apollo::hdmap::adapter::ProtoOrganizer类 参考

#include <proto_organizer.h>

apollo::hdmap::adapter::ProtoOrganizer 的协作图:

Public 成员函数
void	GetRoadElements (std::vector< RoadInternal > *roads)
void	GetJunctionElements (const std::vector< JunctionInternal > &junctions)
void	GetOverlapElements (const std::vector< RoadInternal > &roads, const std::vector< JunctionInternal > &junctions)
void	GetObjectElements (const ObjectInternal &objects)
void	OutputData (apollo::hdmap::Map *pb_map)

详细描述

在文件 proto_organizer.h 第 50 行定义.

成员函数说明

GetJunctionElements()

void apollo::hdmap::adapter::ProtoOrganizer::GetJunctionElements

(

const std::vector< JunctionInternal > &

junctions

)

在文件 proto_organizer.cc 第 111 行定义.

                                                  {
  for (auto& junction_internal : junctions) {
    std::string junction_id = junction_internal.junction.id().id();
    proto_data_.pb_junctions[junction_id] = junction_internal.junction;
  }
}

GetObjectElements()

void apollo::hdmap::adapter::ProtoOrganizer::GetObjectElements

(

const ObjectInternal &

objects

)

在文件 proto_organizer.cc 第 185 行定义.

                                                                    {
  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;
  }
}

GetOverlapElements()

void apollo::hdmap::adapter::ProtoOrganizer::GetOverlapElements	(	const std::vector< RoadInternal > &	roads,
		const std::vector< JunctionInternal > &	junctions
	)

在文件 proto_organizer.cc 第 366 行定义.

                                                  {
  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);
}

GetRoadElements()

void apollo::hdmap::adapter::ProtoOrganizer::GetRoadElements

(

std::vector< RoadInternal > *

roads

)

在文件 proto_organizer.cc 第 42 行定义.

                                                                   {
  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;
    }
  }
}

OutputData()

void apollo::hdmap::adapter::ProtoOrganizer::OutputData

(

apollo::hdmap::Map *

pb_map

)

在文件 proto_organizer.cc 第 393 行定义.

                                                      {
  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();
}

---

该类的文档由以下文件生成:

• modules/map/hdmap/adapter/proto_organizer.h
• modules/map/hdmap/adapter/proto_organizer.cc