filling temporal map with lane information
This commit is contained in:
Manish
parent
15637e2748
commit
9e4a638117
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@ -16,42 +16,44 @@ namespace parser {
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void LaneParser::ParseLanes(
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road::RoadId road_id,
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int lane_section_id,
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float s,
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const pugi::xml_node &parent_node,
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carla::road::MapBuilder &map_builder) {
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for (pugi::xml_node lane_node : parent_node.children("lane")) {
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road::LaneId lane_id = lane_node.attribute("id").as_int();
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road::Lane *lane = map_builder.GetLane(road_id, lane_id, s);
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// Lane Width
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for (pugi::xml_node lane_width_node : lane_node.children("width")) {
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float s = lane_width_node.attribute("sOffset").as_float();
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float s_offset = lane_width_node.attribute("sOffset").as_float();
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float a = lane_width_node.attribute("a").as_float();
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float b = lane_width_node.attribute("b").as_float();
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float c = lane_width_node.attribute("c").as_float();
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float d = lane_width_node.attribute("d").as_float();
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// Call Map builder create Lane Width function
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map_builder.CreateLaneWidth(road_id, lane_section_id, lane_id, s, a, b, c, d);
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map_builder.CreateLaneWidth(lane, s_offset, a, b, c, d);
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}
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// Lane Border
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for (pugi::xml_node lane_border_node : lane_node.children("border")) {
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float s = lane_border_node.attribute("sOffset").as_float();
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float s_offset = lane_border_node.attribute("sOffset").as_float();
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float a = lane_border_node.attribute("a").as_float();
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float b = lane_border_node.attribute("b").as_float();
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float c = lane_border_node.attribute("c").as_float();
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float d = lane_border_node.attribute("d").as_float();
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// Call Map builder create Lane Border function
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map_builder.CreateLaneBorder(road_id, lane_section_id, lane_id, s, a, b, c, d);
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map_builder.CreateLaneBorder(lane, s_offset, a, b, c, d);
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}
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// Lane Road Mark
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int road_mark_id = 0;
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for (pugi::xml_node lane_road_mark : lane_node.children("roadMark")) {
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float s = lane_road_mark.attribute("sOffset").as_float();
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float s_offset = lane_road_mark.attribute("sOffset").as_float();
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std::string type = lane_road_mark.attribute("type").value();
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std::string weight = lane_road_mark.attribute("weight").value();
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std::string color = lane_road_mark.attribute("color").value();
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@ -72,11 +74,9 @@ namespace parser {
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// Call map builder for LaneRoadMark
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map_builder.CreateRoadMark(
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road_id,
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lane_section_id,
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lane_id,
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lane,
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road_mark_id,
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s,
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s_offset,
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type,
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weight,
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color,
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@ -92,20 +92,18 @@ namespace parser {
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float length = road_mark_type_line_node.attribute("length").as_float();
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float space = road_mark_type_line_node.attribute("space").as_float();
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float t = road_mark_type_line_node.attribute("tOffset").as_float();
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float s = road_mark_type_line_node.attribute("sOffset").as_float();
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float s_offset = road_mark_type_line_node.attribute("sOffset").as_float();
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std::string rule = road_mark_type_line_node.attribute("rule").value();
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float width = road_mark_type_line_node.attribute("width").as_float();
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// Call map builder for LaneRoadMarkType LaneRoadMarkTypeLine
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map_builder.CreateRoadMarkTypeLine(
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road_id,
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lane_section_id,
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lane_id,
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lane,
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road_mark_id,
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length,
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space,
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t,
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s,
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s_offset,
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rule,
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width);
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}
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@ -115,63 +113,63 @@ namespace parser {
