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Fix problems of lanemarking generation and tree generation (#7006) 

Co-authored-by: xiaofei <13319202082@163.com>
This commit is contained in:
synkrotron 2023-12-18 17:02:33 +08:00 committed by GitHub
parent 60af913923
commit 86fcfe5e80
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 56 additions and 67 deletions
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1
LibCarla/source/carla/road/Map.cpp
View File

@ -1232,6 +1232,7 @@ namespace road {
while(s_current < s_end){
if(lane->GetWidth(s_current) != 0.0f){
const auto edges = lane->GetCornerPositions(s_current, 0);
if (edges.first == edges.second) continue;
geom::Vector3D director = edges.second - edges.first;
geom::Vector3D treeposition = edges.first - director.MakeUnitVector() * distancefromdrivinglineborder;
geom::Transform lanetransform = lane->ComputeTransform(s_current);

113
LibCarla/source/carla/road/MeshFactory.cpp
View File

@ -761,14 +761,11 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
case carla::road::element::LaneMarking::Type::Solid: {
size_t currentIndex = out_mesh.GetVertices().size() + 1;
std::pair<geom::Vector3D, geom::Vector3D> edges = lane.GetCornerPositions(s_current, 0);
geom::Vector3D director = edges.second - edges.first;
director /= director.Length();
geom::Vector3D endmarking = edges.first + director * lane_mark_info.width;
std::pair<geom::Vector3D, geom::Vector3D> edges =
ComputeEdgesForLanemark(lane_section, lane, s_current, lane_mark_info.width);
out_mesh.AddVertex(edges.first);
out_mesh.AddVertex(endmarking);
out_mesh.AddVertex(edges.second);
out_mesh.AddIndex(currentIndex);
out_mesh.AddIndex(currentIndex + 1);
@ -784,30 +781,23 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
case carla::road::element::LaneMarking::Type::Broken: {
size_t currentIndex = out_mesh.GetVertices().size() + 1;
std::pair<geom::Vector3D, geom::Vector3D> edges =
lane.GetCornerPositions(s_current, road_param.extra_lane_width);
geom::Vector3D director = edges.second - edges.first;
director /= director.Length();
geom::Vector3D endmarking = edges.first + director * lane_mark_info.width;
std::pair<geom::Vector3D, geom::Vector3D> edges =
ComputeEdgesForLanemark(lane_section, lane, s_current, lane_mark_info.width);
out_mesh.AddVertex(edges.first);
out_mesh.AddVertex(endmarking);
out_mesh.AddVertex(edges.second);
s_current += road_param.resolution * 3;
if (s_current > s_end)
{
s_current = s_end;
}
edges = lane.GetCornerPositions(s_current, road_param.extra_lane_width);
director = edges.second - edges.first;
director /= director.Length();
endmarking = edges.first + director * lane_mark_info.width;
edges = ComputeEdgesForLanemark(lane_section, lane, s_current, lane_mark_info.width);
out_mesh.AddVertex(edges.first);
out_mesh.AddVertex(endmarking);
out_mesh.AddVertex(edges.second);
out_mesh.AddIndex(currentIndex);
out_mesh.AddIndex(currentIndex + 1);
out_mesh.AddIndex(currentIndex + 2);
@ -864,13 +854,12 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
const carla::road::element::RoadInfoMarkRecord* road_info_mark = lane.GetInfo<carla::road::element::RoadInfoMarkRecord>(s_current);
if (road_info_mark != nullptr) {
carla::road::element::LaneMarking lane_mark_info(*road_info_mark);
std::pair<geom::Vector3D, geom::Vector3D> edges = lane.GetCornerPositions(s_end, 0);
geom::Vector3D director = edges.second - edges.first;
director /= director.Length();
geom::Vector3D endmarking = edges.first + director * lane_mark_info.width;
std::pair<geom::Vector3D, geom::Vector3D> edges =
ComputeEdgesForLanemark(lane_section, lane, s_end, lane_mark_info.width);
out_mesh.AddVertex(edges.first);
out_mesh.AddVertex(endmarking);
out_mesh.AddVertex(edges.second);
