maliput_to_obj.cc File Reference

Detailed Description

Builds a dragway, multilane or malidrive road geometry and render the road surface to a WaveFront OBJ output file.

Note

1. It allows to create an OBJ file from different road geometry implementations. The maliput_backend flag will determine the backend to be used.
   • "dragway": The following flags are supported to use in order to create dragway road geometry: -num_lanes, -length, -lane_width, -shoulder_width, -maximum_height.
   • "multilane": yaml file path must be provided: -yaml_file.
   • "malidrive": xodr file path must be provided and the tolerance is optional: -xodr_file_path -linear_tolerance.
2. The applications possesses flags to modify the OBJ file builder: -obj_dir, -obj_file, -max_grid_unit, -min_grid_resolution, -draw_elevation_bounds, -simplify_mesh_threshold
3. An urdf file can also be created by passing -urdf flag.
4. The level of the logger could be setted by: -log_level.

#include <limits>
#include <string>
#include <gflags/gflags.h>
#include <maliput/common/filesystem.h>
#include <maliput/common/logger.h>
#include <maliput/common/maliput_abort.h>
#include <maliput/utility/generate_obj.h>
#include <maliput/utility/generate_urdf.h>
#include <yaml-cpp/yaml.h>
#include "integration/tools.h"
#include "maliput_gflags.h"

Include dependency graph for maliput_to_obj.cc:

Namespaces
	maliput
	maliput::integration

Functions
	COMMON_PROPERTIES_FLAGS ()
	MULTILANE_PROPERTIES_FLAGS ()
	DRAGWAY_PROPERTIES_FLAGS ()
	MALIDRIVE_PROPERTIES_FLAGS ()
	MALIPUT_OSM_PROPERTIES_FLAGS ()
	MALIPUT_APPLICATION_DEFINE_LOG_LEVEL_FLAG ()
	DEFINE_string (maliput_backend, "dragway", "Whether to use <dragway>, <multilane> or <malidrive>. Default is dragway.")
	DEFINE_bool (urdf, false, "Enable URDF file creation.")
	DEFINE_string (dirpath, ".", "Directory to contain rendered road surface")
	DEFINE_string (file_name_root, "maliput_to_obj", "Basename for output Wavefront OBJ and MTL files")
	DEFINE_double (max_grid_unit, maliput::utility::ObjFeatures().max_grid_unit, "Maximum size of a grid unit in the rendered mesh covering the " "road surface")
	DEFINE_double (min_grid_resolution, maliput::utility::ObjFeatures().min_grid_resolution, "Minimum number of grid-units in either lateral or longitudinal " "direction in the rendered mesh covering the road surface")
	DEFINE_bool (draw_elevation_bounds, maliput::utility::ObjFeatures().draw_elevation_bounds, "Whether to draw the elevation bounds")
	DEFINE_double (simplify_mesh_threshold, maliput::utility::ObjFeatures().simplify_mesh_threshold, "Optional tolerance for mesh simplification, in meters. Make it " "equal to the road linear tolerance to get a mesh size reduction " "while keeping geometrical fidelity.")
	DEFINE_bool (draw_arrows, maliput::utility::ObjFeatures().draw_arrows, "Whether to draw arrows for indicating the direction of the road ")
	DEFINE_bool (draw_branch_points, maliput::utility::ObjFeatures().draw_branch_points, "Whether to draw the branch points of the road")
	DEFINE_bool (draw_stripes, maliput::utility::ObjFeatures().draw_stripes, "Whether to draw stripes along boundaries of each lane")
	DEFINE_bool (draw_lane_haze, maliput::utility::ObjFeatures().draw_lane_haze, "Whether to draw the highlighting swath with boundaries of each lane")
int	main (int argc, char *argv[])

Function Documentation

COMMON_PROPERTIES_FLAGS()

COMMON_PROPERTIES_FLAGS

(

)

DEFINE_bool() [1/6]

DEFINE_bool	(	draw_arrows	,
		maliput::utility::ObjFeatures().	draw_arrows,
		"Whether to draw arrows for indicating the direction of the road "
	)

DEFINE_bool() [2/6]

DEFINE_bool	(	draw_branch_points	,
		maliput::utility::ObjFeatures().	draw_branch_points,
		"Whether to draw the branch points of the road"
	)

DEFINE_bool() [3/6]

DEFINE_bool	(	draw_elevation_bounds	,
		maliput::utility::ObjFeatures().	draw_elevation_bounds,
		"Whether to draw the elevation bounds"
	)

DEFINE_bool() [4/6]

DEFINE_bool	(	draw_lane_haze	,
		maliput::utility::ObjFeatures().	draw_lane_haze,
		"Whether to draw the highlighting swath with boundaries of each lane"
	)

DEFINE_bool() [5/6]

DEFINE_bool	(	draw_stripes	,
		maliput::utility::ObjFeatures().	draw_stripes,
		"Whether to draw stripes along boundaries of each lane"
	)

DEFINE_bool() [6/6]

DEFINE_bool	(	urdf	,
		false	,
		"Enable URDF file creation."
	)

DEFINE_double() [1/3]

DEFINE_double	(	max_grid_unit	,
		maliput::utility::ObjFeatures().	max_grid_unit,
		"Maximum size of a grid unit in the rendered mesh covering the " "road surface"
	)

DEFINE_double() [2/3]

DEFINE_double	(	min_grid_resolution	,
		maliput::utility::ObjFeatures().	min_grid_resolution,
		"Minimum number of grid-units in either lateral or longitudinal " "direction in the rendered mesh covering the road surface"
	)

DEFINE_double() [3/3]

DEFINE_double	(	simplify_mesh_threshold	,
		maliput::utility::ObjFeatures().	simplify_mesh_threshold,
		"Optional tolerance for mesh	simplification,
		in meters. Make it " "equal to the road linear tolerance to get a mesh size reduction " "while keeping geometrical fidelity."
	)

DEFINE_string() [1/3]

DEFINE_string	(	dirpath	,
		"."	,
		"Directory to contain rendered road surface"
	)

DEFINE_string() [2/3]

DEFINE_string	(	file_name_root	,
		"maliput_to_obj"	,
		"Basename for output Wavefront OBJ and MTL files"
	)

DEFINE_string() [3/3]

DEFINE_string	(	maliput_backend	,
		"dragway"	,
		"Whether to use <dragway>	,
		< multilane > or< malidrive >. Default is dragway."
	)

DRAGWAY_PROPERTIES_FLAGS()

DRAGWAY_PROPERTIES_FLAGS

(

)

main()

int main	(	int	argc,
		char *	argv[]
	)

MALIDRIVE_PROPERTIES_FLAGS()

MALIDRIVE_PROPERTIES_FLAGS

(

)

MALIPUT_APPLICATION_DEFINE_LOG_LEVEL_FLAG()

MALIPUT_APPLICATION_DEFINE_LOG_LEVEL_FLAG

(

)

MALIPUT_OSM_PROPERTIES_FLAGS()

MALIPUT_OSM_PROPERTIES_FLAGS

(

)

MULTILANE_PROPERTIES_FLAGS()

MULTILANE_PROPERTIES_FLAGS

(

)