01_dealing_with_lanelet_primitives

#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_core/geometry/Area.h>
#include <lanelet2_core/geometry/Lanelet.h>
#include <lanelet2_core/primitives/Area.h>
#include <lanelet2_core/primitives/Lanelet.h>
#include <lanelet2_core/primitives/LineString.h>
#include <lanelet2_core/primitives/Point.h>
#include <lanelet2_core/primitives/Polygon.h>
#include <lanelet2_core/utility/Units.h>#include "lanelet2_examples/internal/ExampleHelpers.h"// we want assert statements to work in release mode
#undef NDEBUG#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
#pragma GCC diagnostic ignored "-Wunused-variable"// we compare floats a couple of times and know this is save in this context
#pragma GCC diagnostic ignored "-Wfloat-equal"void part0Primitives();
void part1Points();
void part2LineStrings();
void part3Polygons();
void part4Lanelets();
void part5Areas();
void part6Geometry();int main() {part0Primitives();part1Points();part2LineStrings();part3Polygons();part4Lanelets();part5Areas();part6Geometry();return 0;
}void part0Primitives() {using namespace lanelet;using namespace lanelet::units::literals;  // this enables us to use _kmh for velocities// 创建一个3D点p(x=0, y=0, z=0)，getId()给3D点p一个唯一的idPoint3d p(utils::getId(), 0, 0, 0);// 点pCopy和点p共享一个数据Point3d pCopy = p;assert(p == pCopy);// 点p的x、y、z值可以重新赋予p.z() = 2;// 使用.setId()重新给点p赋予一个唯一的idp.setId(utils::getId());// 因为pCopy和p共享一个数据，所以pCopy的值也随p的值变化assert(p.id() == pCopy.id());assert(p.z() == pCopy.z());// 点有key-value形式的属性p.attributes()["type"] = "point";p.attributes()["pi"] = 3.14;p.attributes()["velocity"] = "5 kmh";assert(p.attributes() == pCopy.attributes());assert(p.attribute("type") == "point");// .asDouble()转成double型assert(!!p.attribute("pi").asDouble());// .asVelocity()转成速度型  assert(p.attribute("velocity").asVelocity() == 5_kmh);// .attributeOr(), 如果属性key不存在，或不能转换成.attributeOr()中设置的值的类型，则返回.attributeOr()中设置的值。否则返回对应的valueassert(p.attributeOr("nonexistent", -1) == -1);assert(p.attributeOr("type", 0) == 0);  // "point" can not be converted to a numberassert(p.attributeOr("velocity", 0_kmh) == 5_kmh);// ConstPoint3d类型的3D点不能直接对id和坐标进行修改ConstPoint3d pConst = p;assert(pConst.z() == 2);// pConst.z() = 3; // 报错// 但是可通过共享相同数据的Point3d类型数据对id和坐标进行修改p.z() = 3;assert(pConst.z() == 3);ConstPoint3d& pConstRef = p;assert(pConstRef.z() == 3);// 因为ConstPoint3d的id和坐标值不能进行修改，所以不能让Point3d类型的点和ConstPoints3d类型的点共享同一数据// Point3d pNonConst = pConst; // 报错// we can also access the underlying data (this is the thing that the point copies share). However this is not// really meant for daily usage:assert(p.constData() == pConst.constData());
}void part1Points() {using namespace lanelet;// x=1, y=2, z=3.Point3d p3d(utils::getId(), 1, 2, 3);assert(p3d.x() == 1);assert(p3d.y() == 2);assert(p3d.z() == 3);// BasicPoint which is actually an Eigen point and can be used in time critical computations:BasicPoint3d& p3dBasic = p3d.basicPoint();p3dBasic.z() = 4;assert(p3d.z() == 4);// BasicPoint3d类型的点可以进行数学运算BasicPoint3d pTwice = p3d.basicPoint() * 2;assert(pTwice.z() == 8);// 使用to2D将3D点转换为2D点Point2d p2d = utils::to2D(p3d);// 2D点和3D点的区别是没有Z坐标，但是实际上to2D转换得到的2D点和3D点仍然共享同一数据p2d.x() = 3;assert(p3d.x() == 3);assert(p3d.constData() == p2d.constData()); // 也可以使用to3D从2D点转换为3D点，且z值不会丢失Point3d p3dNew = utils::to3D(p2d);assert(p3dNew.z() == p3d.z());assert(p3dNew.constData() == p3d.constData());
}void part2LineStrings() {using namespace lanelet;Point3d p1{utils::getId(), 0, 0, 0};Point3d p2{utils::getId(), 1, 0, 0};Point3d p3{utils::getId(), 2, 0, 0};LineString3d ls(utils::getId(), {p1, p2, p3});// LineString3d类似std::vectorassert(ls[1] == p2);assert(ls.size() == 3);for (Point3d& p : ls) {assert(p.y() == 0);}ls.push_back(Point3d(utils::getId(), 3, 0, 0));assert(ls.size() == 4);ls.pop_back();assert(ls.size() == 3);// LineString3d也有key-value格式的属性，key和value可以从预定义的内容中选择ls.attributes()[AttributeName::Type] = AttributeValueString::LineThin;ls.attributes()[AttributeName::Subtype] = AttributeValueString::Dashed;// Segment3d类可以表示LineString3d中的一段，一个Segment3d包含两个端点// LineString3d的.segment函数按LineString3d中包含的点的顺序取出Segment3dassert(ls.numSegments() >= 