hdmap_input.h

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/******************************************************************************
 * Copyright 2018 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.
 *****************************************************************************/

#pragma once

#include <memory>
#include <string>
#include <vector>

#include "cyber/common/macros.h"
#include "modules/map/hdmap/hdmap.h"
#include "modules/map/hdmap/hdmap_common.h"
#include "modules/perception/base/hdmap_struct.h"
#include "modules/perception/lib/thread/mutex.h"

namespace apollo {
namespace perception {
namespace map {

class HDMapInput {
 public:
  // thread safe
  bool Init();
  bool Reset();
  bool GetRoiHDMapStruct(const base::PointD& pointd, const double distance,
                         std::shared_ptr<base::HdmapStruct> hdmap_struct_prt);
  bool GetNearestLaneDirection(const base::PointD& pointd,
                               Eigen::Vector3d* lane_direction);
  bool GetSignals(const Eigen::Vector3d& pointd, double forward_distance,
                  std::vector<apollo::hdmap::Signal>* signals);

 private:
  bool InitHDMap();
  bool InitInternal();

  void MergeBoundaryJunction(
      const std::vector<apollo::hdmap::RoadRoiPtr>& boundary,
      const std::vector<apollo::hdmap::JunctionInfoConstPtr>& junctions,
      std::vector<base::RoadBoundary>* road_boundaries_ptr,
      std::vector<base::PolygonDType>* road_polygons_ptr,
      std::vector<base::PolygonDType>* junction_polygons_ptr);

  bool GetRoadBoundaryFilteredByJunctions(
      const std::vector<base::RoadBoundary>& road_boundaries,
      const std::vector<base::PointCloud<base::PointD>>& junctions,
      std::vector<base::RoadBoundary>* flt_road_boundaries_ptr);

  void DownsamplePoints(const base::PointDCloudPtr& raw_cloud_ptr,
                        base::PointCloud<base::PointD>* polygon_ptr,
                        size_t min_points_num_for_sample = 15) const;

  void SplitBoundary(
      const base::PointCloud<base::PointD>& boundary_line,
      const std::vector<base::PointCloud<base::PointD>>& junctions,
      std::vector<base::PointCloud<base::PointD>>* boundary_line_vec_ptr);

  bool GetSignalsFromHDMap(const Eigen::Vector3d& pointd,
                           double forward_distance,
                           std::vector<apollo::hdmap::Signal>* signals);

  bool inited_ = false;
  lib::Mutex mutex_;
  std::unique_ptr<apollo::hdmap::HDMap> hdmap_;
  int hdmap_sample_step_ = 5;
  std::string hdmap_file_;

  DECLARE_SINGLETON(HDMapInput)
};

}  // namespace map
}  // namespace perception
}  // namespace apollo