Comments (1)
Hi,
the input to the world model is in general object data; where this data is derived from is not specified. One can extract the data from internal simulator ground truth data (as e.g. done within the RssSensor integrated into CARLA), derive from processed sensor measurements, or from any other reliable data source.
The information required when using ad_rss_map_integration functionality is mainly defined by the RssObjectData struct which is passed to the functions in RssSceneCreation.
The unit tests provide some simple examples. You mainly need:
- map data of your environment in a form that ad_map_access can load it (e.g. an OpenDRIVE map)
- need to know/calculate the position, dimensions and dynamics of the vehicles you want to consider and perform map matching on it to relate it in the map to fill the ::ad::map::match::Object data of RssObjectData
- if traffic lights are relevant for the scenes, the state of the traffic lights is required to calculate the right of way correctly
- you can restrict the calculations on a certain intended route of the ego-vehicle, if you know it upfront and feed it into RssSceneCreation::appendScenes()
- and you have to select the ::ad::rss::world::RssDynamics and the ::ad::rss::map::RssMode you want to use for the calculations
These are the main steps, I'd say.
from ad-rss-lib.
Related Issues (20)
- Can the Ad-RSS-lib be used/integrate with other simulators like LGSVL/ROS world HOT 1
- LaneDirection estimation in RssObjectPositionExtractor::newLaneSegment HOT 2
- cmake ad_physics error HOT 1
- Always returning safe except when the Ego vehicle hits the leading vehicle HOT 2
- Issue with colcon building (duplicated dependency package spdlog) HOT 2
- "×××××× spdlog.cpp.o"can not be used when making a shared object; recompile with -fPIC HOT 3
- Carla-RSS "Build" process HOT 5
- Is this project dead? HOT 1
- No doxygen doku of map integration
- Question: Init object by metric coordinates in map_integration HOT 2
- Suppress spdlog HOT 2
- RSS Sensor crashes Carla Simulator-0.9.13 HOT 2
- Extended logging / response a log from RssCheck HOT 2
- Clang-format update HOT 1
- questoins about rss-lib document HOT 8
- compile error of boost lib HOT 2
- fatal error: odrSpiral.h: No such file or directory
- Unclear usage in the python example HOT 1
- complie failure HOT 2
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from ad-rss-lib.