2);Segment3d segment = ls.segment(1);assert(segment.first == p2);assert(segment.second == p3);// .invert()将LineString3d倒置LineString3d lsInv = ls.invert();//.front()取出LineString3d中的第一个点assert(lsInv.front() == p3);//.inverted()判断一个LineString3d是否是倒置的, 是则返回True, 否则返回Falseassert(lsInv.inverted()); //倒置的和原始的共享同一数据assert(lsInv.constData() == ls.constData()); // .invert()可叠加assert(lsInv != ls);LineString3d lsInvInv = lsInv.invert();assert(lsInvInv == ls);assert(lsInvInv.front() == p1);// ConstLineString3d不可修改的常数版本ConstLineString3d lsConst = ls;// lsConst.pop_back() // 报错ConstPoint3d p1Const = ls[0];  // const linestrings 返回 const pointsassert(lsConst.constData() == ls.constData());// 2D版本，和点的操作相同LineString2d ls2d = utils::to2D(ls);Point2d front2d = ls2d.front();assert(front2d == utils::to2D(p1));// ConstHybridLineString3d类，可使用toHybrid转换，其中的点是BasicPoint3d类，用于加速数学运算ConstHybridLineString3d lsHybrid = utils::toHybrid(ls);BasicPoint3d p1Basic = lsHybrid[0];assert(p1Basic.x() == p1.x());// BasicLineString3d类，用.basicLineString()转换，其中的点也是BasicPoint3d类，用于加速数学运算BasicLineString3d lsBasic = ls.basicLineString();assert(lsBasic.front() == lsHybrid.front());
}void part3Polygons() {using namespace lanelet;// Polygon3d和LineString3d类似，最大的区别是Polygon3d的最后一个点和第一个点也连成segmentPoint3d p1{utils::getId(), 0, 0, 0};Point3d p2{utils::getId(), 1, 0, 0};Point3d p3{utils::getId(), 2, -1, 0};Polygon3d poly(utils::getId(), {p1, p2, p3});assert(poly.size() == 3);assert(poly.numSegments() == 3); Segment3d lastSegment = poly.segment(2);assert(lastSegment.first == p3);assert(lastSegment.second == p1);// Polygon3d类的数据不能倒置，Polygon3d类总是按顺时针方向// poly.invert(); // no.ConstPolygon3d polyConst = poly;ConstHybridPolygon3d polyHybrid = utils::toHybrid(poly);ConstPolygon2d poly2dConst = utils::to2D(polyConst);assert(polyHybrid.constData() == poly2dConst.constData());
}void part4Lanelets() {using namespace lanelet;// lanelet使用两个LineString3d分别作为车道的左边界和右边界LineString3d left = examples::getLineStringAtY(1);LineString3d right = examples::getLineStringAtY(0);Lanelet lanelet(utils::getId(), left, right);assert(lanelet.leftBound() == left);assert(lanelet.rightBound() == right);// 可以通过.setLeftBound()改变lanelet车道的边界lanelet.setLeftBound(left);  // 通过.centerline()返回lanelet的中心线ConstLineString3d centerline = lanelet.centerline();// the centerline is cached, because computation is not so cheap. When we set a new boundary, the cache is clearedConstLineString3d centerline2 = lanelet.centerline();  // from the cacheassert(centerline2 == centerline);lanelet.setLeftBound(examples::getLineStringAtY(2));ConstLineString3d centerline3 = lanelet.centerline();assert(centerline3 != centerline);  // new centerline// 如果不是通过.setLeftBound()改变车道边界，而是直接改原始的车道边界，需要手动resetCache()，centerline才会发生变化right.push_back(Point3d(utils::getId(), 4, 0, 0));assert(centerline3 == lanelet.centerline());  // centerline is still the same, which is wrong.lanelet.resetCache();assert(centerline3 != lanelet.centerline());  // new centerline is computedright.pop_back();lanelet.resetCache();// Lanelet可以通过.invert()倒置，倒置后左右边界兑换，且左右边界作为LineString3d也被倒置Lanelet laneletInv = lanelet.invert();assert(laneletInv.leftBound().front() == lanelet.rightBound().back());assert(laneletInv.constData() == lanelet.constData());// .polygon3d()将Lanelet类转成CompoundPolygon3d类, CompoundPolygon3d类和Polygon3d类似，以左车道的第一个点起始，以右车道的第一个点结束，点总是顺时针排列CompoundPolygon3d polygon = lanelet.polygon3d();assert(polygon.size() == 6);                             // both boundaries have 3 pointsassert(polygon[0] == lanelet.leftBound().front());       // the polygon starts at the first point of the left boundassert(polygon.back() == lanelet.rightBound().front());  // and ends at the start of the right bound// Lanelet类没有2D或者3D一说，Lanelet类是没有量纲的// there is also a const version, but no 3d or 2d version (lanelets are "dimensionless").ConstLanelet laneletConst = lanelet;assert(laneletConst.constData() == lanelet.constData());ConstLineString3d leftConst = lanelet.leftBound();  // the bounds are now const as well// laneletConst.setLeftBound(left); // no// lanelets可以包含regulatory elementsassert(lanelet.regulatoryElements().empty());
