be >= " << accumulated_s_.front();
return 0.0;
}
if (s > accumulated_s_.back() + kEpsilon) {
AERROR << "s:" << s << " should be <= " << accumulated_s_.back();
return 0.0;
}
auto iter = std::lower_bound(accumulated_s_.begin(), accumulated_s_.end(), s);
if (iter == accumulated_s_.end()) {
ADEBUG << "Reach the end of lane.";
return 0.0;
}
int index = static_cast<int>(std::distance(accumulated_s_.begin(), iter));
if (index == 0) {
ADEBUG << "Reach the beginning of lane";
return 0.0;
}
return (headings_[index] - headings_[index - 1]) /
(accumulated_s_[index] - accumulated_s_[index - 1] + kEpsilon);
}
double LaneInfo::GetWidth(const double s) const {
double left_width = 0.0;
double right_width = 0.0;
GetWidth(s, &left_width, &right_width);
return left_width + right_width;
}
double LaneInfo::GetEffectiveWidth(const double s) const {
double left_width = 0.0;
double right_width = 0.0;
GetWidth(s, &left_width, &right_width);
return 2 * std::min(left_width, right_width);
}
void LaneInfo::GetRoadWidth(const double s, double *left_width,
double *right_width) const {
if (left_width != nullptr) {
*left_width = GetWidthFromSample(sampled_left_road_width_, s);
}
if (right_width != nullptr) {
*right_width = GetWidthFromSample(sampled_right_road_width_, s);
}
}
double LaneInfo::GetRoadWidth(const double s) const {
double left_width = 0.0;
double right_width = 0.0;
GetRoadWidth(s, &left_width, &right_width);
return left_width + right_width;
}
double LaneInfo::GetWidthFromSample(
const std::vector<LaneInfo::SampledWidth> &samples, const double s) const {
if (samples.empty()) {
return 0.0;
}
if (s <= samples[0].first) {
return samples[0].second;
}
if (s >= samples.back().first) {
return samples.back().second;
}
int low = 0;
int high = static_cast<int>(samples.size());
while (low + 1 < high) {
const int mid = (low + high) / 2;
if (samples[mid].first <= s) {
low = mid;
} else {
high = mid;
}
}
const LaneInfo::SampledWidth &sample1 = samples[low];
const LaneInfo::SampledWidth &sample2 = samples[high];
const double ratio = (sample2.first - s) / (sample2.first - sample1.first);
return sample1.second * ratio + sample2.second * (1.0 - ratio);
}
bool LaneInfo::IsOnLane(const Vec2d &point) const {
double accumulate_s = 0.0;
double lateral = 0.0;
if (!GetProjection(point, &accumulate_s, &lateral)) {
return false;
}
if (accumulate_s > (total_length() + kEpsilon) ||
(accumulate_s + kEpsilon) < 0.0) {
return false;
}
double left_width = 0.0;
double right_width = 0.0;
GetWidth(accumulate_s, &left_width, &right_width);
if (lateral < left_width && lateral > -right_width) {
return true;
}
return false;
}
bool LaneInfo::IsOnLane(const apollo::common::math::Box2d &box) const {
std::vector<Vec2d> corners;
box.GetAllCorners(&corners);
for (const auto &corner : corners) {
if (!IsOnLane(corner)) {
return false;
}
}
return true;
}
PointENU LaneInfo::GetSmoothPoint(double s) const {
PointENU point;
RETURN_VAL_IF(points_.size() < 2, point);
if (s <= 0.0) {
return PointFromVec2d(points_[0]);
}
if (s >= total_length()) {
return PointFromVec2d(points_.back());
}
const auto low_itr =
std::lower_bound(accumulated_s_.begin(), accumulated_s_.end(), s);
RETURN_VAL_IF(low_itr == accumulated_s_.end(), point);
size_t index = low_itr - accumulated_s_.begin();
double delta_s = *low_itr - s;
if (delta_s < apollo::common::math::kMathEpsilon) {
return PointFromVec2d(points_[index]);
}
auto smooth_point = points_[index] - unit_directions_[index - 1] * delta_s;
return PointFromVec2d(smooth_point);
}
double LaneInfo::DistanceTo(const Vec2d &point) const {
const auto segment_box = lane_segment_kdtree_->GetNearestObject(point);
RETURN_VAL_IF_NULL(segment_box, 0.0);
return segment_box->DistanceTo(point);
}
double LaneInfo::DistanceTo(const Vec2d &point, Vec2d *map_point,
double *s_offset, int *s_offset_index) const {
RETURN_VAL_IF_NULL(map_point, 0.0);
RETURN_VAL_IF_NULL(s_offset, 0.0);
RETURN_VAL_IF_NULL(s_offset_index, 0.0);
const auto segment_box = lane_segment_kdtree_->GetNearestObject(point);
RETURN_VAL_IF_NULL(segment_box, 0.0);
int index = segment_box->id();
double distance = segments_[index].DistanceTo(point, map_point);
*s_offset_index = index;
*s_offset =
accumulated_s_[index] + segments_[index].start().DistanceTo(*map_point);
return distance;
}
PointENU LaneInfo::GetNearestPoint(const Vec2d &point, double *distance) const {
PointENU empty_point;
RETURN_VAL_IF_NULL(distance, empty_point);
const auto segment_box = lane_segment_kdtree_->GetNearestObject(point);
RETURN_VAL_IF_NULL(segment_box, empty_point);
int index = segment_box->id();
Vec2d nearest_point;
*distance = segments_[index].DistanceTo(point, &nearest_point);
return PointFromVec2d(nearest_point);
}
bool LaneInfo::GetProjection(const Vec2d &point, double *accumulate_s,
double *lateral) const {
RETURN_VAL_IF_NULL(accumulate_s, false);
RETURN_VAL_IF_NULL(lateral, false);
if (segments_.empty()) {
return false;
}
double min_dist = std::numeric_limits<double>::infinity();
int seg_num = static_cast<int>(segments_.size());
int min_index = 0;
for (int i = 0; i < seg_num; ++i) {
const double distance = segments_[i].DistanceSquareTo(point);
if (distance < min_dist) {
min_index = i;
min_dist = distance;
}
}
min_dist = std::sqrt(min_dist);
const auto &nearest_seg = segments_[min_index];
const auto prod = nearest_seg.ProductOntoUnit(point);
const auto proj = nearest_seg.ProjectOntoUnit(point);
if (min_index == 0) {
*accumulate_s = std::min(proj, nearest_seg.length());
if (proj < 0) {
*lateral = prod;
} else {
*lateral = (prod > 0.0 ? 1 : -1) * min_dist;
}
} else if (min_index == seg_num - 1) {
*accumulate_s = accumulated_s_[min_index] + std::max(0.0, proj);
if (proj > 0) {
*lateral = prod;
} else {
*lateral = (prod > 0.0 ? 1 : -1) * min_dist;
}
} else {
*accumulate_s = accumulated_s_[min_index] +
std::max(0.0, std::min(proj, nearest_seg.length()));
*lateral = (prod > 0.0 ? 1 : -1) * min_dist;
}
return true;
}
void LaneInfo::PostProcess(const HDMapImpl &map_instance) {
UpdateOverlaps(map_instance);
}
void LaneInfo::UpdateOverlaps(const HDMapImpl &map_instance) {
for (const auto &overlap_id : overlap_ids_) {
const auto &overlap_ptr =
map_instance.GetOverlapById(MakeMapId(overlap_id));
if (overlap_ptr == nullptr) {
continue;
}
overlaps_.emplace_back(overlap_ptr);
for (const auto &object : overlap_ptr->overlap().object()) {
const auto &object_id = object.id().id();
if (object_id == lane_.id().id()) {
continue;
}
const auto &object_map_id = MakeMapId(object_id);
if (map_instance.GetLaneById(object_map_id) != nullptr) {
cross_lanes_.emplace_back(overlap_ptr);
}
if (map_instance.GetSignalById(object_map_id) != nullptr) {
signals_.emplace_back(overlap_ptr);
}
if (map_instance.GetYieldSignById(object_map_id) != nullptr) {
yield_signs_.emplace_back(overlap_ptr);
}
if (map_instance.GetStopSignById(object_map_id) != nullptr) {
stop_signs_.emplace_back(overlap_ptr);
}
if (map_instance.GetCrosswalkById(object_map_id) != nullptr) {
crosswalks_.emplace_back(overlap_ptr);
}
if (map_instance.GetJunctionById(object_map_id) != nullptr) {
junctions_.emplace_back(overlap_ptr);
}
if (map_instance.GetClearAreaById(object_map_id) != nullptr) {
clear_areas_.emplace_back(overlap_ptr);
}
if (map_instance.GetSpeedBumpById(object_map_id) != nullptr) {
speed_bumps_.emplace_back(overlap_ptr);
}
if (map_instance.GetParkingSpaceById(object_map_id) != nullptr) {
parking_spaces_.emplace_back(overlap_ptr);
}
if (map_instance.GetPNCJunctionById(object_map_id) != nullptr) {
pnc_junctions_.emplace_back(overlap_ptr);
}
}
}
}
void LaneInfo::CreateKDTree() {
apollo::common::math::AABoxKDTreeParams params;
params.max_leaf_dimension = 5.0; // meters.
