Skip to content

Commit

Permalink
feat(lanelet2_map_validator): add test codes for existing validators (#…
Browse files Browse the repository at this point in the history 
…150)

* Added small maps for testing.
Added test codes using these maps.

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>

* Rearrange architecture of test directory.
Added regulatory_elements_details_for_crosswalks test

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>

* Removed old test programs

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>

* Removed test_regulatory_elements_details.cpp

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>

* Revised test (TestRegulatoryElementDetailsForTrafficLights, MissingRefers) to look into the loading errors

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>

* Added sample_map for testing a normal map

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>

* Reflect PR comments

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>

* Fixed detection area in sample_map.osm

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>

* Added autoware namespace to test codes

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>

---------

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
  • Loading branch information
@TaikiYamada4
TaikiYamada4 authored Nov 22, 2024
1 parent 2e13bf2 commit b8e4f83
Show file tree
Hide file tree
Showing 38 changed files with 11,296 additions and 621 deletions.
7 changes: 5 additions & 2 deletions map/autoware_lanelet2_map_validator/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -58,8 +58,11 @@ if(BUILD_TESTING)
)
endfunction()

add_validation_test(missing_regulatory_elements)
add_validation_test(regulatory_element_details)
add_validation_test(missing_regulatory_elements_for_stop_lines)
add_validation_test(missing_regulatory_elements_for_crosswalks)
add_validation_test(missing_regulatory_elements_for_traffic_lights)
add_validation_test(regulatory_elements_details_for_crosswalks)
add_validation_test(regulatory_elements_details_for_traffic_lights)
endif()

