private void OnGUI()
{
// styles
var titleLabelStyle = new GUIStyle(GUI.skin.label)
{
alignment = TextAnchor.MiddleCenter, fontSize = 14
};
var subtitleLabelStyle = new GUIStyle(GUI.skin.label)
{
alignment = TextAnchor.MiddleCenter, fontSize = 10
};
GUILayout.Space(10);
EditorGUILayout.LabelField("HD Map Import", titleLabelStyle, GUILayout.ExpandWidth(true));
GUILayout.Space(5);
EditorGUILayout.LabelField("", GUI.skin.horizontalSlider);
GUILayout.Space(10);
EditorGUILayout.HelpBox("Settings", UnityEditor.MessageType.Info);
var selectedNew = EditorGUILayout.Popup("Import Format", Selected, importFormats);
GUILayout.Space(10);
if (Selected != selectedNew)
{
FileName = "";
Selected = selectedNew;
}
IsMeshNeeded = GUILayout.Toggle(IsMeshNeeded, " Create Signal/sign Mesh?");
if (importFormats[Selected] == "Apollo 5 HD Map")
{
DownSampleDistanceThreshold = EditorGUILayout.FloatField(
new GUIContent("Distance Threshold", "distance threshold to down sample imported points"),
DownSampleDistanceThreshold);
DownSampleDeltaThreshold = EditorGUILayout.FloatField(
new GUIContent("Delta Threshold", "delta threshold to down sample imported turning lines"),
DownSampleDeltaThreshold);
SelectFile(importFormats[Selected], "bin");
}
else if (importFormats[Selected] == "Lanelet2 Map")
{
SelectFile(importFormats[Selected], "osm");
}
else if (importFormats[Selected] == "OpenDRIVE Map")
{
DownSampleDistanceThreshold = EditorGUILayout.FloatField(
new GUIContent("Distance Threshold", "distance threshold to down sample imported points"),
DownSampleDistanceThreshold);
DownSampleDeltaThreshold = EditorGUILayout.FloatField(
new GUIContent("Delta Threshold", "delta threshold to down sample imported turning lines"),
DownSampleDeltaThreshold);
SelectFile(importFormats[Selected], "xodr");
}
if (GUILayout.Button(new GUIContent("Import", $"Import {importFormats[Selected]}")))
{
if (string.IsNullOrEmpty(FileName))
{
EditorUtility.DisplayDialog("Error", "Please specify input file/folder name!", "OK");
return;
}
if (importFormats[Selected] == "Apollo 5 HD Map")
{
ApolloMapImporter ApolloMapImporter = new ApolloMapImporter(
DownSampleDistanceThreshold, DownSampleDeltaThreshold, IsMeshNeeded);
ApolloMapImporter.ImportApolloMap(FileName);
}
else if (importFormats[Selected] == "Lanelet2 Map")
{
Lanelet2MapImporter laneLet2MapImporter = new Lanelet2MapImporter(IsMeshNeeded);
laneLet2MapImporter.ImportLanelet2Map(FileName);
}
if (importFormats[Selected] == "OpenDRIVE Map")
{
OpenDriveMapImporter openDriveMapImporter = new OpenDriveMapImporter(
DownSampleDistanceThreshold, DownSampleDeltaThreshold, IsMeshNeeded);
openDriveMapImporter.ImportOpenDriveMap(FileName);
}
}
}
public void ExportImport()
{
var environments = Path.Combine(Application.dataPath, "External", "Environments");
var temp = Path.Combine(Application.dataPath, "..", "Temp");
LogAssert.ignoreFailingMessages = true;
try
{
foreach (var path in Directory.EnumerateDirectories(environments))
{
var map = Path.GetFileName(path);
if (map.EndsWith("@tmp"))
{
// skip dummy folders Jenkins creates
continue;
}
if (File.Exists(Path.Combine(path, ".skiptest")))
{
Debug.LogWarning($"Skipping {map}");
continue;
}
Debug.LogWarning($"****** Testing {map}");
var scene = EditorSceneManager.OpenScene(Path.Combine(environments, map, $"{map}.unity"));
// export
var autoware = new AutowareMapTool();
autoware.Export(Path.Combine(temp, $"{map}_autoware"));
var apollo3 = new ApolloMapTool(ApolloMapTool.ApolloVersion.Apollo_3_0);
apollo3.Export(Path.Combine(temp, $"{map}_apollo3"));
Assert.IsFalse(scene.isDirty);
var apollo5 = new ApolloMapTool(ApolloMapTool.ApolloVersion.Apollo_5_0);
apollo5.Export(Path.Combine(temp, $"{map}_apollo5"));
Assert.IsFalse(scene.isDirty);
var opendrive = new OpenDriveMapExporter();
opendrive.Export(Path.Combine(temp, $"{map}_opendrive"));
Assert.IsFalse(scene.isDirty);
var lanelet = new Lanelet2MapExporter();
lanelet.Export(Path.Combine(temp, $"{map}_lanelet2"));
Assert.IsFalse(scene.isDirty);
// import
EditorSceneManager.NewScene(NewSceneSetup.DefaultGameObjects);
var apolloImport = new ApolloMapImporter(10f, 0.5f, true);
apolloImport.Import(Path.Combine(temp, $"{map}_apollo5"));
EditorSceneManager.NewScene(NewSceneSetup.DefaultGameObjects);
var opendriveImport = new OpenDriveMapImporter(10f, 0.5f, true);
opendriveImport.Import(Path.Combine(temp, $"{map}_opendrive"));
EditorSceneManager.NewScene(NewSceneSetup.DefaultGameObjects);
var laneletImport = new Lanelet2MapImporter(true);
laneletImport.Import(Path.Combine(temp, $"{map}_lanelet2"));
}
}
finally
{
EditorSceneManager.NewScene(NewSceneSetup.DefaultGameObjects);
LogAssert.ignoreFailingMessages = false;
}
}