params.max_leaf_size = 16;
segment_box_list_.clear();
for (size_t id = 0; id < segments_.size(); ++id) {
const auto &segment = segments_[id];
segment_box_list_.emplace_back(
apollo::common::math::AABox2d(segment.start(), segment.end()), this,
&segment, id);
}
lane_segment_kdtree_.reset(new LaneSegmentKDTree(segment_box_list_, params));
}
JunctionInfo::JunctionInfo(const Junction &junction) : junction_(junction) {
Init();
}
void JunctionInfo::Init() {
polygon_ = ConvertToPolygon2d(junction_.polygon());
CHECK_GT(polygon_.num_points(), 2);
for (const auto &overlap_id : junction_.overlap_id()) {
overlap_ids_.emplace_back(overlap_id);
}
}
void JunctionInfo::PostProcess(const HDMapImpl &map_instance) {
UpdateOverlaps(map_instance);
}
void JunctionInfo::UpdateOverlaps(const HDMapImpl &map_instance) {
for (const auto &overlap_id : overlap_ids_) {
const auto &overlap_ptr = map_instance.GetOverlapById(overlap_id);
if (overlap_ptr == nullptr) {
continue;
}
for (const auto &object : overlap_ptr->overlap().object()) {
const auto &object_id = object.id().id();
if (object_id == id().id()) {
continue;
}
if (object.has_stop_sign_overlap_info()) {
overlap_stop_sign_ids_.push_back(object.id());
}
}
}
}
SignalInfo::SignalInfo(const Signal &signal) : signal_(signal) { Init(); }
void SignalInfo::Init() {
for (const auto &stop_line : signal_.stop_line()) {
SegmentsFromCurve(stop_line, &segments_);
}
ACHECK(!segments_.empty());
std::vector<Vec2d> points;
for (const auto &segment : segments_) {
points.emplace_back(segment.start());
points.emplace_back(segment.end());
}
CHECK_GT(points.size(), 0U);
}
CrosswalkInfo::CrosswalkInfo(const Crosswalk &crosswalk)
: crosswalk_(crosswalk) {
Init();
}
void CrosswalkInfo::Init() {
polygon_ = ConvertToPolygon2d(crosswalk_.polygon());
CHECK_GT(polygon_.num_points(), 2);
}
StopSignInfo::StopSignInfo(const StopSign &stop_sign) : stop_sign_(stop_sign) {
init();
}
void StopSignInfo::init() {
for (const auto &stop_line : stop_sign_.stop_line()) {
SegmentsFromCurve(stop_line, &segments_);
}
ACHECK(!segments_.empty());
for (const auto &overlap_id : stop_sign_.overlap_id()) {
overlap_ids_.emplace_back(overlap_id);
}
}
void StopSignInfo::PostProcess(const HDMapImpl &map_instance) {
UpdateOverlaps(map_instance);
}
void StopSignInfo::UpdateOverlaps(const HDMapImpl &map_instance) {
for (const auto &overlap_id : overlap_ids_) {
const auto &overlap_ptr = map_instance.GetOverlapById(overlap_id);
if (overlap_ptr == nullptr) {
continue;
}
for (const auto &object : overlap_ptr->overlap().object()) {
const auto &object_id = object.id().id();
if (object_id == id().id()) {
continue;
}
if (object.has_junction_overlap_info()) {
overlap_junction_ids_.push_back(object.id());
} else if (object.has_lane_overlap_info()) {
overlap_lane_ids_.push_back(object.id());
}
}
}
if (overlap_junction_ids_.empty()) {
AWARN << "stop sign " << id().id() << "has no overlap with any junction.";
}
}
YieldSignInfo::YieldSignInfo(const YieldSign &yield_sign)
: yield_sign_(yield_sign) {
Init();
}
void YieldSignInfo::Init() {
for (const auto &stop_line : yield_sign_.stop_line()) {
SegmentsFromCurve(stop_line, &segments_);
}
// segments_from_curve(yield_sign_.stop_line(), &segments_);
ACHECK(!segments_.empty());
}
ClearAreaInfo::ClearAreaInfo(const ClearArea &clear_area)
: clear_area_(clear_area) {
Init();
}
void ClearAreaInfo::Init() {
polygon_ = ConvertToPolygon2d(clear_area_.polygon());
CHECK_GT(polygon_.num_points(), 2);
}
SpeedBumpInfo::SpeedBumpInfo(const SpeedBump &speed_bump)
: speed_bump_(speed_bump) {
Init();
}
void SpeedBumpInfo::Init() {
for (const auto &stop_line : speed_bump_.position()) {
SegmentsFromCurve(stop_line, &segments_);
}
ACHECK(!segments_.empty());
}
OverlapInfo::OverlapInfo(const Overlap &overlap) : overlap_(overlap) {}
const ObjectOverlapInfo *OverlapInfo::GetObjectOverlapInfo(const Id &id) const {
for (const auto &object : overlap_.object()) {
if (object.id().id() == id.id()) {
return &object;
}
}
return nullptr;
}
RoadInfo::RoadInfo(const Road &road) : road_(road) {
for (const auto §ion : road_.section()) {
sections_.push_back(section);
road_boundaries_.push_back(section.boundary());
}
}
const std::vector<RoadBoundary> &RoadInfo::GetBoundaries() const {
return road_boundaries_;
}
ParkingSpaceInfo::ParkingSpaceInfo(const ParkingSpace &parking_space)
: parking_space_(parking_space) {
Init();
}
void ParkingSpaceInfo::Init() {
polygon_ = ConvertToPolygon2d(parking_space_.polygon());
CHECK_GT(polygon_.num_points(), 2);
}
PNCJunctionInfo::PNCJunctionInfo(const PNCJunction &pnc_junction)
: junction_(pnc_junction) {
Init();
}
void PNCJunctionInfo::Init() {
polygon_ = ConvertToPolygon2d(junction_.polygon());
CHECK_GT(polygon_.num_points(), 2);
for (const auto &overlap_id : junction_.overlap_id()) {
overlap_ids_.emplace_back(overlap_id);
}
}
RSUInfo::RSUInfo(const RSU &rsu) : _rsu(rsu) {}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map | apollo_public_repos/apollo/modules/map/hdmap/hdmap_impl.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/map/hdmap/hdmap_impl.h"
#include <algorithm>
#include <limits>
#include <mutex>
#include <set>
#include <unordered_set>
#include "absl/strings/match.h"
#include "cyber/common/file.h"
#include "modules/common/util/util.h"
#include "modules/map/hdmap/adapter/opendrive_adapter.h"
namespace apollo {
namespace hdmap {
namespace {
using apollo::common::PointENU;
using apollo::common::math::AABoxKDTreeParams;
using apollo::common::math::Vec2d;
Id CreateHDMapId(const std::string& string_id) {
Id id;
id.set_id(string_id);
return id;
}
// default lanes search radius in GetForwardNearestSignalsOnLane
constexpr double kLanesSearchRange = 10.0;
// backward search distance in GetForwardNearestSignalsOnLane
constexpr int kBackwardDistance = 4;
} // namespace
int HDMapImpl::LoadMapFromFile(const std::string& map_filename) {
Clear();
// TODO(All) seems map_ can be changed to a local variable of this
// function, but test will fail if I do so. if so.
if (absl::EndsWith(map_filename, ".xml")) {
if (!adapter::OpendriveAdapter::LoadData(map_filename, &map_)) {
return -1;
}
} else if (!cyber::common::GetProtoFromFile(map_filename, &map_)) {
return -1;
}
return LoadMapFromProto(map_);
}
int HDMapImpl::LoadMapFromProto(const Map& map_proto) {
if (&map_proto != &map_) { // avoid an unnecessary copy
Clear();
map_ = map_proto;
}
for (const auto& lane : map_.lane()) {
lane_table_[lane.id().id()].reset(new LaneInfo(lane));
}
for (const auto& junction : map_.junction()) {
junction_table_[junction.id().id()].reset(new JunctionInfo(junction));
}
for (const auto& signal : map_.signal()) {
signal_table_[signal.id().id()].reset(new SignalInfo(signal));
}
for (const auto& crosswalk : map_.crosswalk()) {
crosswalk_table_[crosswalk.id().id()].reset(new CrosswalkInfo(crosswalk));
}
for (const auto& stop_sign : map_.stop_sign()) {
stop_sign_table_[stop_sign.id().id()].reset(new StopSignInfo(stop_sign));
}
for (const auto& yield_sign : map_.yield()) {
yield_sign_table_[yield_sign.id().id()].reset(
new YieldSignInfo(yield_sign));
}
for (const auto& clear_area : map_.clear_area()) {
clear_area_table_[clear_area.id().id()].reset(
new ClearAreaInfo(clear_area));
}
for (const auto& speed_bump : map_.speed_bump()) {
speed_bump_table_[speed_bump.id().id()].reset(
new SpeedBumpInfo(speed_bump));
}
for (const auto& parking_space : map_.parking_space()) {
parking_space_table_[parking_space.id().id()].reset(
new ParkingSpaceInfo(parking_space));
}
for (const auto& pnc_junction : map_.pnc_junction()) {
pnc_junction_table_[pnc_junction.id().id()].reset(
new PNCJunctionInfo(pnc_junction));
}
for (const auto& rsu : map_.rsu()) {
rsu_table_[rsu.id().id()].reset(new RSUInfo(rsu));
}
for (const auto& overlap : map_.overlap()) {
overlap_table_[overlap.id().id()].reset(new OverlapInfo(overlap));
}
for (const auto& road : map_.road()) {
road_table_[road.id().id()].reset(new RoadInfo(road));
}
for (const auto& rsu : map_.rsu()) {
rsu_table_[rsu.id().id()].reset(new RSUInfo(rsu));
}
for (const auto& road_ptr_pair : road_table_) {
const auto& road_id = road_ptr_pair.second->id();
for (const auto& road_section : road_ptr_pair.second->sections()) {
const auto& section_id = road_section.id();
for (const auto& lane_id : road_section.lane_id()) {
auto iter = lane_table_.find(lane_id.id());
if (iter != lane_table_.end()) {
iter->second->set_road_id(road_id);
iter->second->set_section_id(section_id);
} else {
AFATAL << "Unknown lane id: " << lane_id.id();
}
}
}
}
for (const auto& lane_ptr_pair : lane_table_) {
lane_ptr_pair.second->PostProcess(*this);
}
for (const auto& junction_ptr_pair : junction_table_) {
junction_ptr_pair.second->PostProcess(*this);
}
for (const auto& stop_sign_ptr_pair : stop_sign_table_) {
stop_sign_ptr_pair.second->PostProcess(*this);
}
BuildLaneSegmentKDTree();
BuildJunctionPolygonKDTree();
BuildSignalSegmentKDTree();
BuildCrosswalkPolygonKDTree();
BuildStopSignSegmentKDTree();
BuildYieldSignSegmentKDTree();
BuildClearAreaPolygonKDTree();
BuildSpeedBumpSegmentKDTree();
BuildParkingSpacePolygonKDTree();
BuildPNCJunctionPolygonKDTree();
return 0;
}
LaneInfoConstPtr HDMapImpl::GetLaneById(const Id& id) const {
LaneTable::const_iterator it = lane_table_.find(id.id());