ament_auto_package(
Expand Down
2 changes: 1 addition & 1 deletion ...elet2_map_validator/docs/crosswalk/regulatory_element_details_for_crosswalks.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ The output issue marks "lanelet", "linestring" or "regulatory_element" as the **
| ---------------------------------------------------------------------------------------- | -------- | ------------------ | ---------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| "Refers of crosswalk regulatory element must have type of crosswalk." | Error | lanelet | There is a `crosswalk` subtype regulatory element whose `refers` is not a `crosswalk` subtype lanelet. | Check that the `refers` is a `crosswalk` subtype lanelet |
| "ref_line of crosswalk regulatory element must have type of stopline." | Error | linestring | There is a `crosswalk` subtype regulatory element whose `ref_line` is not a `stop_line` type linestring. | Check that the `ref_line` is a `stop_line` type linestring |
| "Crosswalk polygon of crosswalk regulatory element must have type of Crosswalk_polygon." | Error | polygon | There is a `crosswalk` subtype regulatory element whose `crosswalk_polygon` is not a `crosswalk_polygon` type polygon. | Check that the `crosswalk_polygon` mentioned in the regulatory element refers to a `crosswalk_polygon` type area. |
| "Crosswalk polygon of crosswalk regulatory element must have type of crosswalk_polygon." | Error | polygon | There is a `crosswalk` subtype regulatory element whose `crosswalk_polygon` is not a `crosswalk_polygon` type polygon. | Check that the `crosswalk_polygon` mentioned in the regulatory element refers to a `crosswalk_polygon` type area. |
| "Regulatory element of crosswalk must have lanelet of crosswalk(refers)." | Error | regulatory element | There is a `crosswalk` subtype regulatory element that has no `refers`es. | Write `refers` referring to a `crosswalk` subtype lanelet in the regulatory element |
| "Regulatory element of crosswalk must have only one lanelet of crosswalk(refers)." | Error | regulatory element | There is a `crosswalk` subtype regulatory element that has multiple `refers`es. | A `crosswalk` subtype regulatory element can have only one `refers`. Remove the `refers` that is not a crosswalk lanelet. |
| "Regulatory element of crosswalk does not have stop line(ref_line)." | Info | regulatory element | There is a `crosswalk` subtype regulatory element that has no `ref_line`s | Generally, there should be a stop line for the crosswalk. Be sure that the stop line exists or doesn't. |
Expand Down
2 changes: 1 addition & 1 deletion ...let2_map_validator/src/validators/crosswalk/regulatory_element_details_for_crosswalks.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -115,7 +115,7 @@ RegulatoryElementsDetailsForCrosswalksValidator::checkRegulatoryElementOfCrosswa
const auto & issue_poly = lanelet::validation::Issue(
lanelet::validation::Severity::Error, lanelet::validation::Primitive::Polygon,
lanelet::utils::getId(),
"Crosswalk polygon of crosswalk regulatory element must have type of Crosswalk_polygon.");
"Crosswalk polygon of crosswalk regulatory element must have type of crosswalk_polygon.");
lanelet::autoware::validation::checkPrimitivesType(
crosswalk_polygons, lanelet::autoware::Crosswalk::AutowareRoleNameString::CrosswalkPolygon,
issue_poly, issues);
Expand Down
0 ...est_describe_unused_validators_input.json → ...est_describe_unused_validators_input.json
View file
File renamed without changes.
0 ...st_describe_unused_validators_output.json → ...st_describe_unused_validators_output.json
View file
File renamed without changes.
0 ...2_map_validator/test/data/test_input.json → ..._validator/test/data/json/test_input.json
View file
File renamed without changes.
0 ...st_summarize_validator_results_input.json → ...st_summarize_validator_results_input.json
View file
File renamed without changes.
0 ...t_summarize_validator_results_output.json → ...t_summarize_validator_results_output.json
View file
File renamed without changes.
225 changes: 225 additions & 0 deletions ...p_validator/test/data/map/crosswalk/crosswalk_regulatory_element_with_multiple_refers.osm
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,225 @@
<?xml version="1.0" encoding="UTF-8"?>
<osm generator="VMB">
<MetaInfo format_version="1" map_version="3"/>
<node id="1" lat="35.90311164941" lon="139.93321316748">
<tag k="local_x" v="3733.8173"/>
<tag k="local_y" v="73727.7802"/>
<tag k="ele" v="19.3606"/>
</node>
<node id="2" lat="35.90320939325" lon="139.93343262505">
<tag k="local_x" v="3753.7401"/>
<tag k="local_y" v="73738.4056"/>
<tag k="ele" v="19.2972"/>
</node>
<node id="4" lat="35.90313379099" lon="139.93319826966">
<tag k="local_x" v="3732.4997"/>
<tag k="local_y" v="73730.2508"/>
<tag k="ele" v="19.3606"/>
</node>
<node id="5" lat="35.90323153486" lon="139.93341772728">
<tag k="local_x" v="3752.4225"/>
<tag k="local_y" v="73740.8762"/>
<tag k="ele" v="19.2972"/>
</node>
<node id="8" lat="35.90308555378" lon="139.93323072576">
<tag k="local_x" v="3735.3702"/>
<tag k="local_y" v="73724.8684"/>
<tag k="ele" v="19.3606"/>
</node>
<node id="9" lat="35.90318329759" lon="139.93345018329">
<tag k="local_x" v="3755.293"/>
<tag k="local_y" v="73735.4938"/>
