155 lines
6.1 KiB
C
155 lines
6.1 KiB
C
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// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include <memory>
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#include <vector>
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#include <carla/geom/Mesh.h>
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#include <carla/road/Road.h>
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#include <carla/road/LaneSection.h>
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#include <carla/road/Lane.h>
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#include <carla/rpc/OpendriveGenerationParameters.h>
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namespace carla {
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namespace geom {
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/// Mesh helper generator
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class MeshFactory {
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public:
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MeshFactory(rpc::OpendriveGenerationParameters params =
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rpc::OpendriveGenerationParameters());
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// =========================================================================
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// -- Map Related ----------------------------------------------------------
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// =========================================================================
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// -- Basic --
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/// Generates a mesh that defines a road
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std::unique_ptr<Mesh> Generate(const road::Road &road) const;
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/// Generates a mesh that defines a lane section
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std::unique_ptr<Mesh> Generate(const road::LaneSection &lane_section) const;
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/// Generates a mesh that defines a lane from a given s start and end
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std::unique_ptr<Mesh> Generate(
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const road::Lane &lane, const double s_start, const double s_end) const;
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/// Generates a mesh that defines a lane from a given s start and end with bigger tesselation
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std::unique_ptr<Mesh> GenerateTesselated(
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const road::Lane& lane, const double s_start, const double s_end) const;
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/// Generates a mesh that defines the whole lane
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std::unique_ptr<Mesh> Generate(const road::Lane &lane) const;
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/// Generates a mesh that defines the whole lane with bigger tesselation
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std::unique_ptr<Mesh> GenerateTesselated(const road::Lane& lane) const;
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/// Generates a mesh that defines a lane section
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void GenerateLaneSectionOrdered(const road::LaneSection &lane_section,
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std::map<carla::road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>>& result ) const;
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std::unique_ptr<Mesh> GenerateSidewalk(const road::LaneSection &lane_section) const;
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std::unique_ptr<Mesh> GenerateSidewalk(const road::Lane &lane) const;
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std::unique_ptr<Mesh> GenerateSidewalk(const road::Lane &lane, const double s_start, const double s_end) const;
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// -- Walls --
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/// Genrates a mesh representing a wall on the road corners to avoid
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/// cars falling down
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std::unique_ptr<Mesh> GenerateWalls(const road::LaneSection &lane_section) const;
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/// Generates a wall-like mesh at the right side of the lane
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std::unique_ptr<Mesh> GenerateRightWall(
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const road::Lane &lane, const double s_start, const double s_end) const;
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/// Generates a wall-like mesh at the left side of the lane
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std::unique_ptr<Mesh> GenerateLeftWall(
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const road::Lane &lane, const double s_start, const double s_end) const;
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// -- Chunked --
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/// Generates a list of meshes that defines a road with a maximum length
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std::vector<std::unique_ptr<Mesh>> GenerateWithMaxLen(
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const road::Road &road) const;
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/// Generates a list of meshes that defines a lane_section with a maximum length
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std::vector<std::unique_ptr<Mesh>> GenerateWithMaxLen(
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const road::LaneSection &lane_section) const;
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/// Generates a list of meshes that defines a road with a maximum length
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std::map<carla::road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> GenerateOrderedWithMaxLen(
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const road::Road &road) const;
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/// Generates a list of meshes that defines a lane_section with a maximum length
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std::map<carla::road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> GenerateOrderedWithMaxLen(
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const road::LaneSection &lane_section) const;
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/// Generates a list of meshes that defines a road safety wall with a maximum length
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std::vector<std::unique_ptr<Mesh>> GenerateWallsWithMaxLen(
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const road::Road &road) const;
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/// Generates a list of meshes that defines a lane_section safety wall with a maximum length
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std::vector<std::unique_ptr<Mesh>> GenerateWallsWithMaxLen(
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const road::LaneSection &lane_section) const;
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// -- Util --
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/// Generates a chunked road with all the features needed for simulation
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std::vector<std::unique_ptr<Mesh>> GenerateAllWithMaxLen(
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const road::Road &road) const;
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void GenerateAllOrderedWithMaxLen(const road::Road &road,
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std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>>& roads) const;
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std::unique_ptr<Mesh> MergeAndSmooth(std::vector<std::unique_ptr<Mesh>> &lane_meshes) const;
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// -- LaneMarks --
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void GenerateLaneMarkForRoad(const road::Road& road,
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std::vector<std::unique_ptr<Mesh>>& inout,
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std::vector<std::string>& outinfo ) const;
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// Generate for NOT center line AKA All lines but the one which id 0
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void GenerateLaneMarksForNotCenterLine(
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const road::LaneSection& lane_section,
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const road::Lane& lane,
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std::vector<std::unique_ptr<Mesh>>& inout,
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std::vector<std::string>& outinfo ) const;
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// Generate marks ONLY for line with ID 0
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void GenerateLaneMarksForCenterLine(
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const road::Road& road,
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const road::LaneSection& lane_section,
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const road::Lane& lane,
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std::vector<std::unique_ptr<Mesh>>& inout,
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std::vector<std::string>& outinfo ) const;
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// =========================================================================
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// -- Generation parameters ------------------------------------------------
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// =========================================================================
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/// Parameters for the road generation
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struct RoadParameters {
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float resolution = 2.0f;
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float max_road_len = 50.0f;
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float extra_lane_width = 1.0f;
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float wall_height = 0.6f;
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float vertex_width_resolution = 4.0f;
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// Road mesh smoothness:
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float max_weight_distance = 5.0f;
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float same_lane_weight_multiplier = 2.0f;
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float lane_ends_multiplier = 2.0f;
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};
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RoadParameters road_param;
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};
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} // namespace geom
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} // namespace carla
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