}
inout.push_back(std::make_unique<Mesh>(out_mesh));
}
@ -927,58 +916,21 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
case carla::road::element::LaneMarking::Type::Broken: {
size_t currentIndex = out_mesh.GetVertices().size() + 1;
std::pair<geom::Vector3D, geom::Vector3D> edges =
lane.GetCornerPositions(s_current, road_param.extra_lane_width);
geom::Vector3D director;
if (lane.GetWidth(s_current) != 0) {
director = edges.second - edges.first;
director /= director.Length();
} else {
const std::map<road::LaneId, road::Lane> & lanes = lane_section.GetLanes();
for (const auto& lane_pair : lanes) {
if (lane_pair.second.GetWidth(s_current) != 0) {
std::pair<geom::Vector3D, geom::Vector3D> another_edge =
lane_pair.second.GetCornerPositions(s_current, road_param.extra_lane_width);
director = another_edge.second - another_edge.first;
director /= director.Length();
break;
}
}
}
geom::Vector3D endmarking = edges.first + director * lane_mark_info.width;
std::pair<geom::Vector3D, geom::Vector3D> edges =
ComputeEdgesForLanemark(lane_section, lane, s_current, lane_mark_info.width);
out_mesh.AddVertex(edges.first);
out_mesh.AddVertex(endmarking);
out_mesh.AddVertex(edges.second);
s_current += road_param.resolution * 3;
if (s_current > s_end) {
s_current = s_end;
}
edges = lane.GetCornerPositions(s_current, road_param.extra_lane_width);
if (lane.GetWidth(s_current) != 0) {
director = edges.second - edges.first;
director /= director.Length();
} else {
const std::map<road::LaneId, road::Lane> & lanes = lane_section.GetLanes();
for (const auto& lane_pair : lanes) {
if (lane_pair.second.GetWidth(s_current) != 0) {
std::pair<geom::Vector3D, geom::Vector3D> another_edge =
lane_pair.second.GetCornerPositions(s_current, road_param.extra_lane_width);
director = another_edge.second - another_edge.first;
director /= director.Length();
break;
}
}
}
endmarking = edges.first + director * lane_mark_info.width;
edges = ComputeEdgesForLanemark(lane_section, lane, s_current, lane_mark_info.width);
out_mesh.AddVertex(edges.first);
out_mesh.AddVertex(endmarking);
out_mesh.AddVertex(edges.second);
out_mesh.AddIndex(currentIndex);
out_mesh.AddIndex(currentIndex + 1);
@ -1179,6 +1131,33 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
return std::make_unique<Mesh>(out_mesh);
}
std::pair<geom::Vector3D, geom::Vector3D> MeshFactory::ComputeEdgesForLanemark(
const road::LaneSection& lane_section,
const road::Lane& lane,
const double s_current,
const double lanemark_width) const {
std::pair<geom::Vector3D, geom::Vector3D> edges =
lane.GetCornerPositions(s_current, road_param.extra_lane_width);
geom::Vector3D director;
if (edges.first != edges.second) {
director = edges.second - edges.first;
director /= director.Length();
} else {
const std::map<road::LaneId, road::Lane> & lanes = lane_section.GetLanes();
for (const auto& lane_pair : lanes) {
std::pair<geom::Vector3D, geom::Vector3D> another_edge =
lane_pair.second.GetCornerPositions(s_current, road_param.extra_lane_width);
if (another_edge.first != another_edge.second) {
director = another_edge.second - another_edge.first;
director /= director.Length();
break;
}
}
}
geom::Vector3D endmarking = edges.first + director * lanemark_width;
return std::make_pair(edges.first, endmarking);
}
} // namespace geom
} // namespace carla

9
LibCarla/source/carla/road/MeshFactory.h
View File

@ -148,6 +148,15 @@ namespace geom {
RoadParameters road_param;
private:
// Calculate the points on both sides of the lane mark for the specified s_current
std::pair<geom::Vector3D, geom::Vector3D> ComputeEdgesForLanemark(
const road::LaneSection& lane_section,
const road::Lane& lane,
const double s_current,
const double lanemark_width) const;
};
} // namespace geom