<tag k="ele" v="19.2972"/>
</node>
<node id="12" lat="35.90312050245" lon="139.93336394515">
<tag k="local_x" v="3747.4346"/>
<tag k="local_y" v="73728.6136"/>
<tag k="ele" v="19.4901"/>
</node>
<node id="13" lat="35.90320613425" lon="139.93330587495">
<tag k="local_x" v="3742.2979"/>
<tag k="local_y" v="73738.169"/>
<tag k="ele" v="19.3342"/>
</node>
<node id="15" lat="35.90311179322" lon="139.93334454132">
<tag k="local_x" v="3745.673"/>
<tag k="local_y" v="73727.6667"/>
<tag k="ele" v="19.4901"/>
</node>
<node id="16" lat="35.90319742861" lon="139.93328647106">
<tag k="local_x" v="3740.5363"/>
<tag k="local_y" v="73737.2225"/>
<tag k="ele" v="19.3342"/>
</node>
<node id="19" lat="35.90319860143" lon="139.93328361742">
<tag k="local_x" v="3740.2802"/>
<tag k="local_y" v="73737.3554"/>
<tag k="ele" v="19.3398"/>
</node>
<node id="20" lat="35.90310780884" lon="139.93334429449">
<tag k="local_x" v="3745.6459"/>
<tag k="local_y" v="73727.225"/>
<tag k="ele" v="19.5744"/>
</node>
<node id="22" lat="35.90311865117" lon="139.93336826618">
<tag k="local_x" v="3747.8223"/>
<tag k="local_y" v="73728.404"/>
<tag k="ele" v="19.5843"/>
</node>
<node id="23" lat="35.90320841011" lon="139.93330702788">
<tag k="local_x" v="3742.4047"/>
<tag k="local_y" v="73738.4203"/>
<tag k="ele" v="19.338"/>
</node>
<node id="25" lat="35.90317105575" lon="139.93328165228">
<tag k="local_x" v="3740.0695"/>
<tag k="local_y" v="73734.302"/>
<tag k="ele" v="19.3035"/>
</node>
<node id="26" lat="35.90314904724" lon="139.93329681535">
<tag k="local_x" v="3741.4112"/>
<tag k="local_y" v="73731.8459"/>
<tag k="ele" v="19.3757"/>
</node>
<node id="28" lat="35.90314757165" lon="139.9333705265">
<tag k="local_x" v="3748.0613"/>
<tag k="local_y" v="73731.6096"/>
<tag k="ele" v="19.2955"/>
</node>
<node id="29" lat="35.90317348546" lon="139.93335228918">
<tag k="local_x" v="3746.4469"/>
<tag k="local_y" v="73734.5019"/>
<tag k="ele" v="19.3641"/>
</node>
<node id="32" lat="35.90308952562" lon="139.93329430753">
<tag k="local_x" v="3741.1128"/>
<tag k="local_y" v="73725.2463"/>
<tag k="ele" v="19.5112"/>
</node>
<node id="33" lat="35.90317803343" lon="139.93323563575">
<tag k="local_x" v="3735.9253"/>
<tag k="local_y" v="73735.1213"/>
<tag k="ele" v="19.3479"/>
</node>
<node id="35" lat="35.90308096695" lon="139.93327480307">
<tag k="local_x" v="3739.3423"/>
<tag k="local_y" v="73724.3162"/>
<tag k="ele" v="19.5112"/>
</node>
<node id="36" lat="35.90316947474" lon="139.93321613128">
<tag k="local_x" v="3734.1548"/>
<tag k="local_y" v="73734.1912"/>
<tag k="ele" v="19.3479"/>
</node>
<way id="3">
<nd ref="1"/>
<nd ref="2"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="6">
<nd ref="4"/>
<nd ref="5"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="10">
<nd ref="8"/>
<nd ref="9"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="14">
<nd ref="12"/>
<nd ref="13"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="17">
<nd ref="15"/>
<nd ref="16"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="27">
<nd ref="25"/>
<nd ref="26"/>
<tag k="type" v="stop_line"/>
<tag k="subtype" v="solid"/>
</way>
<way id="30">
<nd ref="28"/>
<nd ref="29"/>
<tag k="type" v="stop_line"/>
<tag k="subtype" v="solid"/>
</way>
<way id="34">
<nd ref="32"/>
<nd ref="33"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="37">
<nd ref="35"/>
<nd ref="36"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="24">
<nd ref="19"/>
<nd ref="20"/>
<nd ref="22"/>
<nd ref="23"/>
<tag k="type" v="crosswalk_polygon"/>
<tag k="area" v="yes"/>
</way>
<relation id="7">
<member type="way" role="left" ref="6"/>
<member type="way" role="right" ref="3"/>
<member type="relation" role="regulatory_element" ref="31"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="road"/>
<tag k="speed_limit" v="10"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="yes"/>
</relation>
<relation id="11">
<member type="way" role="left" ref="10"/>
<member type="way" role="right" ref="3"/>
<member type="relation" role="regulatory_element" ref="31"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="road"/>
<tag k="speed_limit" v="10"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="yes"/>
</relation>
<relation id="18">
<member type="way" role="left" ref="17"/>
<member type="way" role="right" ref="14"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="crosswalk"/>
<tag k="speed_limit" v="10"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="yes"/>
<tag k="participant:pedestrian" v="yes"/>
</relation>
<relation id="38">
<member type="way" role="left" ref="37"/>
<member type="way" role="right" ref="34"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="crosswalk"/>
<tag k="speed_limit" v="10"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="yes"/>
<tag k="participant:pedestrian" v="yes"/>
</relation>
<relation id="31">
<member type="way" role="crosswalk_polygon" ref="24"/>
<member type="way" role="ref_line" ref="27"/>
<member type="way" role="ref_line" ref="30"/>
<member type="relation" role="refers" ref="18"/>
<member type="relation" role="refers" ref="38"/>
<tag k="type" v="regulatory_element"/>
<tag k="subtype" v="crosswalk"/>
</relation>
</osm>
Loading

0 comments on commit b8e4f83

Please sign in to comment.