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// Lane Material
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for (pugi::xml_node lane_material_node : lane_node.children("material")) {
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float s = lane_material_node.attribute("sOffset").as_float();
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float s_offset = lane_material_node.attribute("sOffset").as_float();
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std::string surface = lane_material_node.attribute("surface").value();
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float friction = lane_material_node.attribute("friction").as_float();
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float roughness = lane_material_node.attribute("roughness").as_float();
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// Create map builder for Lane Material
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map_builder.CreateLaneMaterial(road_id, lane_section_id, lane_id, s, surface, friction, roughness);
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map_builder.CreateLaneMaterial(lane, s_offset, surface, friction, roughness);
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}
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// Lane Visibility
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for (pugi::xml_node lane_visibility_node : lane_node.children("visibility")) {
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float s = lane_visibility_node.attribute("sOffset").as_float();
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float s_offset = lane_visibility_node.attribute("sOffset").as_float();
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float forward = lane_visibility_node.attribute("forward").as_float();
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float back = lane_visibility_node.attribute("back").as_float();
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float left = lane_visibility_node.attribute("left").as_float();
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float right = lane_visibility_node.attribute("right").as_float();
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// Create map builder for Lane Visibility
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map_builder.CreateLaneVisibility(road_id, lane_section_id, lane_id, s, forward, back, left, right);
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map_builder.CreateLaneVisibility(lane, s_offset, forward, back, left, right);
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}
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// Lane Speed
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for (pugi::xml_node lane_speed_node : lane_node.children("speed")) {
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float s = lane_speed_node.attribute("sOffset").as_float();
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float s_offset = lane_speed_node.attribute("sOffset").as_float();
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float max = lane_speed_node.attribute("max").as_float();
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std::string unit = lane_speed_node.attribute("unit").value();
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// Create map builder for Lane Speed
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map_builder.CreateLaneSpeed(road_id, lane_section_id, lane_id, s, max, unit);
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map_builder.CreateLaneSpeed(lane, s_offset, max, unit);
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}
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// Lane Access
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for (pugi::xml_node lane_access_node : lane_node.children("access")) {
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float s = lane_access_node.attribute("sOffset").as_float();
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float s_offset = lane_access_node.attribute("sOffset").as_float();
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std::string restriction = lane_access_node.attribute("restriction").value();
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// Create map builder for Lane Access
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map_builder.CreateLaneAccess(road_id, lane_section_id, lane_id, s, restriction);
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map_builder.CreateLaneAccess(lane, s_offset, restriction);
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}
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// Lane Height
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for (pugi::xml_node lane_height_node : lane_node.children("height")) {
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float s = lane_height_node.attribute("sOffset").as_float();
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float s_offset = lane_height_node.attribute("sOffset").as_float();
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float inner = lane_height_node.attribute("inner").as_float();
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float outer = lane_height_node.attribute("outer").as_float();
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// Create map builder for Lane Height
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map_builder.CreateLaneHeight(road_id, lane_section_id, lane_id, s, inner, outer);
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map_builder.CreateLaneHeight(lane, s_offset, inner, outer);
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}
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// Lane Rule
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for (pugi::xml_node lane_rule_node : lane_node.children("rule")) {
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float s = lane_rule_node.attribute("sOffset").as_float();
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float s_offset = lane_rule_node.attribute("sOffset").as_float();
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std::string value = lane_rule_node.attribute("value").value();
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// Create map builder for Lane Height
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map_builder.CreateLaneRule(road_id, lane_section_id, lane_id, s, value);
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map_builder.CreateLaneRule(lane, s_offset, value);
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}
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}
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@ -188,24 +186,23 @@ namespace parser {
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road::RoadId road_id = road_node.attribute("id").as_int();
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for (pugi::xml_node lanes_node : road_node.children("lanes")) {
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int lane_section_id = 0;
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for (pugi::xml_node lane_section_node : lanes_node.children("laneSection")) {
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for (pugi::xml_node lane_section_node : lanes_node.children("laneSection")) {
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float s = lane_section_node.attribute("s").as_float();
