From 5d5b5ff3ec7bb571bdb364b3253a578154b6f5e0 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 28 Feb 2025 17:57:37 +0900 Subject: [PATCH 01/17] feat(autoware_lanelet2_utility): add kind Signed-off-by: Mamoru Sobue --- .../autoware_lanelet2_utility/CMakeLists.txt | 33 + common/autoware_lanelet2_utility/README.md | 36 + .../autoware_lanelet2_utility/kind.hpp | 67 + .../media/nomenclature/adjacent.drawio.svg | 208 ++ .../boundary_entry_exit.drawio.svg | 76 + .../media/nomenclature/bundle.drawio.svg | 506 +++++ .../media/nomenclature/connected.drawio.svg | 70 + .../media/nomenclature/driving.drawio.svg | 424 ++++ .../media/nomenclature/following.drawio.svg | 604 ++++++ .../media/nomenclature/merging.drawio.svg | 289 +++ .../nomenclature/nomenclature.drawio.svg | 693 +++++++ .../media/nomenclature/opposite.drawio.svg | 411 ++++ .../opposite_direction.drawio.svg | 616 ++++++ .../media/nomenclature/previous.drawio.svg | 481 +++++ .../nomenclature/same_direction.drawio.svg | 209 ++ .../media/nomenclature/sequence.drawio.svg | 562 ++++++ .../media/nomenclature/sibling.drawio.svg | 603 ++++++ common/autoware_lanelet2_utility/package.xml | 25 + .../sample_map/road_shoulder/highway.osm | 346 ++++ .../sample_map/road_shoulder/pudo.osm | 1753 +++++++++++++++++ .../scripts/lanelet_anonymization_local.py | 76 + common/autoware_lanelet2_utility/src/kind.cpp | 42 + .../autoware_lanelet2_utility/test/kind.cpp | 80 + .../test/local_projector.hpp | 54 + 24 files changed, 8264 insertions(+) create mode 100644 common/autoware_lanelet2_utility/CMakeLists.txt create mode 100644 common/autoware_lanelet2_utility/README.md create mode 100644 common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/kind.hpp create mode 100644 common/autoware_lanelet2_utility/media/nomenclature/adjacent.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/nomenclature/boundary_entry_exit.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/nomenclature/bundle.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/nomenclature/connected.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/nomenclature/driving.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/nomenclature/following.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/nomenclature/merging.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/nomenclature/nomenclature.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/nomenclature/opposite.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/nomenclature/opposite_direction.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/nomenclature/previous.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/nomenclature/same_direction.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/nomenclature/sequence.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/nomenclature/sibling.drawio.svg create mode 100644 common/autoware_lanelet2_utility/package.xml create mode 100644 common/autoware_lanelet2_utility/sample_map/road_shoulder/highway.osm create mode 100644 common/autoware_lanelet2_utility/sample_map/road_shoulder/pudo.osm create mode 100755 common/autoware_lanelet2_utility/scripts/lanelet_anonymization_local.py create mode 100644 common/autoware_lanelet2_utility/src/kind.cpp create mode 100644 common/autoware_lanelet2_utility/test/kind.cpp create mode 100644 common/autoware_lanelet2_utility/test/local_projector.hpp diff --git a/common/autoware_lanelet2_utility/CMakeLists.txt b/common/autoware_lanelet2_utility/CMakeLists.txt new file mode 100644 index 000000000..da576dc0b --- /dev/null +++ b/common/autoware_lanelet2_utility/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required(VERSION 3.8) +project(autoware_lanelet2_utility) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/kind.cpp +) + +if(BUILD_TESTING) + find_package(ament_cmake_ros REQUIRED) + ament_auto_find_test_dependencies() + + file(GLOB_RECURSE test_files test/*.cpp) + + foreach (test_file IN LISTS test_files) + get_filename_component(test_file_name ${test_file} NAME) + ament_auto_add_gtest(${test_file_name}_${PROJECT_NAME} ${test_file}) + target_link_libraries(${test_file_name}_${PROJECT_NAME} + ${PROJECT_NAME} + ) + endforeach() +endif() + +ament_auto_package(INSTALL_TO_SHARE + sample_map +) + +install(PROGRAMS + scripts/lanelet_anonymization_local.py + DESTINATION lib/${PROJECT_NAME} +) diff --git a/common/autoware_lanelet2_utility/README.md b/common/autoware_lanelet2_utility/README.md new file mode 100644 index 000000000..89de145ba --- /dev/null +++ b/common/autoware_lanelet2_utility/README.md @@ -0,0 +1,36 @@ +# autoware_lanelet2_utility + +## Nomenclature + +This package aims to strictly define the meaning of several words To disambiguate the documentation and API's scope. In the table below, `codespace` words are given specific meanings when used in API and API description. _italic_ words are emphasized to indicate that it refers to social common sense which often comes with ambiguity. To help clarify the meaning, illustration is provided. "Lanelet" refers to the entity of a`lanelet::Lanelet` object in order to distinguish with the word "lane" used in social customs. `A` and `B` stands for Lanelets objects. + +| Word | Meaning | Illustration | +| --------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `driving` | The vehicle position belongs to the designated Lanelet. | In each map, green Lanelet are the `driving` lanes of the vehicle.
