public bool Export(string foldername)
{
try
{
MapAnnotationData = new MapManagerData();
// Process lanes, intersections.
MapAnnotationData.GetIntersections();
MapAnnotationData.GetTrafficLanes();
if (Calculate())
{
var sb = new StringBuilder();
foreach (var list in ExportLists)
{
var csvFilename = list.FileName;
var csvHeader = VectorMapUtility.GetCSVHeader(list.Type);
var filepath = Path.Combine(foldername, csvFilename);
if (!System.IO.Directory.Exists(foldername))
{
System.IO.Directory.CreateDirectory(foldername);
}
if (System.IO.File.Exists(filepath))
{
System.IO.File.Delete(filepath);
}
sb.Clear();
using (StreamWriter sw = File.CreateText(filepath))
{
sb.Append(csvHeader);
sb.Append("\n");
foreach (var e in list.List)
{
foreach (var field in list.Type.GetFields(BindingFlags.Instance | BindingFlags.Public))
{
sb.Append(field.GetValue(e).ToString());
sb.Append(",");
}
sb.Remove(sb.Length - 1, 1);
sb.Append("\n");
}
sw.Write(sb);
}
}
Debug.Log("Successfully generated and exported Autoware Vector Map!");
return(true);
}
Debug.LogError("Failed to export Autoware Map!");
}
catch (Exception exc)
{
Debug.LogError($"Autoware Map export unexpected error: {exc.Message}");
}
return(false);
}
private void SetMapData()
{
mapData = new MapManagerData();
if (mapData.MapHolder == null)
{
return;
}
trafficLanes = mapData.GetTrafficLanes();
intersections = mapData.GetIntersections();
totalLaneDist = MapManagerData.GetTotalLaneDistance(trafficLanes);
intersections.ForEach(intersection => intersection.SetTriggerAndState());
}
public void ExportVectorMap(string foldername)
{
MapAnnotationData = new MapManagerData();
// Process lanes, intersections.
MapAnnotationData.GetIntersections();
MapAnnotationData.GetTrafficLanes();
if (Calculate())
{
Export(foldername);
}
}
private void SetMapData()
{
mapData = new MapManagerData();
if (mapData.MapHolder == null)
{
return;
}
trafficLanes = mapData.GetTrafficLanes();
intersections = mapData.GetIntersections();
pedestrianLanes = mapData.GetPedestrianLanes();
trafficLanes.ForEach(trafficLane => trafficLane.SetTrigger());
intersections.ForEach(intersection => intersection.SetTriggerAndState());
}
private void SetMapData()
{
mapData = new MapManagerData();
if (mapData.MapHolder == null)
{
return;
}
trafficLanes = mapData.GetTrafficLanes();
intersections = mapData.GetIntersections();
pedestrianLanes = mapData.GetPedestrianLanes();
parkingSpaces = mapData.GetParkingSpaces();
allLanes.AddRange(trafficLanes);
foreach (MapIntersection itersection in intersections)
{
allLanes.AddRange(itersection.GetIntersectionLanes());
}
trafficLanes.ForEach(trafficLane => trafficLane.SetTrigger());
intersections.ForEach(intersection => intersection.SetTriggerAndState());
}
/// <summary>
/// Initialization method, has to be called every time map is loaded
/// </summary>
public void Initialize()
{
var mapManagerData = new MapManagerData();
var trafficLanes = mapManagerData.GetTrafficLanes();
foreach (var mapLane in trafficLanes)
{
if (mapLane.mapLocalPositions.Count == 0)
{
continue;
}
var previousPosition = mapLane.transform.TransformPoint(mapLane.mapLocalPositions[0]);
for (var i = 1; i < mapLane.mapLocalPositions.Count; i++)
{
var localPos = mapLane.mapLocalPositions[i];
var position = mapLane.transform.TransformPoint(localPos);