return it != lane_table_.end() ? it->second : nullptr;
}
JunctionInfoConstPtr HDMapImpl::GetJunctionById(const Id& id) const {
JunctionTable::const_iterator it = junction_table_.find(id.id());
return it != junction_table_.end() ? it->second : nullptr;
}
SignalInfoConstPtr HDMapImpl::GetSignalById(const Id& id) const {
SignalTable::const_iterator it = signal_table_.find(id.id());
return it != signal_table_.end() ? it->second : nullptr;
}
CrosswalkInfoConstPtr HDMapImpl::GetCrosswalkById(const Id& id) const {
CrosswalkTable::const_iterator it = crosswalk_table_.find(id.id());
return it != crosswalk_table_.end() ? it->second : nullptr;
}
StopSignInfoConstPtr HDMapImpl::GetStopSignById(const Id& id) const {
StopSignTable::const_iterator it = stop_sign_table_.find(id.id());
return it != stop_sign_table_.end() ? it->second : nullptr;
}
YieldSignInfoConstPtr HDMapImpl::GetYieldSignById(const Id& id) const {
YieldSignTable::const_iterator it = yield_sign_table_.find(id.id());
return it != yield_sign_table_.end() ? it->second : nullptr;
}
ClearAreaInfoConstPtr HDMapImpl::GetClearAreaById(const Id& id) const {
ClearAreaTable::const_iterator it = clear_area_table_.find(id.id());
return it != clear_area_table_.end() ? it->second : nullptr;
}
SpeedBumpInfoConstPtr HDMapImpl::GetSpeedBumpById(const Id& id) const {
SpeedBumpTable::const_iterator it = speed_bump_table_.find(id.id());
return it != speed_bump_table_.end() ? it->second : nullptr;
}
OverlapInfoConstPtr HDMapImpl::GetOverlapById(const Id& id) const {
OverlapTable::const_iterator it = overlap_table_.find(id.id());
return it != overlap_table_.end() ? it->second : nullptr;
}
RoadInfoConstPtr HDMapImpl::GetRoadById(const Id& id) const {
RoadTable::const_iterator it = road_table_.find(id.id());
return it != road_table_.end() ? it->second : nullptr;
}
ParkingSpaceInfoConstPtr HDMapImpl::GetParkingSpaceById(const Id& id) const {
ParkingSpaceTable::const_iterator it = parking_space_table_.find(id.id());
return it != parking_space_table_.end() ? it->second : nullptr;
}
PNCJunctionInfoConstPtr HDMapImpl::GetPNCJunctionById(const Id& id) const {
PNCJunctionTable::const_iterator it = pnc_junction_table_.find(id.id());
return it != pnc_junction_table_.end() ? it->second : nullptr;
}
RSUInfoConstPtr HDMapImpl::GetRSUById(const Id& id) const {
RSUTable::const_iterator it = rsu_table_.find(id.id());
return it != rsu_table_.end() ? it->second : nullptr;
}
int HDMapImpl::GetLanes(const PointENU& point, double distance,
std::vector<LaneInfoConstPtr>* lanes) const {
return GetLanes({point.x(), point.y()}, distance, lanes);
}
int HDMapImpl::GetLanes(const Vec2d& point, double distance,
std::vector<LaneInfoConstPtr>* lanes) const {
if (lanes == nullptr || lane_segment_kdtree_ == nullptr) {
return -1;
}
lanes->clear();
std::vector<std::string> ids;
const int status =
SearchObjects(point, distance, *lane_segment_kdtree_, &ids);
if (status < 0) {
return status;
}
for (const auto& id : ids) {
lanes->emplace_back(GetLaneById(CreateHDMapId(id)));
}
return 0;
}
int HDMapImpl::GetRoads(const PointENU& point, double distance,
std::vector<RoadInfoConstPtr>* roads) const {
return GetRoads({point.x(), point.y()}, distance, roads);
}
int HDMapImpl::GetRoads(const Vec2d& point, double distance,
std::vector<RoadInfoConstPtr>* roads) const {
std::vector<LaneInfoConstPtr> lanes;
if (GetLanes(point, distance, &lanes) != 0) {
return -1;
}
std::unordered_set<std::string> road_ids;
for (auto& lane : lanes) {
if (!lane->road_id().id().empty()) {
road_ids.insert(lane->road_id().id());
}
}
for (auto& road_id : road_ids) {
RoadInfoConstPtr road = GetRoadById(CreateHDMapId(road_id));
CHECK_NOTNULL(road);
roads->push_back(road);
}
return 0;
}
int HDMapImpl::GetJunctions(
const PointENU& point, double distance,
std::vector<JunctionInfoConstPtr>* junctions) const {
return GetJunctions({point.x(), point.y()}, distance, junctions);
}
int HDMapImpl::GetJunctions(
const Vec2d& point, double distance,
std::vector<JunctionInfoConstPtr>* junctions) const {
if (junctions == nullptr || junction_polygon_kdtree_ == nullptr) {
return -1;
}
junctions->clear();
std::vector<std::string> ids;
const int status =
SearchObjects(point, distance, *junction_polygon_kdtree_, &ids);
if (status < 0) {
return status;
}
for (const auto& id : ids) {
junctions->emplace_back(GetJunctionById(CreateHDMapId(id)));
}
return 0;
}
int HDMapImpl::GetSignals(const PointENU& point, double distance,
std::vector<SignalInfoConstPtr>* signals) const {
return GetSignals({point.x(), point.y()}, distance, signals);
}
int HDMapImpl::GetSignals(const Vec2d& point, double distance,
std::vector<SignalInfoConstPtr>* signals) const {
if (signals == nullptr || signal_segment_kdtree_ == nullptr) {
return -1;
}
signals->clear();
std::vector<std::string> ids;
const int status =
SearchObjects(point, distance, *signal_segment_kdtree_, &ids);
if (status < 0) {
return status;
}
for (const auto& id : ids) {
signals->emplace_back(GetSignalById(CreateHDMapId(id)));
}
return 0;
}
int HDMapImpl::GetCrosswalks(
const PointENU& point, double distance,
std::vector<CrosswalkInfoConstPtr>* crosswalks) const {
return GetCrosswalks({point.x(), point.y()}, distance, crosswalks);
}
int HDMapImpl::GetCrosswalks(
const Vec2d& point, double distance,
std::vector<CrosswalkInfoConstPtr>* crosswalks) const {
if (crosswalks == nullptr || crosswalk_polygon_kdtree_ == nullptr) {
return -1;
}
crosswalks->clear();
std::vector<std::string> ids;
const int status =
SearchObjects(point, distance, *crosswalk_polygon_kdtree_, &ids);
if (status < 0) {
return status;
}
for (const auto& id : ids) {
crosswalks->emplace_back(GetCrosswalkById(CreateHDMapId(id)));
}
return 0;
}
int HDMapImpl::GetStopSigns(
const PointENU& point, double distance,
std::vector<StopSignInfoConstPtr>* stop_signs) const {
return GetStopSigns({point.x(), point.y()}, distance, stop_signs);
}
int HDMapImpl::GetStopSigns(
const Vec2d& point, double distance,
std::vector<StopSignInfoConstPtr>* stop_signs) const {
if (stop_signs == nullptr || stop_sign_segment_kdtree_ == nullptr) {
return -1;
}
stop_signs->clear();
std::vector<std::string> ids;
const int status =
SearchObjects(point, distance, *stop_sign_segment_kdtree_, &ids);
if (status < 0) {
return status;
}
for (const auto& id : ids) {
stop_signs->emplace_back(GetStopSignById(CreateHDMapId(id)));
}
return 0;
}
int HDMapImpl::GetYieldSigns(
const PointENU& point, double distance,
std::vector<YieldSignInfoConstPtr>* yield_signs) const {
return GetYieldSigns({point.x(), point.y()}, distance, yield_signs);
}
int HDMapImpl::GetYieldSigns(
const Vec2d& point, double distance,
std::vector<YieldSignInfoConstPtr>* yield_signs) const {
if (yield_signs == nullptr || yield_sign_segment_kdtree_ == nullptr) {
return -1;
}
yield_signs->clear();
std::vector<std::string> ids;
const int status =
SearchObjects(point, distance, *yield_sign_segment_kdtree_, &ids);
if (status < 0) {
return status;
}
for (const auto& id : ids) {
yield_signs->emplace_back(GetYieldSignById(CreateHDMapId(id)));
}
return 0;
}
int HDMapImpl::GetClearAreas(
const PointENU& point, double distance,
std::vector<ClearAreaInfoConstPtr>* clear_areas) const {
return GetClearAreas({point.x(), point.y()}, distance, clear_areas);
}
int HDMapImpl::GetClearAreas(
const Vec2d& point, double distance,
std::vector<ClearAreaInfoConstPtr>* clear_areas) const {
if (clear_areas == nullptr || clear_area_polygon_kdtree_ == nullptr) {
return -1;
}
clear_areas->clear();
std::vector<std::string> ids;
const int status =
SearchObjects(point, distance, *clear_area_polygon_kdtree_, &ids);
if (status < 0) {
return status;
}
for (const auto& id : ids) {
clear_areas->emplace_back(GetClearAreaById(CreateHDMapId(id)));
}
return 0;
}
int HDMapImpl::GetSpeedBumps(
const PointENU& point, double distance,
std::vector<SpeedBumpInfoConstPtr>* speed_bumps) const {
return GetSpeedBumps({point.x(), point.y()}, distance, speed_bumps);
}
int HDMapImpl::GetSpeedBumps(
const Vec2d& point, double distance,
std::vector<SpeedBumpInfoConstPtr>* speed_bumps) const {
if (speed_bumps == nullptr || speed_bump_segment_kdtree_ == nullptr) {
return -1;
}
speed_bumps->clear();
std::vector<std::string> ids;
const int status =
SearchObjects(point, distance, *speed_bump_segment_kdtree_, &ids);
if (status < 0) {
return status;
}
for (const auto& id : ids) {
speed_bumps->emplace_back(GetSpeedBumpById(CreateHDMapId(id)));
}
return 0;
}
int HDMapImpl::GetParkingSpaces(
const PointENU& point, double distance,
std::vector<ParkingSpaceInfoConstPtr>* parking_spaces) const {
return GetParkingSpaces({point.x(), point.y()}, distance, parking_spaces);
}
int HDMapImpl::GetParkingSpaces(
const Vec2d& point, double distance,
std::vector<ParkingSpaceInfoConstPtr>* parking_spaces) const {
if (parking_spaces == nullptr || parking_space_polygon_kdtree_ == nullptr) {
return -1;
}
parking_spaces->clear();
std::vector<std::string> ids;
const int status =
SearchObjects(point, distance, *parking_space_polygon_kdtree_, &ids);
if (status < 0) {
return status;
}
for (const auto& id : ids) {
parking_spaces->emplace_back(GetParkingSpaceById(CreateHDMapId(id)));
}
return 0;
}
int HDMapImpl::GetPNCJunctions(