![driving](./media/nomenclature/driving.drawio.svg) | +| `boundary`,
`entry`,
`exit` | The `boundary` of a Lanelet refers to the left or right Linestring. | ![boundary_entry_exit](./media/nomenclature/boundary_entry_exit.drawio.svg) | +| `adjacent` | If A is `adjacent` to B, A and B share a common `boundary` with same direction either on the left or right side. | In each map, orange Lanelet is `adjacent` to green Lanelet.
![adjacent](./media/nomenclature/adjacent.drawio.svg) | +| `same_direction` | Lanelet A and Lanelet B are `same_direction` if A and B are directly or indirectly `adjacent` to each other. | In each map, orange Lanelets are `same_dirction` as green Lanelet.
![same_direction](./media/nomenclature/same_direction.drawio.svg) | +| `bundle` | A `bundle` refers to a transitive closure set of Lanelets which are `same_direction` to each other. | The enclosed sets of Lanelets are `bundle`s.
![bundle](./media/nomenclature/bundle.drawio.svg) | +| `opposite` | If A is `opposite` to B, A and B share a common `boundary` with opposite direction. | In the first map, green Lanelet and orange Lanelet are `opposite` to each other.
In the second map, two red Lanelets are not `opposite` relation because they do not share a common LineString.
![opposite](./media/nomenclature/opposite.drawio.svg) | +| `opposite_direction` | If A and B are `opposite_direction`, the bundle of A and B are directly `opposite` to each other. | In the each map, green Lanelet and orange Lanelet are `opposite_direction` becauase their `bundle`s(enclosed in dotted line) are `opposite` relation.
![opposite_direction](./media/nomenclature/opposite_direction.drawio.svg) | +| `connected` | A is `connected` to(from) B if and only if the `exit`(`entry`) of A is identical to the `entry`(`exit`) of B. | A is connected to B, and B is connected from A.
![connected](./media/nomenclature/connected.drawio.svg) | +| `following` | The `following` Lanelets of A is the list of Lanelets to which A is `connected`. | In each map, orange Lanelets are the `following` of green Lanelet.
![following](./media/nomenclature/following.drawio.svg) | +| `previous` | The `previous` Lanelets of A is the list of Lanelets from which A is `connected`. | In each map, orange Lanelets are the `previous` of green Lanelet.
![previous](./media/nomenclature/previous.drawio.svg) | +| `conflicting` | A is `conflicting` with B if A and B are geometrically intersecting. | | +| `merging` | A is said to be `merging` Lanelet of B if and only if A is `conflicting` with B and both A and B are connected to a common Lanelet. | In each map, one of the orange Lanelet is a `mergin` Lanelet of the other orange Lanelet.
![merging](./media/nomenclature/merging.drawio.svg) | +| `sibling` | The designated Lanelets are refered to as `sibling` if all of them are `connected` from a common Lanelet. | In each map, orange Lanelets are `sibling`s.