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pugi::xml_node left_node = lane_section_node.child("left");
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if (left_node) {
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ParseLanes(road_id, lane_section_id, left_node, map_builder);
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ParseLanes(road_id, s, left_node, map_builder);
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}
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pugi::xml_node center_node = lane_section_node.child("center");
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if (center_node) {
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ParseLanes(road_id, lane_section_id, center_node, map_builder);
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ParseLanes(road_id, s, center_node, map_builder);
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}
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pugi::xml_node right_node = lane_section_node.child("right");
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if (right_node) {
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ParseLanes(road_id, lane_section_id, right_node, map_builder);
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ParseLanes(road_id, s, right_node, map_builder);
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}
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++lane_section_id;
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}
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}
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}
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@ -27,7 +27,7 @@ namespace parser {
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static void ParseLanes(
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road::RoadId road_id,
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int lane_section_id,
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float s,
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const pugi::xml_node &parent_node,
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carla::road::MapBuilder &map_builder);
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@ -53,98 +53,81 @@ namespace road {
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// called from lane parser
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void MapBuilder::CreateLaneAccess(
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const int32_t /*road_id*/,
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const int32_t /*lane_section_id*/,
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const int32_t /*lane_id*/,
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const Lane *lane,
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const float s,
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const std::string restriction) {
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auto access = std::unique_ptr<RoadInfoLaneAccess>(new RoadInfoLaneAccess(s, restriction));
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_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoLaneAccess>(s, restriction));
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}
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void MapBuilder::CreateLaneBorder(
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const int32_t /*road_id*/,
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const int32_t /*lane_section_id*/,
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const int32_t /*lane_id*/,
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const Lane *lane,
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const float s,
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const float a,
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const float b,
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const float c,
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const float d) {
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auto border = std::unique_ptr<RoadInfoLaneBorder>(new RoadInfoLaneBorder(s, a, b, c, d));
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_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoLaneBorder>(s, a, b, c, d));
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}
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void MapBuilder::CreateLaneHeight(
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const int32_t /*road_id*/,
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const int32_t /*lane_section_id*/,
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const int32_t /*lane_id*/,
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const Lane *lane,
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const float s,
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const float inner,
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const float outer) {
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auto height = std::unique_ptr<RoadInfoLaneHeight>(new RoadInfoLaneHeight(s, inner, outer));
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_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoLaneHeight>(s, inner, outer));
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}
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void MapBuilder::CreateLaneMaterial(
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const int32_t /*road_id*/,
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const int32_t /*lane_section_id*/,
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const int32_t /*lane_id*/,
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const Lane *lane,
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const float s,
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const std::string surface,
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const float friction,
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const float roughness) {
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auto material =
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std::unique_ptr<RoadInfoLaneMaterial>(new RoadInfoLaneMaterial(s, surface, friction, roughness));
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_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoLaneMaterial>(s, surface, friction,
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roughness));
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}
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void MapBuilder::CreateLaneOffset(
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const int32_t /*road_id*/,
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const int32_t /*lane_section_id*/,
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const int32_t /*lane_id*/,
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const Lane *lane,
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const float s,
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const float a,
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const float b,
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const float c,
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const float d) {
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auto offset = std::unique_ptr<RoadInfoLaneOffset>(new RoadInfoLaneOffset(s, a, b, c, d));
