proto_map_generator.cc

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/* Copyright 2017 The Apollo Authors. All Rights Reserved.
 
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
 
    http://www.apache.org/licenses/LICENSE-2.0
 
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
=========================================================================*/
 
#include "gflags/gflags.h"
 
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "modules/map/hdmap/adapter/opendrive_adapter.h"
#include "modules/map/hdmap/hdmap_util.h"
#include "modules/common_msgs/map_msgs/map.pb.h"
 
DEFINE_string(output_dir, "/tmp", "output map directory");
 
int main(int argc, char **argv) {
  google::InitGoogleLogging(argv[0]);
  FLAGS_alsologtostderr = true;
 
  google::ParseCommandLineFlags(&argc, &argv, true);
 
  const auto map_filename = FLAGS_map_dir + "/base_map.xml";
  apollo::hdmap::Map pb_map;
  ACHECK(
      apollo::hdmap::adapter::OpendriveAdapter::LoadData(map_filename, &pb_map))
      << "fail to load data from : " << map_filename;
 
  const std::string output_ascii_file = FLAGS_output_dir + "/base_map.txt";
  ACHECK(apollo::cyber::common::SetProtoToASCIIFile(pb_map, output_ascii_file))
      << "failed to output ASCII format base map";
 
  const std::string output_bin_file = FLAGS_output_dir + "/base_map.bin";
  ACHECK(apollo::cyber::common::SetProtoToBinaryFile(pb_map, output_bin_file))
      << "failed to output binary format base map";
 
  pb_map.Clear();
  ACHECK(apollo::cyber::common::GetProtoFromFile(output_bin_file, &pb_map))
      << "failed to load map";
 
  AINFO << "load map success";
 
  return 0;
}