}void part5Areas() {using namespace lanelet;// Area和Lanelet类似，但是Area是包含上右下左的闭合区域，按顺时针LineString3d top = examples::getLineStringAtY(2);LineString3d right = examples::getLineStringAtX(2).invert();LineString3d bottom = examples::getLineStringAtY(0).invert();LineString3d left = examples::getLineStringAtY(0);Area area(utils::getId(), {top, right, bottom, left});// .outerBound()得到Area的外边界LineStrings3d outer = area.outerBound();// .setOuterBound()设置Area的外边界area.setOuterBound(outer);// .outerBoundPolygon()将Area类转换成CompoundPolygon3d类CompoundPolygon3d outerPolygon = area.outerBoundPolygon();// Area类可以有内边界，但是内边界按逆时针排序assert(area.innerBounds().empty());// areas can be constConstArea areaConst = area;ConstLineStrings3d outerConst = areaConst.outerBound();  // now the outer bound linestrings are also const// area可以包含regulatory elementsassert(area.regulatoryElements().empty());
}void part6Geometry() {using namespace lanelet;// lanelet2 allows lots of geometry calculations with all kinds of primitives. This tutorial only shows some of them// to show you the basic idea. There are many more algorithms that you can find in the geometry folder in// lanelet2_core.// the primitives we are going to work withPoint3d point(utils::getId(), 1, 4, 1);LineString3d ls = examples::getLineStringAtY(2);  // linestring that goes from (0,2,0) to (2,2,0)Polygon3d poly = examples::getAPolygon();         // polygon with points (0,0,0), (2,0,0), (2, -2, 0)Lanelet lanelet = examples::getALanelet();        // lanelet that goes from x=0 to x=3 and extends from y=2 to y=0Area area = examples::getAnArea();                // quadratic area with the edge points (0,0,0) and (2,2,0)// 数学运算最好使用Hybrid类型ConstHybridLineString3d lsHybrid = utils::toHybrid(ls);ConstHybridPolygon3d polyHybrid = utils::toHybrid(poly);// the points, linestrings and polygons directly interface with boost.geometry:auto dP2Line3d = geometry::distance(point, lsHybrid);// 3d点的结果也是3d的assert(dP2Line3d > 2);// 2d点的结果也是2d的auto dP2Line2d = geometry::distance(utils::to2D(point), utils::to2D(lsHybrid));assert(dP2Line2d == 2);// other algorithms would be the length or the areaauto l3d = geometry::length(lsHybrid);assert(l3d == 2);auto ar = geometry::area(utils::to2D(polyHybrid));  // not defined in 3dassert(ar == 2);// lanelet2 provides more algorithms where boost.geometry lacks inplementations. For those implementations you don't// have to use the hybrid type:BasicPoint3d pProj = geometry::project(ls, point);  // 得到点在线上的投影点assert(pProj.y() == 2);ArcCoordinates arcCoordinates =geometry::toArcCoordinates(utils::to2D(ls), utils::to2D(point));  // transforms the point into arc coordinatesassert(arcCoordinates.distance == 2);                                 // signed distance to linestringassert(arcCoordinates.length == 1);                                   // length along linestring// bounding boxes can be calculated for all types:BoundingBox3d pointBox = geometry::boundingBox3d(point);  // trivial box for pointsBoundingBox3d lsBox = geometry::boundingBox3d(ls);BoundingBox2d laneletBox = geometry::boundingBox2d(lanelet);BoundingBox2d areaBox = geometry::boundingBox2d(area);// we can now use these boxes for efficient intersection estimation. Intersects returns true also if the boxes only// touch but the shared area is still 0.// 判断边框是否有交叉，如果有接触但是没有重叠也返回Trueassert(geometry::intersects(laneletBox, areaBox));assert(!geometry::intersects(pointBox, lsBox));// if you want more than an estimation you can use the primitives directly. Overlaps only returns true if the shared// area of the two primitives is >0. In 3d, the distance in z must also be smaller than a margin.assert(geometry::overlaps3d(area, lanelet, 3));
}

结语

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【c++】Lanelet2 Examples笔记（一）

【c++】Lanelet2 Examples笔记（一）

01_dealing_with_lanelet_primitives

结语

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