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_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoLaneOffset>(s, a, b, c, d));
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}
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void MapBuilder::CreateLaneRule(
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const int32_t /*road_id*/,
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const int32_t /*lane_section_id*/,
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const int32_t /*lane_id*/,
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const Lane *lane,
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const float s,
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const std::string value) {
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auto rule = std::unique_ptr<RoadInfoLaneRule>(new RoadInfoLaneRule(s, value));
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_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoLaneRule>(s, value));
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}
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void MapBuilder::CreateLaneVisibility(
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const int32_t /*road_id*/,
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const int32_t /*lane_section_id*/,
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const int32_t /*lane_id*/,
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const Lane *lane,
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const float s,
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const float forward,
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const float back,
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const float left,
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const float right) {
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auto visibility =
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std::unique_ptr<RoadInfoLaneVisibility>(new RoadInfoLaneVisibility(s, forward, back, left, right));
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_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoLaneVisibility>(s, forward, back,
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left, right));
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}
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void MapBuilder::CreateLaneWidth(
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const int32_t /*road_id*/,
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const int32_t /*lane_section_id*/,
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const int32_t /*lane_id*/,
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const Lane *lane,
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const float s,
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const float a,
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const float b,
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const float c,
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const float d) {
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auto width = std::unique_ptr<RoadInfoLaneWidth>(new RoadInfoLaneWidth(s, a, b, c, d));
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_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoLaneWidth>(s, a, b, c, d));
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}
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void MapBuilder::CreateRoadMark(
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const int32_t /*road_id*/,
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const int32_t /*lane_section_id*/,
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const int32_t /*lane_id*/,
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const Lane *lane,
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const int road_mark_id,
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const float s,
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const std::string type,
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@ -169,15 +152,13 @@ namespace road {
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} else {
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lc = RoadInfoMarkRecord::LaneChange::None;
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}
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auto mark =
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std::unique_ptr<RoadInfoMarkRecord>(new RoadInfoMarkRecord(s, road_mark_id, type, weight, color,
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_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoMarkRecord>(s, road_mark_id, type,
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weight, color,
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material, width, lc, height, type_name, type_width));
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}
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void MapBuilder::CreateRoadMarkTypeLine(
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const int32_t /*road_id*/,
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const int32_t /*lane_section_id*/,
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const int32_t /*lane_id*/,
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const Lane *lane,
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const int road_mark_id,
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const float length,
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const float space,
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@ -185,8 +166,8 @@ namespace road {
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const float s,
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const std::string rule,
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const float width) {
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auto line =
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std::unique_ptr<RoadInfoMarkTypeLine>(new RoadInfoMarkTypeLine(s, road_mark_id, length, space,
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_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoMarkTypeLine>(s, road_mark_id,
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length, space,
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tOffset, rule, width));
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// Find the parent road mark record using the ids provided and then add this
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// line to its lise of lines
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@ -195,13 +176,11 @@ namespace road {
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}
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void MapBuilder::CreateLaneSpeed(
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const int32_t /*road_id*/,
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const int /*lane_section_id*/,
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const int32_t /*lane_id*/,
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const Lane *lane,
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const float s,
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const float max,