const apollo::common::PointENU& point, double distance,
std::vector<PNCJunctionInfoConstPtr>* pnc_junctions) const {
return GetPNCJunctions({point.x(), point.y()}, distance, pnc_junctions);
}
int HDMapImpl::GetPNCJunctions(
const apollo::common::math::Vec2d& point, double distance,
std::vector<PNCJunctionInfoConstPtr>* pnc_junctions) const {
if (pnc_junctions == nullptr || pnc_junction_polygon_kdtree_ == nullptr) {
return -1;
}
pnc_junctions->clear();
std::vector<std::string> ids;
const int status =
SearchObjects(point, distance, *pnc_junction_polygon_kdtree_, &ids);
if (status < 0) {
return status;
}
for (const auto& id : ids) {
pnc_junctions->emplace_back(GetPNCJunctionById(CreateHDMapId(id)));
}
return 0;
}
int HDMapImpl::GetNearestLane(const PointENU& point,
LaneInfoConstPtr* nearest_lane, double* nearest_s,
double* nearest_l) const {
return GetNearestLane({point.x(), point.y()}, nearest_lane, nearest_s,
nearest_l);
}
int HDMapImpl::GetNearestLane(const Vec2d& point,
LaneInfoConstPtr* nearest_lane, double* nearest_s,
double* nearest_l) const {
CHECK_NOTNULL(nearest_lane);
CHECK_NOTNULL(nearest_s);
CHECK_NOTNULL(nearest_l);
const auto* segment_object = lane_segment_kdtree_->GetNearestObject(point);
if (segment_object == nullptr) {
return -1;
}
const Id& lane_id = segment_object->object()->id();
*nearest_lane = GetLaneById(lane_id);
ACHECK(*nearest_lane);
const int id = segment_object->id();
const auto& segment = (*nearest_lane)->segments()[id];
Vec2d nearest_pt;
segment.DistanceTo(point, &nearest_pt);
*nearest_s = (*nearest_lane)->accumulate_s()[id] +
nearest_pt.DistanceTo(segment.start());
*nearest_l = segment.unit_direction().CrossProd(point - segment.start());
return 0;
}
int HDMapImpl::GetNearestLaneWithHeading(
const PointENU& point, const double distance, const double central_heading,
const double max_heading_difference, LaneInfoConstPtr* nearest_lane,
double* nearest_s, double* nearest_l) const {
return GetNearestLaneWithHeading({point.x(), point.y()}, distance,
central_heading, max_heading_difference,
nearest_lane, nearest_s, nearest_l);
}
int HDMapImpl::GetNearestLaneWithHeading(
const Vec2d& point, const double distance, const double central_heading,
const double max_heading_difference, LaneInfoConstPtr* nearest_lane,
double* nearest_s, double* nearest_l) const {
CHECK_NOTNULL(nearest_lane);
CHECK_NOTNULL(nearest_s);
CHECK_NOTNULL(nearest_l);
std::vector<LaneInfoConstPtr> lanes;
if (GetLanesWithHeading(point, distance, central_heading,
max_heading_difference, &lanes) != 0) {
return -1;
}
double s = 0;
size_t s_index = 0;
Vec2d map_point;
double min_distance = distance;
for (const auto& lane : lanes) {
double s_offset = 0.0;
int s_offset_index = 0;
double distance =
lane->DistanceTo(point, &map_point, &s_offset, &s_offset_index);
if (distance < min_distance) {
min_distance = distance;
*nearest_lane = lane;
s = s_offset;
s_index = s_offset_index;
}
}
if (*nearest_lane == nullptr) {
return -1;
}
*nearest_s = s;
int segment_index = static_cast<int>(
std::min(s_index, (*nearest_lane)->segments().size() - 1));
const auto& segment_2d = (*nearest_lane)->segments()[segment_index];
*nearest_l =
segment_2d.unit_direction().CrossProd(point - segment_2d.start());
return 0;
}
int HDMapImpl::GetLanesWithHeading(const PointENU& point, const double distance,
const double central_heading,
const double max_heading_difference,
std::vector<LaneInfoConstPtr>* lanes) const {
return GetLanesWithHeading({point.x(), point.y()}, distance, central_heading,
max_heading_difference, lanes);
}
int HDMapImpl::GetLanesWithHeading(const Vec2d& point, const double distance,
const double central_heading,
const double max_heading_difference,
std::vector<LaneInfoConstPtr>* lanes) const {
CHECK_NOTNULL(lanes);
std::vector<LaneInfoConstPtr> all_lanes;
const int status = GetLanes(point, distance, &all_lanes);
if (status < 0 || all_lanes.empty()) {
return -1;
}
lanes->clear();
for (auto& lane : all_lanes) {
Vec2d proj_pt(0.0, 0.0);
double s_offset = 0.0;
int s_offset_index = 0;
double dis = lane->DistanceTo(point, &proj_pt, &s_offset, &s_offset_index);
if (dis <= distance) {
double heading_diff =
fabs(lane->headings()[s_offset_index] - central_heading);
if (fabs(apollo::common::math::NormalizeAngle(heading_diff)) <=
max_heading_difference) {
lanes->push_back(lane);
}
}
}
return 0;
}
int HDMapImpl::GetRoadBoundaries(
const PointENU& point, double radius,
std::vector<RoadROIBoundaryPtr>* road_boundaries,
std::vector<JunctionBoundaryPtr>* junctions) const {
CHECK_NOTNULL(road_boundaries);
CHECK_NOTNULL(junctions);
road_boundaries->clear();
junctions->clear();
std::vector<LaneInfoConstPtr> lanes;
if (GetLanes(point, radius, &lanes) != 0 || lanes.empty()) {
return -1;
}
std::unordered_set<std::string> junction_id_set;
std::unordered_set<std::string> road_section_id_set;
for (const auto& lane : lanes) {
const auto road_id = lane->road_id();
const auto section_id = lane->section_id();
std::string unique_id = road_id.id() + section_id.id();
if (road_section_id_set.count(unique_id) > 0) {
continue;
}
road_section_id_set.insert(unique_id);
const auto road_ptr = GetRoadById(road_id);
if (road_ptr == nullptr) {
AERROR << "road id [" << road_id.id() << "] is not found.";
continue;
}
if (road_ptr->has_junction_id()) {
const Id junction_id = road_ptr->junction_id();
if (junction_id_set.count(junction_id.id()) > 0) {
continue;
}
junction_id_set.insert(junction_id.id());
JunctionBoundaryPtr junction_boundary_ptr(new JunctionBoundary());
junction_boundary_ptr->junction_info = GetJunctionById(junction_id);
if (junction_boundary_ptr->junction_info == nullptr) {
AERROR << "junction id [" << junction_id.id() << "] is not found.";
continue;
}
junctions->push_back(junction_boundary_ptr);
} else {
RoadROIBoundaryPtr road_boundary_ptr(new RoadROIBoundary());
road_boundary_ptr->mutable_id()->CopyFrom(road_ptr->id());
for (const auto& section : road_ptr->sections()) {
if (section.id().id() == section_id.id()) {
road_boundary_ptr->add_road_boundaries()->CopyFrom(
section.boundary());
}
}
road_boundaries->push_back(road_boundary_ptr);
}
}
return 0;
}
int HDMapImpl::GetRoadBoundaries(
const PointENU& point, double radius,
std::vector<RoadRoiPtr>* road_boundaries,
std::vector<JunctionInfoConstPtr>* junctions) const {
if (road_boundaries == nullptr || junctions == nullptr) {
AERROR << "the pointer in parameter is null";
return -1;
}
road_boundaries->clear();
junctions->clear();
std::set<std::string> junction_id_set;
std::vector<RoadInfoConstPtr> roads;
if (GetRoads(point, radius, &roads) != 0) {
AERROR << "can not get roads in the range.";
return -1;
}
for (const auto& road_ptr : roads) {
if (road_ptr->has_junction_id()) {
JunctionInfoConstPtr junction_ptr =
GetJunctionById(road_ptr->junction_id());
if (junction_id_set.find(junction_ptr->id().id()) ==
junction_id_set.end()) {
junctions->push_back(junction_ptr);
junction_id_set.insert(junction_ptr->id().id());
}
} else {
RoadRoiPtr road_boundary_ptr(new RoadRoi());
const std::vector<apollo::hdmap::RoadBoundary>& temp_road_boundaries =
road_ptr->GetBoundaries();
road_boundary_ptr->id = road_ptr->id();
for (const auto& temp_road_boundary : temp_road_boundaries) {
apollo::hdmap::BoundaryPolygon boundary_polygon =
temp_road_boundary.outer_polygon();
for (const auto& edge : boundary_polygon.edge()) {
if (edge.type() == apollo::hdmap::BoundaryEdge::LEFT_BOUNDARY) {
for (const auto& s : edge.curve().segment()) {
for (const auto& p : s.line_segment().point()) {
road_boundary_ptr->left_boundary.line_points.push_back(p);
}
}
}
if (edge.type() == apollo::hdmap::BoundaryEdge::RIGHT_BOUNDARY) {
for (const auto& s : edge.curve().segment()) {
for (const auto& p : s.line_segment().point()) {
road_boundary_ptr->right_boundary.line_points.push_back(p);
}
}
}
}
if (temp_road_boundary.hole_size() != 0) {
for (const auto& hole : temp_road_boundary.hole()) {
PolygonBoundary hole_boundary;
for (const auto& edge : hole.edge()) {
if (edge.type() == apollo::hdmap::BoundaryEdge::NORMAL) {
for (const auto& s : edge.curve().segment()) {
for (const auto& p : s.line_segment().point()) {
hole_boundary.polygon_points.push_back(p);
}
}
}
}
road_boundary_ptr->holes_boundary.push_back(hole_boundary);
}
}
}
road_boundaries->push_back(road_boundary_ptr);
}
}
return 0;
}
int HDMapImpl::GetRoi(const apollo::common::PointENU& point, double radius,
std::vector<RoadRoiPtr>* roads_roi,
std::vector<PolygonRoiPtr>* polygons_roi) {
if (roads_roi == nullptr || polygons_roi == nullptr) {
AERROR << "the pointer in parameter is null";
return -1;
}
roads_roi->clear();
polygons_roi->clear();
std::set<std::string> polygon_id_set;
std::vector<RoadInfoConstPtr> roads;
std::vector<LaneInfoConstPtr> lanes;
if (GetRoads(point, radius, &roads) != 0) {
AERROR << "can not get roads in the range.";
return -1;
}
if (GetLanes(point, radius, &lanes) != 0) {
AERROR << "can not get lanes in the range.";
return -1;
}
for (const auto& road_ptr : roads) {
// get junction polygon
if (road_ptr->has_junction_id()) {
JunctionInfoConstPtr junction_ptr =
GetJunctionById(road_ptr->junction_id());
if (polygon_id_set.find(junction_ptr->id().id()) ==
polygon_id_set.end()) {
PolygonRoiPtr polygon_roi_ptr(new PolygonRoi());