trafficLines.Add(new LaneLineData(previousPosition, position));
previousPosition = position;
}
}
var pedestrianLanes = mapManagerData.GetPedestrianLanes();
foreach (var mapLane in pedestrianLanes)
{
if (mapLane.mapLocalPositions.Count == 0)
{
continue;
}
var previousPosition = mapLane.transform.TransformPoint(mapLane.mapLocalPositions[0]);
for (var i = 1; i < mapLane.mapLocalPositions.Count; i++)
{
var localPos = mapLane.mapLocalPositions[i];
var position = mapLane.transform.TransformPoint(localPos);
pedestrianLines.Add(new LaneLineData(previousPosition, position));
previousPosition = position;
}
}
}
public Dictionary <MapTrafficLane, LaneLineOverrideData> Process()
{
var mapManagerData = new MapManagerData();
var lanes = mapManagerData.GetTrafficLanes();
var lineDict = new Dictionary <MapLine, SegmentedLine3D>();
var laneDict = new Dictionary <MapTrafficLane, LaneLineSegments>();
foreach (var lane in lanes)
{
var laneData = new LaneLineSegments();
if (lineDict.ContainsKey(lane.rightLineBoundry))
{
laneData.rightLine = lineDict[lane.rightLineBoundry];
}
else
{
var segment = LaneLineToSegmentedLine(lane.rightLineBoundry);
laneData.rightLine = segment;
lineDict[lane.rightLineBoundry] = segment;
}
if (lineDict.ContainsKey(lane.leftLineBoundry))
{
laneData.leftLine = lineDict[lane.leftLineBoundry];
}
else
{
var segment = LaneLineToSegmentedLine(lane.leftLineBoundry);
laneData.leftLine = segment;
lineDict[lane.leftLineBoundry] = segment;
}
laneDict.Add(lane, laneData);
}
connectedSegments = ConnectSegments(segments, settings);
const float correctionThreshold = 1f;
SegmentedLine3D prevMatch = null;
var index = 0;
try
{
foreach (var mapLine in lineDict.Values)
{
var progress = (float)index++ / lineDict.Count;
EditorUtility.DisplayProgressBar("Correcting HD map lines", $"Processing lane {index} of {lineDict.Count}", progress);
for (var i = 0; i < mapLine.lines.Count; ++i)
{
Vector3 start, end;
if (i == 0)
{
var startVec = mapLine.lines[i].Vector;
var startnVec = new Vector2(-startVec.z, startVec.x).normalized *correctionThreshold;
start = FindBestSegmentMatch(mapLine.lines[i].Start, startnVec, prevMatch, out prevMatch);
}
else
{
start = mapLine.lines[i - 1].End;
}
var vec = mapLine.lines[i].Vector;
if (i != mapLine.lines.Count - 1)
{
vec += mapLine.lines[i + 1].Vector;
}
var nVec = new Vector2(-vec.z, vec.x).normalized *correctionThreshold;
end = FindBestSegmentMatch(mapLine.lines[i].End, nVec, prevMatch, out prevMatch);
var width = mapLine.lines[i].width;
var color = mapLine.lines[i].color;
mapLine.lines[i] = new Line3D(start, end, width)
{
color = color
};
}
}
}
finally
{
EditorUtility.ClearProgressBar();
}
var result = new Dictionary <MapTrafficLane, LaneLineOverrideData>();
foreach (var kvp in laneDict)
{
var entry = new LaneLineOverrideData();
var rightPoints = new List <Vector3>();
rightPoints.Add(kvp.Value.rightLine.lines[0].Start);
for (var i = 0; i < kvp.Value.rightLine.lines.Count; ++i)
{
rightPoints.Add(kvp.Value.rightLine.lines[i].End);
}
entry.rightLineWorldPositions = rightPoints;
var leftPoints = new List <Vector3>();
leftPoints.Add(kvp.Value.leftLine.lines[0].Start);
for (var i = 0; i < kvp.Value.leftLine.lines.Count; ++i)
{
leftPoints.Add(kvp.Value.leftLine.lines[i].End);
}
entry.leftLineWorldPositions = leftPoints;
result.Add(kvp.Key, entry);
}
return(result);
}