![sibling](./media/nomenclature/sibling.drawio.svg) | +| `oncoming` | TBD | TBD | +| `upcoming` | TBD | TBD | +| `sequence` | `sequence` is a list of Lanelets whose each element is `connected from` or `adjacent to` the previous element. | ![sequence](./media/nomenclature/sequence.drawio.svg) | + +## API description + +## How to craft test map + +On the VMB, create the map in local projector(or convert it to local projector from MGRS projector) and save the file as ``. Next, select the point to use as (0.0, 0.0) and pass its `` and run + +```bash +ros2 run autoware_lanelet2_utility lanelet_anonymization_local.py +``` + +Then the coordinate of the specified point is (0, 0) on the loaded map diff --git a/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/kind.hpp b/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/kind.hpp new file mode 100644 index 000000000..1d5225ff4 --- /dev/null +++ b/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/kind.hpp @@ -0,0 +1,67 @@ +// Copyright 2025 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE_LANELET2_UTILITY__KIND_HPP_ +#define AUTOWARE_LANELET2_UTILITY__KIND_HPP_ + +#include + +namespace autoware::lanelet2_utility +{ + +inline namespace kind +{ +static constexpr const char * k_road_lane_type = "road"; +static constexpr const char * k_shoulder_lane_type = "road_shoulder"; +static constexpr const char * k_bicycle_lane_type = "bicycle_lane"; + +/* + * TODO(soblin): distinguish road lane type +class RoadLane : public lanelet::ConstLanelet +{ +}; + +class RoadShoulderLane : public lanelet::ConstLanelet +{ +}; + +class BicycleLane : public lanelet::ConstLanelet +{ +}; +*/ + +/** + * @brief check if the given lanelet type has "road" subtype + * @param [in] lanelet input lanelet + * @return if the lanelet is road or not + */ +bool is_road_lane(const lanelet::ConstLanelet & lanelet); + +/** + * @brief check if the given lanelet type has "road_shoulder" subtype + * @param [in] lanelet input lanelet + * @return if the lanelet is road_shoulder or not + */ +bool is_shoulder_lane(const lanelet::ConstLanelet & lanelet); + +/** + * @brief check if the given lanelet type has "bicycle_lane" subtype + * @param [in] lanelet input lanelet + * @return if the lanelet is bicicye_lane or not + */ +bool is_bicycle_lane(const lanelet::ConstLanelet & lanelet); +} // namespace kind + +} // namespace autoware::lanelet2_utility +#endif // AUTOWARE_LANELET2_UTILITY__KIND_HPP_ diff --git a/common/autoware_lanelet2_utility/media/nomenclature/adjacent.drawio.svg b/common/autoware_lanelet2_utility/media/nomenclature/adjacent.drawio.svg new file mode 100644 index 000000000..82f2bd174 --- /dev/null +++ b/common/autoware_lanelet2_utility/media/nomenclature/adjacent.drawio.svg @@ -0,0 +1,208 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/common/autoware_lanelet2_utility/media/nomenclature/boundary_entry_exit.drawio.svg b/common/autoware_lanelet2_utility/media/nomenclature/boundary_entry_exit.drawio.svg new file mode 100644 index 000000000..9ef3ceff7 --- /dev/null +++ b/common/autoware_lanelet2_utility/media/nomenclature/boundary_entry_exit.drawio.svg @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + +
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+ + 3 + + + + + + + Text is not SVG - cannot display + + + diff --git a/common/autoware_lanelet2_utility/media/nomenclature/sibling.drawio.svg b/common/autoware_lanelet2_utility/media/nomenclature/sibling.drawio.svg new file mode 100644 index 000000000..88794ff6a --- /dev/null +++ b/common/autoware_lanelet2_utility/media/nomenclature/sibling.drawio.svg @@ -0,0 +1,603 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/common/autoware_lanelet2_utility/package.xml b/common/autoware_lanelet2_utility/package.xml new file mode 100644 index 000000000..a7009db32 --- /dev/null +++ b/common/autoware_lanelet2_utility/package.xml @@ -0,0 +1,25 @@ + + + + autoware_lanelet2_utility + 0.0.0 + The autoware_lanelet2_utility package + Mamoru Sobue + Apache License 2.0 + + Mamoru Sobue + + ament_cmake_auto + autoware_cmake + + autoware_lanelet2_extension + visualization_msgs + + ament_cmake_ros + ament_index_cpp + autoware_pyplot + + + ament_cmake + + diff --git a/common/autoware_lanelet2_utility/sample_map/road_shoulder/highway.osm b/common/autoware_lanelet2_utility/sample_map/road_shoulder/highway.osm new file mode 100644 index 000000000..f28997118 --- /dev/null +++ b/common/autoware_lanelet2_utility/sample_map/road_shoulder/highway.osm @@ -0,0 +1,346 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/common/autoware_lanelet2_utility/sample_map/road_shoulder/pudo.osm b/common/autoware_lanelet2_utility/sample_map/road_shoulder/pudo.osm new file mode 100644 index 000000000..669f1c0f8 --- /dev/null +++ b/common/autoware_lanelet2_utility/sample_map/road_shoulder/pudo.osm @@ -0,0 +1,1753 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/common/autoware_lanelet2_utility/scripts/lanelet_anonymization_local.py b/common/autoware_lanelet2_utility/scripts/lanelet_anonymization_local.py new file mode 100755 index 000000000..3b77b9533 --- /dev/null +++ b/common/autoware_lanelet2_utility/scripts/lanelet_anonymization_local.py @@ -0,0 +1,76 @@ +#!/usr/bin/env python3 + +# Copyright 2023 TIER IV, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse +import xml.etree.ElementTree as ET + +origin_offset_x = 0.0 +origin_offset_y = 0.0 + + +def update_osm_latlon(osm_file, output_file, origin_id): + tree = ET.parse(osm_file) + root = tree.getroot() + + old_origin_local_xy = None + + for node in root.findall("node"): + local_x_tag = node.find(".//tag[@k='local_x']") + local_y_tag = node.find(".//tag[@k='local_y']") + + if node.attrib["id"] == str(origin_id): + old_origin_local_xy = (float(local_x_tag.attrib["v"]), float(local_y_tag.attrib["v"])) + local_x_tag.set("v", str(0.0 - origin_offset_x)) + local_y_tag.set("v", str(0.0 - origin_offset_y)) + break + + if old_origin_local_xy is None: + print(f"could not find point of id {origin_id}") + return + + (old_origin_x, old_origin_y) = old_origin_local_xy + for node in root.findall("node"): + # make origin value exactly (0.0, 0.0) + if node.attrib["id"] == str(origin_id): + continue + + local_x_tag = node.find(".//tag[@k='local_x']") + local_y_tag = node.find(".//tag[@k='local_y']") + + local_x = float(local_x_tag.attrib["v"]) + local_y = float(local_y_tag.attrib["v"]) + adj_local_x = local_x - old_origin_x + adj_local_y = local_y - old_origin_y + + local_x_tag.set("v", str(adj_local_x - origin_offset_x)) + local_y_tag.set("v", str(adj_local_y - origin_offset_y)) + node.set("lat", str(0.0)) + node.set("lon", str(0.0)) + + tree.write(output_file, encoding="UTF-8", xml_declaration=True) + print(f"Updated OSM file created: {output_file}") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser( + description="Update OSM file with new origin and adjusted coordinates." + ) + parser.add_argument("input_osm", help="Path to the input OSM file") + parser.add_argument("output_osm", help="Path to the output OSM file") + parser.add_argument("origin_id", help="id of the point to reset as origin", type=int) + args = parser.parse_args() + + update_osm_latlon(args.input_osm, args.output_osm, args.origin_id) diff --git a/common/autoware_lanelet2_utility/src/kind.cpp b/common/autoware_lanelet2_utility/src/kind.cpp new file mode 100644 index 000000000..12a6e98e1 --- /dev/null +++ b/common/autoware_lanelet2_utility/src/kind.cpp @@ -0,0 +1,42 @@ +// Copyright 2025 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include + +namespace autoware::lanelet2_utility +{ + +inline namespace kind +{ +bool is_road_lane(const lanelet::ConstLanelet & lanelet) +{ + return strcmp(lanelet.attributeOr(lanelet::AttributeName::Subtype, "none"), k_road_lane_type) == + 0; +} + +bool is_shoulder_lane(const lanelet::ConstLanelet & lanelet) +{ + return strcmp( + lanelet.attributeOr(lanelet::AttributeName::Subtype, "none"), k_shoulder_lane_type) == 0; +} + +bool is_bicycle_lane(const lanelet::ConstLanelet & lanelet) +{ + return strcmp( + lanelet.attributeOr(lanelet::AttributeName::Subtype, "none"), k_bicycle_lane_type) == 0; +} +} // namespace kind +} // namespace autoware::lanelet2_utility diff --git a/common/autoware_lanelet2_utility/test/kind.cpp b/common/autoware_lanelet2_utility/test/kind.cpp new file mode 100644 index 000000000..d4787b8bd --- /dev/null +++ b/common/autoware_lanelet2_utility/test/kind.cpp @@ -0,0 +1,80 @@ +// Copyright 2025 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "local_projector.hpp" + +#include +#include +#include + +#include +#include + +#include +#include + +namespace fs = std::filesystem; + +class TestWithRoadShoulderHighwayMap : public ::testing::Test +{ +protected: + lanelet::LaneletMapConstPtr lanelet_map_ptr_{nullptr}; + + void SetUp() override + { + const auto sample_map_dir = + fs::path(ament_index_cpp::get_package_share_directory("autoware_lanelet2_utility")) / + "sample_map"; + const auto road_shoulder_highway_map_path = sample_map_dir / "road_shoulder" / "highway.osm"; + + lanelet_map_ptr_ = load_local_coordinate_map(road_shoulder_highway_map_path.string()); + } +}; + +TEST_F(TestWithRoadShoulderHighwayMap, LoadCheck) +{ + const auto point8 = lanelet_map_ptr_->pointLayer.get(8); + EXPECT_EQ(point8.x(), 0.0); + EXPECT_EQ(point8.y(), 0.0); + const auto point10 = lanelet_map_ptr_->pointLayer.get(10); + EXPECT_EQ(point10.x(), 4.0); + EXPECT_EQ(point10.y(), 0.0); + const auto point15 = lanelet_map_ptr_->pointLayer.get(15); + EXPECT_EQ(point15.x(), 8.0); + EXPECT_EQ(point15.y(), 0.0); +} + +TEST_F(TestWithRoadShoulderHighwayMap, is_road_lane) +{ + const auto ll = lanelet_map_ptr_->laneletLayer.get(1275); + EXPECT_EQ(autoware::lanelet2_utility::is_road_lane(ll), true); + EXPECT_EQ(autoware::lanelet2_utility::is_shoulder_lane(ll), false); + EXPECT_EQ(autoware::lanelet2_utility::is_bicycle_lane(ll), false); +} + +TEST_F(TestWithRoadShoulderHighwayMap, is_shoulder_lane) +{ + const auto ll = lanelet_map_ptr_->laneletLayer.get(67); + EXPECT_EQ(autoware::lanelet2_utility::is_road_lane(ll), false); + EXPECT_EQ(autoware::lanelet2_utility::is_shoulder_lane(ll), true); + EXPECT_EQ(autoware::lanelet2_utility::is_bicycle_lane(ll), false); +} + +// TODO(soblin): add and use bicycle lane map + +int main(int argc, char ** argv) +{ + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/common/autoware_lanelet2_utility/test/local_projector.hpp b/common/autoware_lanelet2_utility/test/local_projector.hpp new file mode 100644 index 000000000..00e56e8cb --- /dev/null +++ b/common/autoware_lanelet2_utility/test/local_projector.hpp @@ -0,0 +1,54 @@ +// Copyright 2025 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef LOCAL_PROJECTOR_HPP_ +#define LOCAL_PROJECTOR_HPP_ + +#include +#include +#include + +#include +#include + +class LocalProjector : public lanelet::Projector +{ +public: + LocalProjector() : Projector(lanelet::Origin(lanelet::GPSPoint{})) {} + + lanelet::BasicPoint3d forward(const lanelet::GPSPoint & gps) const override // NOLINT + { + return lanelet::BasicPoint3d{0.0, 0.0, gps.ele}; + } + + [[nodiscard]] lanelet::GPSPoint