polygon_roi_ptr->polygon = junction_ptr->polygon();
polygon_roi_ptr->attribute.type = PolygonType::JUNCTION_POLYGON;
polygon_roi_ptr->attribute.id = junction_ptr->id();
polygons_roi->push_back(polygon_roi_ptr);
polygon_id_set.insert(junction_ptr->id().id());
}
} else {
// get road boundary
RoadRoiPtr road_boundary_ptr(new RoadRoi());
std::vector<apollo::hdmap::RoadBoundary> temp_roads_roi;
temp_roads_roi = road_ptr->GetBoundaries();
if (!temp_roads_roi.empty()) {
road_boundary_ptr->id = road_ptr->id();
for (const auto& temp_road_boundary : temp_roads_roi) {
apollo::hdmap::BoundaryPolygon boundary_polygon =
temp_road_boundary.outer_polygon();
for (const auto& edge : boundary_polygon.edge()) {
if (edge.type() == apollo::hdmap::BoundaryEdge::LEFT_BOUNDARY) {
for (const auto& s : edge.curve().segment()) {
for (const auto& p : s.line_segment().point()) {
road_boundary_ptr->left_boundary.line_points.push_back(p);
}
}
}
if (edge.type() == apollo::hdmap::BoundaryEdge::RIGHT_BOUNDARY) {
for (const auto& s : edge.curve().segment()) {
for (const auto& p : s.line_segment().point()) {
road_boundary_ptr->right_boundary.line_points.push_back(p);
}
}
}
}
if (temp_road_boundary.hole_size() != 0) {
for (const auto& hole : temp_road_boundary.hole()) {
PolygonBoundary hole_boundary;
for (const auto& edge : hole.edge()) {
if (edge.type() == apollo::hdmap::BoundaryEdge::NORMAL) {
for (const auto& s : edge.curve().segment()) {
for (const auto& p : s.line_segment().point()) {
hole_boundary.polygon_points.push_back(p);
}
}
}
}
road_boundary_ptr->holes_boundary.push_back(hole_boundary);
}
}
}
roads_roi->push_back(road_boundary_ptr);
}
}
}
for (const auto& lane_ptr : lanes) {
// get parking space polygon
for (const auto& overlap_id : lane_ptr->lane().overlap_id()) {
OverlapInfoConstPtr overlap_ptr = GetOverlapById(overlap_id);
for (int i = 0; i < overlap_ptr->overlap().object_size(); ++i) {
if (overlap_ptr->overlap().object(i).id().id() == lane_ptr->id().id()) {
continue;
} else {
ParkingSpaceInfoConstPtr parkingspace_ptr =
GetParkingSpaceById(overlap_ptr->overlap().object(i).id());
if (parkingspace_ptr != nullptr) {
if (polygon_id_set.find(parkingspace_ptr->id().id()) ==
polygon_id_set.end()) {
PolygonRoiPtr polygon_roi_ptr(new PolygonRoi());
polygon_roi_ptr->polygon = parkingspace_ptr->polygon();
polygon_roi_ptr->attribute.type =
PolygonType::PARKINGSPACE_POLYGON;
polygon_roi_ptr->attribute.id = parkingspace_ptr->id();
polygons_roi->push_back(polygon_roi_ptr);
polygon_id_set.insert(parkingspace_ptr->id().id());
}
}
}
}
}
}
return 0;
}
int HDMapImpl::GetForwardNearestSignalsOnLane(
const apollo::common::PointENU& point, const double distance,
std::vector<SignalInfoConstPtr>* signals) const {
CHECK_NOTNULL(signals);
signals->clear();
LaneInfoConstPtr lane_ptr = nullptr;
double nearest_s = 0.0;
double nearest_l = 0.0;
std::vector<LaneInfoConstPtr> temp_surrounding_lanes;
std::vector<LaneInfoConstPtr> surrounding_lanes;
int s_index = 0;
apollo::common::math::Vec2d car_point;
car_point.set_x(point.x());
car_point.set_y(point.y());
apollo::common::math::Vec2d map_point;
if (GetLanes(point, kLanesSearchRange, &temp_surrounding_lanes) == -1) {
AINFO << "Can not find lanes around car.";
return -1;
}
for (const auto& surround_lane : temp_surrounding_lanes) {
if (surround_lane->IsOnLane(car_point)) {
surrounding_lanes.push_back(surround_lane);
}
}
if (surrounding_lanes.empty()) {
AINFO << "Car is not on lane.";
return -1;
}
for (const auto& lane : surrounding_lanes) {
if (!lane->signals().empty()) {
lane_ptr = lane;
nearest_l =
lane_ptr->DistanceTo(car_point, &map_point, &nearest_s, &s_index);
break;
}
}
if (lane_ptr == nullptr) {
GetNearestLane(point, &lane_ptr, &nearest_s, &nearest_l);
if (lane_ptr == nullptr) {
return -1;
}
}
double unused_distance = distance + kBackwardDistance;
double back_distance = kBackwardDistance;
double s = nearest_s;
while (s < back_distance) {
for (const auto& predecessor_lane_id : lane_ptr->lane().predecessor_id()) {
lane_ptr = GetLaneById(predecessor_lane_id);
if (lane_ptr->lane().turn() == apollo::hdmap::Lane::NO_TURN) {
break;
}
}
back_distance = back_distance - s;
s = lane_ptr->total_length();
}
double s_start = s - back_distance;
while (lane_ptr != nullptr) {
double signal_min_dist = std::numeric_limits<double>::infinity();
std::vector<SignalInfoConstPtr> min_dist_signal_ptr;
for (const auto& overlap_id : lane_ptr->lane().overlap_id()) {
OverlapInfoConstPtr overlap_ptr = GetOverlapById(overlap_id);
double lane_overlap_offset_s = 0.0;
SignalInfoConstPtr signal_ptr = nullptr;
for (int i = 0; i < overlap_ptr->overlap().object_size(); ++i) {
if (overlap_ptr->overlap().object(i).id().id() == lane_ptr->id().id()) {
lane_overlap_offset_s =
overlap_ptr->overlap().object(i).lane_overlap_info().start_s() -
s_start;
continue;
}
signal_ptr = GetSignalById(overlap_ptr->overlap().object(i).id());
if (signal_ptr == nullptr || lane_overlap_offset_s < 0.0) {
break;
}
if (lane_overlap_offset_s < signal_min_dist) {
signal_min_dist = lane_overlap_offset_s;
min_dist_signal_ptr.clear();
min_dist_signal_ptr.push_back(signal_ptr);
} else if (lane_overlap_offset_s < (signal_min_dist + 0.1) &&
lane_overlap_offset_s > (signal_min_dist - 0.1)) {
min_dist_signal_ptr.push_back(signal_ptr);
}
}
}
if (!min_dist_signal_ptr.empty() && unused_distance >= signal_min_dist) {
*signals = min_dist_signal_ptr;
break;
}
unused_distance = unused_distance - (lane_ptr->total_length() - s_start);
if (unused_distance <= 0) {
break;
}
LaneInfoConstPtr tmp_lane_ptr = nullptr;
for (const auto& successor_lane_id : lane_ptr->lane().successor_id()) {
tmp_lane_ptr = GetLaneById(successor_lane_id);
if (tmp_lane_ptr->lane().turn() == apollo::hdmap::Lane::NO_TURN) {
break;
}
}
lane_ptr = tmp_lane_ptr;
s_start = 0;
}
return 0;
}
int HDMapImpl::GetStopSignAssociatedStopSigns(
const Id& id, std::vector<StopSignInfoConstPtr>* stop_signs) const {
CHECK_NOTNULL(stop_signs);
const auto& stop_sign = GetStopSignById(id);
if (stop_sign == nullptr) {
return -1;
}
std::vector<Id> associate_stop_sign_ids;
const auto junction_ids = stop_sign->OverlapJunctionIds();
for (const auto& junction_id : junction_ids) {
const auto& junction = GetJunctionById(junction_id);
if (junction == nullptr) {
continue;
}
const auto stop_sign_ids = junction->OverlapStopSignIds();
std::copy(stop_sign_ids.begin(), stop_sign_ids.end(),
std::back_inserter(associate_stop_sign_ids));
}
std::vector<Id> associate_lane_ids;
for (const auto& stop_sign_id : associate_stop_sign_ids) {
if (stop_sign_id.id() == id.id()) {
// exclude current stop sign
continue;
}
const auto& stop_sign = GetStopSignById(stop_sign_id);
if (stop_sign == nullptr) {
continue;
}
stop_signs->push_back(stop_sign);
}
return 0;
}
int HDMapImpl::GetStopSignAssociatedLanes(
const Id& id, std::vector<LaneInfoConstPtr>* lanes) const {
CHECK_NOTNULL(lanes);
const auto& stop_sign = GetStopSignById(id);
if (stop_sign == nullptr) {
return -1;
}
std::vector<Id> associate_stop_sign_ids;
const auto junction_ids = stop_sign->OverlapJunctionIds();
for (const auto& junction_id : junction_ids) {
const auto& junction = GetJunctionById(junction_id);
if (junction == nullptr) {
continue;
}
const auto stop_sign_ids = junction->OverlapStopSignIds();
std::copy(stop_sign_ids.begin(), stop_sign_ids.end(),
std::back_inserter(associate_stop_sign_ids));
}
std::vector<Id> associate_lane_ids;
for (const auto& stop_sign_id : associate_stop_sign_ids) {
if (stop_sign_id.id() == id.id()) {
// exclude current stop sign
continue;
}
const auto& stop_sign = GetStopSignById(stop_sign_id);
if (stop_sign == nullptr) {
continue;
}
const auto lane_ids = stop_sign->OverlapLaneIds();
std::copy(lane_ids.begin(), lane_ids.end(),
std::back_inserter(associate_lane_ids));
}
for (const auto lane_id : associate_lane_ids) {
const auto& lane = GetLaneById(lane_id);
if (lane == nullptr) {
continue;
}
lanes->push_back(lane);
}
return 0;
}
int HDMapImpl::GetLocalMap(const apollo::common::PointENU& point,
const std::pair<double, double>& range,
Map* local_map) const {
CHECK_NOTNULL(local_map);
double distance = std::max(range.first, range.second);
CHECK_GT(distance, 0.0);
std::vector<LaneInfoConstPtr> lanes;
GetLanes(point, distance, &lanes);
std::vector<JunctionInfoConstPtr> junctions;
GetJunctions(point, distance, &junctions);
std::vector<CrosswalkInfoConstPtr> crosswalks;
GetCrosswalks(point, distance, &crosswalks);
std::vector<SignalInfoConstPtr> signals;
GetSignals(point, distance, &signals);
std::vector<StopSignInfoConstPtr> stop_signs;
GetStopSigns(point, distance, &stop_signs);
std::vector<YieldSignInfoConstPtr> yield_signs;
GetYieldSigns(point, distance, &yield_signs);
std::vector<ClearAreaInfoConstPtr> clear_areas;
GetClearAreas(point, distance, &clear_areas);
std::vector<SpeedBumpInfoConstPtr> speed_bumps;
GetSpeedBumps(point, distance, &speed_bumps);
std::vector<RoadInfoConstPtr> roads;
GetRoads(point, distance, &roads);
std::vector<ParkingSpaceInfoConstPtr> parking_spaces;
GetParkingSpaces(point, distance, &parking_spaces);
std::unordered_set<std::string> map_element_ids;
std::vector<Id> overlap_ids;
for (auto& lane_ptr : lanes) {
map_element_ids.insert(lane_ptr->id().id());
std::copy(lane_ptr->lane().overlap_id().begin(),
