Closed hcn1519 closed 4 months ago
You can map the ID of traffic lights by checking whether the polygons of the traffic lights in the Apollo HD Map's Signal and Autoware Vector maps overlap by a certain percentage.
[x] 1. List all traffic light related objects for both maps.
Apollo HD Map
signal { id { id: "signal_1" } boundary { point { x: 587058.85589504242 y: 4141604.0102615356 z: 5.4707951545715332 } point { x: 587059.47325801849 y: 4141603.8475570679 z: 5.4707951545715332 } point { x: 587059.47325801849 y: 4141603.8475570679 z: 3.9743266105651855 } point { x: 587058.85589504242 y: 4141604.0102615356 z: 3.9743266105651855 } } subsignal { id { id: "0" } type: CIRCLE location { x: 587059.16457557678 y: 4141603.9289073944 z: 5.122560977935791 } } subsignal { id { id: "1" } type: CIRCLE location { x: 587059.16457557678 y: 4141603.9289073944 z: 4.7225608825683594 } } subsignal { id { id: "2" } type: CIRCLE location { x: 587059.16457557678 y: 4141603.9289073944 z: 4.3225607872009277 } } overlap_id { id: "overlap_signal_1_lane_44" } overlap_id { id: "overlap_signal_1_lane_43" } overlap_id { id: "overlap_signal_1_lane_45" } overlap_id { id: "overlap_junction_I0_J0_signal_0_1" } type: MIX_3_VERTICAL stop_line { segment { line_segment { point { x: 587044.3645362854 y: 4141560.2021617889 } point { x: 587049.3931388855 y: 4141558.9247989655 } point { x: 587055.289273262 y: 4141557.3708648682 } } } } }
<way id="468"> <nd ref="466"/> <nd ref="467"/> <tag k="type" v="traffic_light"/> <tag k="subtype" v="red_yellow_green"/> <tag k="height" v="1.46000003814697"/> </way>
<node id="466" lat="37.41705226969418" lon="-122.01638274507728"> <tag k="mgrs_code" v="10SEG870415"/> <tag k="local_x" v="87039.2134"/> <tag k="local_y" v="41592.9489"/> <tag k="ele" v="4.5704"/> <tag k="x" v="-30.79523"/> <tag k="y" v="15.94909"/> </node> <node id="467" lat="37.417057744995795" lon="-122.01638085972475"> <tag k="mgrs_code" v="10SEG870415"/> <tag k="local_x" v="87039.3739"/> <tag k="local_y" v="41593.5581"/> <tag k="ele" v="4.5704"/> <tag k="x" v="-30.63468"/> <tag k="y" v="16.55828"/> </node>
{ "header": { "timestamp_sec": 1661458004.7851071, "module_name": "MAGGIE", "sequence_num": 1 }, "traffic_lights": [ { "color": "GREEN", "id": "signal_10", "confidence": 1 }, { "color": "RED", "id": "signal_0", "confidence": 1 }, { "color": "GREEN", "id": "signal_1", "confidence": 1 }, { "color": "RED", "id": "signal_2", "confidence": 1 }, { "color": "RED", "id": "signal_3", "confidence": 1 }, { "color": "RED", "id": "signal_4", "confidence": 1 }, { "color": "RED", "id": "signal_5", "confidence": 1 }, { "color": "RED", "id": "signal_6", "confidence": 1 }, { "color": "RED", "id": "signal_7", "confidence": 1 }, { "color": "RED", "id": "signal_8", "confidence": 1 }, { "color": "RED", "id": "signal_9", "confidence": 1 }, { "color": "GREEN", "id": "signal_11", "confidence": 1 }, { "color": "RED", "id": "signal_12", "confidence": 1 }, { "color": "RED", "id": "signal_13", "confidence": 1 }, { "color": "RED", "id": "signal_14", "confidence": 1 } ] }
https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/v1.2.0/10_scenario_creation/10_10_traffic_signal.html
You can map the ID of traffic lights by checking whether the polygons of the traffic lights in the Apollo HD Map's Signal and Autoware Vector maps overlap by a certain percentage.
[x] 1. List all traffic light related objects for both maps.
Apollo HD Map