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const std::string /*unit*/) {
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auto speed = std::unique_ptr<RoadInfoVelocity>(new RoadInfoVelocity(s, max));
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_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoVelocity>(s, max));
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}
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void MapBuilder::AddSignal(
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@ -377,9 +356,18 @@ namespace road {
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const uint32_t signal_id,
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const uint32_t dependency_id,
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const std::string dependency_type) {
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_map_data.GetRoad(road_id)->GetSignal(signal_id)->AddDependency(signal::SignalDependency(road_id,
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signal_id, dependency_id, dependency_type));
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_map_data.GetRoad(road_id)->GetSignal(signal_id)->AddDependency(signal::SignalDependency(
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road_id,
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signal_id,
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dependency_id,
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dependency_type));
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}
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Lane *MapBuilder::GetLane(
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const RoadId road_id,
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const LaneId lane_id,
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const float s) {
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return _map_data.GetLane(road_id, lane_id, s);
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}
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} // namespace road
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@ -204,16 +204,12 @@ namespace road {
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// called from lane parser
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void CreateLaneAccess(
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const int32_t road_id,
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const int32_t lane_section_id,
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const int32_t lane_id,
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const Lane* lane,
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const float s,
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const std::string restriction);
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void CreateLaneBorder(
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const int32_t road_id,
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const int32_t lane_section_id,
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const int32_t lane_id,
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const Lane* lane,
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const float s,
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const float a,
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const float b,
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@ -221,26 +217,20 @@ namespace road {
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const float d);
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void CreateLaneHeight(
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const int32_t road_id,
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const int32_t lane_section_id,
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const int32_t lane_id,
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const Lane* lane,
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const float s,
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const float inner,
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const float outer);
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void CreateLaneMaterial(
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const int32_t road_id,
|
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const int32_t lane_section_id,
|
||||
const int32_t lane_id,
|
||||
const Lane* lane,
|
||||
const float s,
|
||||
const std::string surface,
|
||||
const float friction,
|
||||
const float roughness);
|
||||
|
||||
void CreateLaneOffset(
|
||||
const int32_t road_id,
|
||||
const int32_t lane_section_id,
|
||||
const int32_t lane_id,
|
||||
const Lane* lane,
|
||||
const float s,
|
||||
const float a,
|
||||
const float b,
|
||||
|
|
@ -248,16 +238,12 @@ namespace road {
|
|||
const float d);
|
||||
|
||||
void CreateLaneRule(
|
||||
const int32_t road_id,
|
||||
const int32_t lane_section_id,
|
||||
const int32_t lane_id,
|
||||
const Lane* lane,
|
||||
const float s,
|
||||
const std::string value);
|
||||
|
||||
void CreateLaneVisibility(
|
||||
const int32_t road_id,
|
||||
const int32_t lane_section_id,
|
||||
const int32_t lane_id,
|
||||
const Lane* lane,
|
||||
const float s,
|
||||
const float forward,
|
||||
const float back,
|
||||
|
|
@ -265,9 +251,7 @@ namespace road {
|
|||
const float right);
|
||||
|
||||
void CreateLaneWidth(
|
||||
const int32_t road_id,
|
||||
const int32_t lane_section_id,
|
||||
const int32_t lane_id,
|
||||
const Lane* lane,
|
||||
const float s,
|
||||
const float a,
|
||||
const float b,
|
||||
|
|
@ -275,9 +259,7 @@ namespace road {
|
|||
const float d);
|
||||
|
||||
void CreateRoadMark(
|
||||
const int32_t road_id,
|
||||
const int32_t lane_section_id,
|
||||
const int32_t lane_id,
|
||||
const Lane* lane,
|
||||
const int road_mark_id,
|
||||
const float s,
|
||||
const std::string type,
|
||||
|
|
@ -291,9 +273,7 @@ namespace road {
|
|||
const float type_width);
|
||||
|
||||
void CreateRoadMarkTypeLine(
|
||||
const int32_t road_id,
|
||||
const int32_t lane_section_id,
|
||||
const int32_t lane_id,
|
||||
const Lane* lane,
|
||||
const int road_mark_id,
|
||||
const float length,
|
||||
const float space,
|
||||
|
|
@ -303,9 +283,7 @@ namespace road {
|
|||
const float width);
|
||||
|
||||
void CreateLaneSpeed(
|
||||
const int32_t road_id,
|
||||
const int lane_section_id,
|
||||
const int32_t lane_id,
|
||||
const Lane* lane,
|
||||
const float s,
|
||||
const float max,
|
||||
const std::string unit);
|
||||
|
|
@ -335,6 +313,11 @@ namespace road {
|
|||
const uint32_t dependency_id,
|
||||
const std::string dependency_type);
|
||||
|
||||
Lane *GetLane(
|
||||
const RoadId road_id,
|
||||
const LaneId lane_id,
|
||||
const float s);
|
||||
|
||||
private:
|
||||
|
||||
MapData _map_data;
|
||||
|
|
@ -344,6 +327,12 @@ namespace road {
|
|||
|
||||
/// Create the pointers between RoadSegments based on the ids
|
||||
void CreatePointersBetweenRoadSegments();
|
||||
|
||||
private:
|
||||
/// Map to temporary store all the lane infos until the map is built, so they
|
||||
/// can be added all together
|
||||
std::unordered_map<const Lane *, std::vector<std::unique_ptr<element::RoadInfo>>>
|
||||
_temp_lane_info_container;
|
||||
};
|
||||
|
||||
} // namespace road
|
||||
|
|
|
|||
Loading…
Reference in New Issue