lane_ptr->lane().overlap_id().end(),
std::back_inserter(overlap_ids));
*local_map->add_lane() = lane_ptr->lane();
}
for (auto& crosswalk_ptr : crosswalks) {
map_element_ids.insert(crosswalk_ptr->id().id());
std::copy(crosswalk_ptr->crosswalk().overlap_id().begin(),
crosswalk_ptr->crosswalk().overlap_id().end(),
std::back_inserter(overlap_ids));
*local_map->add_crosswalk() = crosswalk_ptr->crosswalk();
}
for (auto& junction_ptr : junctions) {
map_element_ids.insert(junction_ptr->id().id());
std::copy(junction_ptr->junction().overlap_id().begin(),
junction_ptr->junction().overlap_id().end(),
std::back_inserter(overlap_ids));
*local_map->add_junction() = junction_ptr->junction();
}
for (auto& signal_ptr : signals) {
map_element_ids.insert(signal_ptr->id().id());
std::copy(signal_ptr->signal().overlap_id().begin(),
signal_ptr->signal().overlap_id().end(),
std::back_inserter(overlap_ids));
*local_map->add_signal() = signal_ptr->signal();
}
for (auto& stop_sign_ptr : stop_signs) {
map_element_ids.insert(stop_sign_ptr->id().id());
std::copy(stop_sign_ptr->stop_sign().overlap_id().begin(),
stop_sign_ptr->stop_sign().overlap_id().end(),
std::back_inserter(overlap_ids));
*local_map->add_stop_sign() = stop_sign_ptr->stop_sign();
}
for (auto& yield_sign_ptr : yield_signs) {
std::copy(yield_sign_ptr->yield_sign().overlap_id().begin(),
yield_sign_ptr->yield_sign().overlap_id().end(),
std::back_inserter(overlap_ids));
map_element_ids.insert(yield_sign_ptr->id().id());
*local_map->add_yield() = yield_sign_ptr->yield_sign();
}
for (auto& clear_area_ptr : clear_areas) {
map_element_ids.insert(clear_area_ptr->id().id());
std::copy(clear_area_ptr->clear_area().overlap_id().begin(),
clear_area_ptr->clear_area().overlap_id().end(),
std::back_inserter(overlap_ids));
*local_map->add_clear_area() = clear_area_ptr->clear_area();
}
for (auto& speed_bump_ptr : speed_bumps) {
map_element_ids.insert(speed_bump_ptr->id().id());
std::copy(speed_bump_ptr->speed_bump().overlap_id().begin(),
speed_bump_ptr->speed_bump().overlap_id().end(),
std::back_inserter(overlap_ids));
*local_map->add_speed_bump() = speed_bump_ptr->speed_bump();
}
for (auto& road_ptr : roads) {
map_element_ids.insert(road_ptr->id().id());
*local_map->add_road() = road_ptr->road();
}
for (auto& parking_space_ptr : parking_spaces) {
map_element_ids.insert(parking_space_ptr->id().id());
std::copy(parking_space_ptr->parking_space().overlap_id().begin(),
parking_space_ptr->parking_space().overlap_id().end(),
std::back_inserter(overlap_ids));
*local_map->add_parking_space() = parking_space_ptr->parking_space();
}
for (auto& overlap_id : overlap_ids) {
auto overlap_ptr = GetOverlapById(overlap_id);
if (overlap_ptr == nullptr) {
AERROR << "overlpa id [" << overlap_id.id() << "] is not found.";
continue;
}
bool need_delete = false;
for (auto& overlap_object : overlap_ptr->overlap().object()) {
if (map_element_ids.count(overlap_object.id().id()) <= 0) {
need_delete = true;
}
}
if (!need_delete) {
*local_map->add_overlap() = overlap_ptr->overlap();
}
}
return 0;
}
int HDMapImpl::GetForwardNearestRSUs(const apollo::common::PointENU& point,
double distance, double central_heading,
double max_heading_difference,
std::vector<RSUInfoConstPtr>* rsus) const {
CHECK_NOTNULL(rsus);
rsus->clear();
LaneInfoConstPtr lane_ptr = nullptr;
apollo::common::math::Vec2d target_point(point.x(), point.y());
double nearest_s = 0.0;
double nearest_l = 0.0;
if (GetNearestLaneWithHeading(target_point,
distance,
central_heading,
max_heading_difference,
&lane_ptr,
&nearest_s,
&nearest_l) == -1) {
AERROR << "Fail to get nearest lanes";
return -1;
}
if (lane_ptr == nullptr) {
AERROR << "Fail to get nearest lanes";
return -1;
}
double s = 0;
double real_distance = distance + nearest_s;
const std::string nearst_lane_id = lane_ptr->id().id();
while (s < real_distance) {
s += lane_ptr->total_length();
std::vector<std::pair<double, JunctionInfoConstPtr>> overlap_junctions;
double start_s = 0;
for (size_t x = 0; x < lane_ptr->junctions().size(); ++x) {
const auto overlap_ptr = lane_ptr->junctions()[x];
for (int i = 0; i < overlap_ptr->overlap().object_size(); ++i) {
const auto& overlap_object = overlap_ptr->overlap().object(i);
if (overlap_object.id().id() == lane_ptr->id().id()) {
start_s = overlap_object.lane_overlap_info().start_s();
continue;
}
const auto junction_ptr = GetJunctionById(overlap_object.id());
CHECK_NOTNULL(junction_ptr);
if (nearst_lane_id == lane_ptr->id().id()
&& !junction_ptr->polygon().IsPointIn(target_point)) {
if (nearest_s > start_s) {
continue;
}
}
overlap_junctions.push_back(std::make_pair(start_s, junction_ptr));
}
}
std::sort(overlap_junctions.begin(), overlap_junctions.end());
std::set<std::string> duplicate_checker;
for (const auto& overlap_junction : overlap_junctions) {
const auto& junction = overlap_junction.second;
if (duplicate_checker.count(junction->id().id()) > 0) {
continue;
}
duplicate_checker.insert(junction->id().id());
for (const auto& overlap_id : junction->junction().overlap_id()) {
OverlapInfoConstPtr overlap_ptr = GetOverlapById(overlap_id);
CHECK_NOTNULL(overlap_ptr);
for (int i = 0; i < overlap_ptr->overlap().object_size(); ++i) {
const auto& overlap_object = overlap_ptr->overlap().object(i);
if (!overlap_object.has_rsu_overlap_info()) {
continue;
}
const auto rsu_ptr = GetRSUById(overlap_object.id());
if (rsu_ptr != nullptr) {
rsus->push_back(rsu_ptr);
}
}
}
if (!rsus->empty()) {
break;
}
}
if (!rsus->empty()) {
break;
}
for (const auto suc_lane_id : lane_ptr->lane().successor_id()) {
LaneInfoConstPtr suc_lane_ptr = GetLaneById(suc_lane_id);
if (lane_ptr->lane().successor_id_size() > 1) {
if (suc_lane_ptr->lane().turn() == apollo::hdmap::Lane::NO_TURN) {
lane_ptr = suc_lane_ptr;
break;
}
} else {
lane_ptr = suc_lane_ptr;
break;
}
}
}
if (rsus->empty()) {
return -1;
}
return 0;
}
template <class Table, class BoxTable, class KDTree>
void HDMapImpl::BuildSegmentKDTree(const Table& table,
const AABoxKDTreeParams& params,
BoxTable* const box_table,
std::unique_ptr<KDTree>* const kdtree) {
box_table->clear();
for (const auto& info_with_id : table) {
const auto* info = info_with_id.second.get();
for (size_t id = 0; id < info->segments().size(); ++id) {
const auto& segment = info->segments()[id];
box_table->emplace_back(
apollo::common::math::AABox2d(segment.start(), segment.end()), info,
&segment, id);
}
}
kdtree->reset(new KDTree(*box_table, params));
}
template <class Table, class BoxTable, class KDTree>
void HDMapImpl::BuildPolygonKDTree(const Table& table,
const AABoxKDTreeParams& params,
BoxTable* const box_table,
std::unique_ptr<KDTree>* const kdtree) {
box_table->clear();
for (const auto& info_with_id : table) {
const auto* info = info_with_id.second.get();
const auto& polygon = info->polygon();
box_table->emplace_back(polygon.AABoundingBox(), info, &polygon, 0);
}
kdtree->reset(new KDTree(*box_table, params));
}
void HDMapImpl::BuildLaneSegmentKDTree() {
AABoxKDTreeParams params;
params.max_leaf_dimension = 5.0; // meters.
params.max_leaf_size = 16;
BuildSegmentKDTree(lane_table_, params, &lane_segment_boxes_,
&lane_segment_kdtree_);
}
void HDMapImpl::BuildJunctionPolygonKDTree() {
AABoxKDTreeParams params;
params.max_leaf_dimension = 5.0; // meters.
params.max_leaf_size = 1;
BuildPolygonKDTree(junction_table_, params, &junction_polygon_boxes_,
&junction_polygon_kdtree_);
}
void HDMapImpl::BuildCrosswalkPolygonKDTree() {
AABoxKDTreeParams params;
params.max_leaf_dimension = 5.0; // meters.
params.max_leaf_size = 1;
BuildPolygonKDTree(crosswalk_table_, params, &crosswalk_polygon_boxes_,
&crosswalk_polygon_kdtree_);
}
void HDMapImpl::BuildSignalSegmentKDTree() {
AABoxKDTreeParams params;
params.max_leaf_dimension = 5.0; // meters.
params.max_leaf_size = 4;
BuildSegmentKDTree(signal_table_, params, &signal_segment_boxes_,
&signal_segment_kdtree_);
}
void HDMapImpl::BuildStopSignSegmentKDTree() {
AABoxKDTreeParams params;
params.max_leaf_dimension = 5.0; // meters.
params.max_leaf_size = 4;
BuildSegmentKDTree(stop_sign_table_, params, &stop_sign_segment_boxes_,
&stop_sign_segment_kdtree_);
}
void HDMapImpl::BuildYieldSignSegmentKDTree() {
AABoxKDTreeParams params;
params.max_leaf_dimension = 5.0; // meters.
params.max_leaf_size = 4;
BuildSegmentKDTree(yield_sign_table_, params, &yield_sign_segment_boxes_,
&yield_sign_segment_kdtree_);
}
void HDMapImpl::BuildClearAreaPolygonKDTree() {
AABoxKDTreeParams params;
params.max_leaf_dimension = 5.0; // meters.
params.max_leaf_size = 4;
BuildPolygonKDTree(clear_area_table_, params, &clear_area_polygon_boxes_,
&clear_area_polygon_kdtree_);
}
void HDMapImpl::BuildSpeedBumpSegmentKDTree() {
AABoxKDTreeParams params;
params.max_leaf_dimension = 5.0; // meters.
params.max_leaf_size = 4;
BuildSegmentKDTree(speed_bump_table_, params, &speed_bump_segment_boxes_,
&speed_bump_segment_kdtree_);
}
void HDMapImpl::BuildParkingSpacePolygonKDTree() {
AABoxKDTreeParams params;
params.max_leaf_dimension = 5.0; // meters.
params.max_leaf_size = 4;
BuildPolygonKDTree(parking_space_table_, params,
&parking_space_polygon_boxes_,
&parking_space_polygon_kdtree_);
}
void HDMapImpl::BuildPNCJunctionPolygonKDTree() {
AABoxKDTreeParams params;
params.max_leaf_dimension = 5.0; // meters.
params.max_leaf_size = 1;
BuildPolygonKDTree(pnc_junction_table_, params, &pnc_junction_polygon_boxes_,
&pnc_junction_polygon_kdtree_);
}
template <class KDTree>
int HDMapImpl::SearchObjects(const Vec2d& center, const double radius,
const KDTree& kdtree,
std::vector<std::string>* const results) {
static std::mutex mutex_search_object;
UNIQUE_LOCK_MULTITHREAD(mutex_search_object);
if (results == nullptr) {
return -1;
}
auto objects = kdtree.GetObjects(center, radius);
std::unordered_set<std::string> result_ids;
result_ids.reserve(objects.size());
for (const auto* object_ptr : objects) {
result_ids.insert(object_ptr->object()->id().id());
}
results->reserve(result_ids.size());
results->assign(result_ids.begin(), result_ids.end());
return 0;
}
void HDMapImpl::Clear() {
map_.Clear();
lane_table_.clear();
junction_table_.clear();
signal_table_.clear();
crosswalk_table_.clear();
stop_sign_table_.clear();
yield_sign_table_.clear();
overlap_table_.clear();
rsu_table_.clear();
lane_segment_boxes_.clear();
lane_segment_kdtree_.reset(nullptr);
junction_polygon_boxes_.clear();
junction_polygon_kdtree_.reset(nullptr);
crosswalk_polygon_boxes_.clear();
crosswalk_polygon_kdtree_.reset(nullptr);
signal_segment_boxes_.clear();
signal_segment_kdtree_.reset(nullptr);
stop_sign_segment_boxes_.clear();
stop_sign_segment_kdtree_.reset(nullptr);
yield_sign_segment_boxes_.clear();
yield_sign_segment_kdtree_.reset(nullptr);
clear_area_polygon_boxes_.clear();
clear_area_polygon_kdtree_.reset(nullptr);
speed_bump_segment_boxes_.clear();
speed_bump_segment_kdtree_.reset(nullptr);
parking_space_polygon_boxes_.clear();
parking_space_polygon_kdtree_.reset(nullptr);
pnc_junction_polygon_boxes_.clear();
pnc_junction_polygon_kdtree_.reset(nullptr);
}
} // namespace hdmap
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/map/hdmap | apollo_public_repos/apollo/modules/map/hdmap/adapter/proto_organizer.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/map/hdmap/adapter/proto_organizer.h"
#include <unordered_set>
#include "absl/strings/str_cat.h"
#include "cyber/common/log.h"
#include "modules/common/math/polygon2d.h"
#include "modules/common/math/vec2d.h"
namespace {
std::string CreateOverlapId() {
static int count = 0;
++count;
return absl::StrCat("overlap_", count);
}
} // namespace
namespace apollo {
namespace hdmap {
namespace adapter {
using apollo::common::util::PairHash;
void ProtoOrganizer::GetRoadElements(std::vector<RoadInternal>* roads) {
for (auto& road_internal : *roads) {
// lanes
for (auto& section_internal : road_internal.sections) {
for (auto& lane_internal : section_internal.lanes) {
std::string lane_id = lane_internal.lane.id().id();
proto_data_.pb_lanes[lane_id] = lane_internal.lane;
section_internal.section.add_lane_id()->set_id(lane_id);
}
(*road_internal.road.add_section()) = section_internal.section;
proto_data_.pb_roads[road_internal.id] = road_internal.road;
}
// crosswalks
for (auto& crosswalk : road_internal.crosswalks) {
proto_data_.pb_crosswalks[crosswalk.id().id()] = crosswalk;
}
// parking_spaces
for (auto& parking_space : road_internal.parking_spaces) {
proto_data_.pb_parking_spaces[parking_space.id().id()] = parking_space;
}
// clear areas
for (auto& clear_area : road_internal.clear_areas) {
proto_data_.pb_clear_areas[clear_area.id().id()] = clear_area;
}
// speed_bump
for (auto& speed_bump : road_internal.speed_bumps) {
proto_data_.pb_speed_bumps[speed_bump.id().id()] = speed_bump;
}
// stop lines
for (auto& stop_line_internal : road_internal.stop_lines) {
proto_data_.pb_stop_lines[stop_line_internal.id] = stop_line_internal;
}
// traffic_lights
for (auto& traffic_light_internal : road_internal.traffic_lights) {
auto& traffic_light = traffic_light_internal.traffic_light;
for (auto stop_line_id : traffic_light_internal.stop_line_ids) {
CHECK_GT(proto_data_.pb_stop_lines.count(stop_line_id), 0U);
auto& stop_line_curve = proto_data_.pb_stop_lines[stop_line_id].curve;
(*traffic_light.add_stop_line()) = stop_line_curve;
}
proto_data_.pb_signals[traffic_light.id().id()] = traffic_light;
}
// stop signs
for (auto& stop_sign_internal : road_internal.stop_signs) {
auto& stop_sign = stop_sign_internal.stop_sign;
for (auto stop_line_id : stop_sign_internal.stop_line_ids) {
CHECK_GT(proto_data_.pb_stop_lines.count(stop_line_id), 0U);
auto& stop_line_curve = proto_data_.pb_stop_lines[stop_line_id].curve;
(*stop_sign.add_stop_line()) = stop_line_curve;
}
proto_data_.pb_stop_signs[stop_sign.id().id()] = stop_sign;
}
// yield signs
for (auto& yield_sign_internal : road_internal.yield_signs) {
auto& yield_sign = yield_sign_internal.yield_sign;
for (auto stop_line_id : yield_sign_internal.stop_line_ids) {
CHECK_GT(proto_data_.pb_stop_lines.count(stop_line_id), 0U);
auto& stop_line_curve = proto_data_.pb_stop_lines[stop_line_id].curve;
(*yield_sign.add_stop_line()) = stop_line_curve;
}
proto_data_.pb_yield_signs[yield_sign.id().id()] = yield_sign;
}
// pnc junctions
for (auto& pnc_junction : road_internal.pnc_junctions) {
proto_data_.pb_pnc_junctions[pnc_junction.id().id()] = pnc_junction;
}
}
}
void ProtoOrganizer::GetJunctionElements(
const std::vector<JunctionInternal>& junctions) {
for (auto& junction_internal : junctions) {
std::string junction_id = junction_internal.junction.id().id();
proto_data_.pb_junctions[junction_id] = junction_internal.junction;
}
}
void ProtoOrganizer::GetLaneObjectOverlapElements(
const std::string& lane_id,
const std::vector<OverlapWithLane>& overlap_with_lanes) {
for (auto& overlap_object : overlap_with_lanes) {
std::string object_id = overlap_object.object_id;
if (proto_data_.pb_crosswalks.count(object_id) <= 0 &&
proto_data_.pb_clear_areas.count(object_id) <= 0 &&
proto_data_.pb_speed_bumps.count(object_id) <= 0 &&
proto_data_.pb_parking_spaces.count(object_id) <= 0 &&
proto_data_.pb_pnc_junctions.count(object_id) <= 0) {
continue;
}
PbOverlap overlap;
std::string overlap_id = CreateOverlapId();
overlap.mutable_id()->set_id(overlap_id);
for (auto& region_overlap : overlap_object.region_overlaps) {
*(overlap.add_region_overlap()) = region_overlap;
}
PbObjectOverlapInfo* object_overlap = overlap.add_object();
object_overlap->mutable_id()->set_id(lane_id);
object_overlap->mutable_lane_overlap_info()->set_start_s(
overlap_object.start_s);
object_overlap->mutable_lane_overlap_info()->set_end_s(
overlap_object.end_s);
object_overlap->mutable_lane_overlap_info()->set_is_merge(
overlap_object.is_merge);
if (!overlap_object.region_overlap_id.empty()) {
object_overlap->mutable_lane_overlap_info()
->mutable_region_overlap_id()
->set_id(overlap_object.region_overlap_id);
}
object_overlap = overlap.add_object();
object_overlap->mutable_id()->set_id(object_id);
if (proto_data_.pb_crosswalks.count(object_id) > 0) {
proto_data_.pb_crosswalks[object_id].add_overlap_id()->set_id(overlap_id);
if (!overlap_object.region_overlap_id.empty()) {
object_overlap->mutable_crosswalk_overlap_info()
->mutable_region_overlap_id()
->set_id(overlap_object.region_overlap_id);
}
object_overlap->mutable_crosswalk_overlap_info();
} else if (proto_data_.pb_clear_areas.count(object_id) > 0) {
object_overlap->mutable_clear_area_overlap_info();
proto_data_.pb_clear_areas[object_id].add_overlap_id()->set_id(
overlap_id);
} else if (proto_data_.pb_speed_bumps.count(object_id)) {
object_overlap->mutable_speed_bump_overlap_info();
proto_data_.pb_speed_bumps[object_id].add_overlap_id()->set_id(
overlap_id);
} else if (proto_data_.pb_parking_spaces.count(object_id)) {
object_overlap->mutable_parking_space_overlap_info();
proto_data_.pb_parking_spaces[object_id].add_overlap_id()->set_id(
overlap_id);
} else if (proto_data_.pb_pnc_junctions.count(object_id)) {
object_overlap->mutable_pnc_junction_overlap_info();
proto_data_.pb_pnc_junctions[object_id].add_overlap_id()->set_id(
overlap_id);
} else {
AERROR << "unknown object, object id:" << object_id;
}
proto_data_.pb_lanes[lane_id].add_overlap_id()->set_id(overlap_id);
proto_data_.pb_overlaps[overlap_id] = overlap;
}
}
void ProtoOrganizer::GetObjectElements(const ObjectInternal& objects) {
for (const auto& rsu_internal : objects.rsus) {
const std::string& rsu_id = rsu_internal.rsu.id().id();
proto_data_.pb_rsus[rsu_id] = rsu_internal.rsu;
}
}
void ProtoOrganizer::GetLaneSignalOverlapElements(
const std::string& lane_id,
const std::vector<OverlapWithLane>& overlap_with_lanes) {
for (auto& overlap_signal : overlap_with_lanes) {
std::string object_id = overlap_signal.object_id;
if (proto_data_.pb_signals.count(object_id) <= 0 &&
proto_data_.pb_stop_signs.count(object_id) <= 0 &&
proto_data_.pb_yield_signs.count(object_id) <= 0) {
AINFO << "cannot find signal object_id:" << object_id;
continue;
}
PbOverlap overlap;
std::string overlap_id = CreateOverlapId();
overlap.mutable_id()->set_id(overlap_id);
PbObjectOverlapInfo* object_overlap = overlap.add_object();
object_overlap->mutable_id()->set_id(lane_id);
object_overlap->mutable_lane_overlap_info()->set_start_s(
overlap_signal.start_s);
object_overlap->mutable_lane_overlap_info()->set_end_s(
overlap_signal.end_s);
object_overlap->mutable_lane_overlap_info()->set_is_merge(
overlap_signal.is_merge);
object_overlap = overlap.add_object();
object_overlap->mutable_id()->set_id(object_id);
if (proto_data_.pb_signals.count(object_id) > 0) {
object_overlap->mutable_signal_overlap_info();
proto_data_.pb_signals[object_id].add_overlap_id()->set_id(overlap_id);
} else if (proto_data_.pb_stop_signs.count(object_id) > 0) {
object_overlap->mutable_stop_sign_overlap_info();
proto_data_.pb_stop_signs[object_id].add_overlap_id()->set_id(overlap_id);
} else if (proto_data_.pb_yield_signs.count(object_id) > 0) {
object_overlap->mutable_yield_sign_overlap_info();
proto_data_.pb_yield_signs[object_id].add_overlap_id()->set_id(
overlap_id);
} else if (proto_data_.pb_rsus.count(object_id) > 0) {
object_overlap->mutable_rsu_overlap_info();
proto_data_.pb_rsus[object_id].add_overlap_id()->set_id(overlap_id);
} else {
AERROR << "unknown signal, signal id:" << object_id;
}
proto_data_.pb_lanes[lane_id].add_overlap_id()->set_id(overlap_id);
proto_data_.pb_overlaps[overlap_id] = overlap;
}
}
void ProtoOrganizer::GetLaneJunctionOverlapElements(
const std::string& lane_id,
const std::vector<OverlapWithLane>& overlap_with_lanes) {
for (auto& overlap_junction : overlap_with_lanes) {
std::string object_id = overlap_junction.object_id;
if (proto_data_.pb_junctions.count(object_id) <= 0) {
AINFO << "cannot find junction object " << object_id;
continue;
}
PbOverlap overlap;
std::string overlap_id = CreateOverlapId();
overlap.mutable_id()->set_id(overlap_id);
PbObjectOverlapInfo* object_overlap = overlap.add_object();
object_overlap->mutable_id()->set_id(lane_id);
object_overlap->mutable_lane_overlap_info()->set_start_s(
overlap_junction.start_s);
object_overlap->mutable_lane_overlap_info()->set_end_s(
overlap_junction.end_s);
object_overlap->mutable_lane_overlap_info()->set_is_merge(
overlap_junction.is_merge);
object_overlap = overlap.add_object();
object_overlap->mutable_id()->set_id(object_id);
if (proto_data_.pb_junctions.count(object_id) > 0) {
object_overlap->mutable_junction_overlap_info();
proto_data_.pb_junctions[object_id].add_overlap_id()->set_id(overlap_id);
} else {
AERROR << "unknown junction overlap, id:" << object_id;
}
proto_data_.pb_lanes[lane_id].add_overlap_id()->set_id(overlap_id);
proto_data_.pb_overlaps[overlap_id] = overlap;
}
}
void ProtoOrganizer::GetLaneLaneOverlapElements(
const std::unordered_map<std::pair<std::string, std::string>,
OverlapWithLane, PairHash>& lane_lane_overlaps) {
std::unordered_set<std::string> close_set;
for (auto& overlap_lane_pair : lane_lane_overlaps) {
auto& lane_id = overlap_lane_pair.first.first;
auto& overlap_lane = overlap_lane_pair.second;
std::string object_id = overlap_lane.object_id;
std::string unique_object_id = lane_id + "_" + object_id;
if (close_set.count(unique_object_id) > 0) {
continue;
}
unique_object_id = object_id + "_" + lane_id;
if (close_set.count(unique_object_id) > 0) {
continue;
}
close_set.insert(unique_object_id);
PbOverlap overlap;
std::string overlap_id = CreateOverlapId();
overlap.mutable_id()->set_id(overlap_id);
PbObjectOverlapInfo* object_overlap = overlap.add_object();
object_overlap->mutable_id()->set_id(lane_id);
object_overlap->mutable_lane_overlap_info()->set_start_s(
overlap_lane.start_s);
object_overlap->mutable_lane_overlap_info()->set_end_s(overlap_lane.end_s);
object_overlap->mutable_lane_overlap_info()->set_is_merge(
overlap_lane.is_merge);
object_overlap = overlap.add_object();
object_overlap->mutable_id()->set_id(object_id);
if (proto_data_.pb_lanes.count(object_id) <= 0) {
AERROR << "unknown overlap lane, id:" << object_id;
continue;
}
if (lane_lane_overlaps.count(make_pair(object_id, lane_id)) <= 0) {
AERROR << "lane overlap is not symmetrical " << overlap_id;
continue;
}
proto_data_.pb_lanes[lane_id].add_overlap_id()->set_id(overlap_id);
auto& lane_lane_overlap =
lane_lane_overlaps.at(make_pair(object_id, lane_id));
object_overlap->mutable_lane_overlap_info()->set_start_s(
lane_lane_overlap.start_s);
object_overlap->mutable_lane_overlap_info()->set_end_s(
lane_lane_overlap.end_s);
object_overlap->mutable_lane_overlap_info()->set_is_merge(
lane_lane_overlap.is_merge);
proto_data_.pb_lanes[object_id].add_overlap_id()->set_id(overlap_id);
proto_data_.pb_overlaps[overlap_id] = overlap;
}
}
void ProtoOrganizer::GetJunctionObjectOverlapElements(
const std::vector<JunctionInternal>& junctions) {
for (auto& junction_internal : junctions) {
const auto& junction_id = junction_internal.junction.id().id();
for (auto& overlap_junction : junction_internal.overlap_with_junctions) {
PbOverlap overlap;
std::string overlap_id = CreateOverlapId();
overlap.mutable_id()->set_id(overlap_id);
PbObjectOverlapInfo* object_overlap = overlap.add_object();
object_overlap->mutable_id()->set_id(junction_id);
object_overlap->mutable_junction_overlap_info();
std::string object_id = overlap_junction.object_id;
object_overlap = overlap.add_object();
object_overlap->mutable_id()->set_id(object_id);
if (proto_data_.pb_crosswalks.count(object_id) > 0) {
object_overlap->mutable_crosswalk_overlap_info();
proto_data_.pb_crosswalks[object_id].add_overlap_id()->set_id(
overlap_id);
} else if (proto_data_.pb_clear_areas.count(object_id) > 0) {
object_overlap->mutable_clear_area_overlap_info();
proto_data_.pb_clear_areas[object_id].add_overlap_id()->set_id(
overlap_id);
} else if (proto_data_.pb_stop_signs.count(object_id) > 0) {
object_overlap->mutable_stop_sign_overlap_info();
proto_data_.pb_stop_signs[object_id].add_overlap_id()->set_id(
overlap_id);
} else if (proto_data_.pb_signals.count(object_id) > 0) {
object_overlap->mutable_signal_overlap_info();
proto_data_.pb_signals[object_id].add_overlap_id()->set_id(overlap_id);
} else if (proto_data_.pb_rsus.count(object_id) > 0) {
object_overlap->mutable_rsu_overlap_info();
proto_data_.pb_rsus[object_id].add_overlap_id()->set_id(overlap_id);
} else {
continue;
}
proto_data_.pb_junctions[junction_id].add_overlap_id()->set_id(
overlap_id);
proto_data_.pb_overlaps[overlap_id] = overlap;
}
}
}
void ProtoOrganizer::GetOverlapElements(
const std::vector<RoadInternal>& roads,
const std::vector<JunctionInternal>& junctions) {
std::unordered_map<std::pair<std::string, std::string>, OverlapWithLane,
PairHash>
lane_lane_overlaps;
// overlap
for (auto& road_internal : roads) {
for (auto& road_section : road_internal.sections) {
for (auto& lane_internal : road_section.lanes) {
std::string lane_id = lane_internal.lane.id().id();
GetLaneObjectOverlapElements(lane_id, lane_internal.overlap_objects);
GetLaneSignalOverlapElements(lane_id, lane_internal.overlap_signals);
GetLaneJunctionOverlapElements(lane_id,
lane_internal.overlap_junctions);
for (auto& overlap_lane : lane_internal.overlap_lanes) {
lane_lane_overlaps[make_pair(lane_id, overlap_lane.object_id)] =
overlap_lane;
}
}
}
}
GetLaneLaneOverlapElements(lane_lane_overlaps);
GetJunctionObjectOverlapElements(junctions);
}
void ProtoOrganizer::OutputData(apollo::hdmap::Map* pb_map) {
for (auto& road_pair : proto_data_.pb_roads) {
*(pb_map->add_road()) = road_pair.second;
}
for (auto& lane_pair : proto_data_.pb_lanes) {
*(pb_map->add_lane()) = lane_pair.second;
}
for (auto& crosswalk_pair : proto_data_.pb_crosswalks) {
*(pb_map->add_crosswalk()) = crosswalk_pair.second;
}
for (auto& parking_space_pair : proto_data_.pb_parking_spaces) {
*(pb_map->add_parking_space()) = parking_space_pair.second;
}
for (auto& clear_area_pair : proto_data_.pb_clear_areas) {
*(pb_map->add_clear_area()) = clear_area_pair.second;
}
for (auto& speed_bump_pair : proto_data_.pb_speed_bumps) {
*(pb_map->add_speed_bump()) = speed_bump_pair.second;
}
for (auto& signal_pair : proto_data_.pb_signals) {
*(pb_map->add_signal()) = signal_pair.second;
}
for (auto& stop_sign_pair : proto_data_.pb_stop_signs) {
*(pb_map->add_stop_sign()) = stop_sign_pair.second;
}
for (auto& yield_sign_pair : proto_data_.pb_yield_signs) {
*(pb_map->add_yield()) = yield_sign_pair.second;
}
for (auto& pnc_junction_pair : proto_data_.pb_pnc_junctions) {
*(pb_map->add_pnc_junction()) = pnc_junction_pair.second;
}
for (auto& junction_pair : proto_data_.pb_junctions) {
*(pb_map->add_junction()) = junction_pair.second;
}
for (auto& rsu_pair : proto_data_.pb_rsus) {
*(pb_map->add_rsu()) = rsu_pair.second;
}
for (auto& overlap_pair : proto_data_.pb_overlaps) {
*(pb_map->add_overlap()) = overlap_pair.second;
}
AINFO << "hdmap statistics: roads-" << proto_data_.pb_roads.size()
<< ",lanes-" << proto_data_.pb_lanes.size() << ",crosswalks-"
<< proto_data_.pb_crosswalks.size() << ",parking spaces-"
<< proto_data_.pb_parking_spaces.size() << ",clear areas-"
<< proto_data_.pb_clear_areas.size() << ",speed bumps-"
<< proto_data_.pb_speed_bumps.size() << ",signals-"
<< proto_data_.pb_signals.size() << ",stop signs-"
<< proto_data_.pb_stop_signs.size() << ",yield signs-"
<< proto_data_.pb_yield_signs.size() << ",pnc-junctions-"
<< proto_data_.pb_pnc_junctions.size() << ",junctions-"
<< proto_data_.pb_junctions.size() << ",overlaps-"
<< proto_data_.pb_rsus.size() << ",rsus-"
<< proto_data_.pb_overlaps.size();
}
} // namespace adapter
} // namespace hdmap
} // namespace apollo
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