reverse(const lanelet::BasicPoint3d & point) const override + { + return lanelet::GPSPoint{0.0, 0.0, point.z()}; + } +}; + +inline lanelet::LaneletMapConstPtr load_local_coordinate_map(const std::string & path) +{ + lanelet::ErrorMessages errors{}; + LocalProjector projector; + auto lanelet_map_ptr_mut = lanelet::load(path, projector, &errors); + for (auto point : lanelet_map_ptr_mut->pointLayer) { + point.x() = point.attribute("local_x").asDouble().value(); + point.y() = point.attribute("local_y").asDouble().value(); + } + + return lanelet::LaneletMapConstPtr{std::move(lanelet_map_ptr_mut)}; +} + +#endif // LOCAL_PROJECTOR_HPP_ From ae88cb101b2e8885dfcd7ea8d09b099104a8a61a Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 3 Mar 2025 04:45:28 +0900 Subject: [PATCH 02/17] adding topology, API description Signed-off-by: Mamoru Sobue --- common/autoware_lanelet2_utility/README.md | 164 ++++- .../autoware_lanelet2_utility/kind.hpp | 7 +- .../autoware_lanelet2_utility/topology.hpp | 149 ++++ .../media/api/left_lanelet.drawio.svg | 648 +++++++++++++++++ .../media/api/left_lanelets.drawio.svg | 672 ++++++++++++++++++ .../media/api/leftmost_lanelet.drawio.svg | 629 ++++++++++++++++ .../media/api/right_lanelets.drawio.svg | 470 ++++++++++++ .../api/right_opposite_lanelet.drawio.svg | 640 +++++++++++++++++ .../media/api/rightmost_lanelet.drawio.svg | 435 ++++++++++++ common/autoware_lanelet2_utility/src/kind.cpp | 4 - .../src/topology.cpp | 70 ++ 11 files changed, 3858 insertions(+), 30 deletions(-) create mode 100644 common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp create mode 100644 common/autoware_lanelet2_utility/media/api/left_lanelet.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/api/left_lanelets.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/api/leftmost_lanelet.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/api/right_lanelets.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/api/right_opposite_lanelet.drawio.svg create mode 100644 common/autoware_lanelet2_utility/media/api/rightmost_lanelet.drawio.svg create mode 100644 common/autoware_lanelet2_utility/src/topology.cpp diff --git a/common/autoware_lanelet2_utility/README.md b/common/autoware_lanelet2_utility/README.md index 89de145ba..2c2955a3f 100644 --- a/common/autoware_lanelet2_utility/README.md +++ b/common/autoware_lanelet2_utility/README.md @@ -2,29 +2,153 @@ ## Nomenclature -This package aims to strictly define the meaning of several words To disambiguate the documentation and API's scope. In the table below, `codespace` words are given specific meanings when used in API and API description. _italic_ words are emphasized to indicate that it refers to social common sense which often comes with ambiguity. To help clarify the meaning, illustration is provided. "Lanelet" refers to the entity of a`lanelet::Lanelet` object in order to distinguish with the word "lane" used in social customs. `A` and `B` stands for Lanelets objects. - -| Word | Meaning | Illustration | -| --------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| `driving` | The vehicle position belongs to the designated Lanelet. | In each map, green Lanelet are the `driving` lanes of the vehicle.
![driving](./media/nomenclature/driving.drawio.svg) | -| `boundary`,
`entry`,
`exit` | The `boundary` of a Lanelet refers to the left or right Linestring. | ![boundary_entry_exit](./media/nomenclature/boundary_entry_exit.drawio.svg) | -| `adjacent` | If A is `adjacent` to B, A and B share a common `boundary` with same direction either on the left or right side. | In each map, orange Lanelet is `adjacent` to green Lanelet.
![adjacent](./media/nomenclature/adjacent.drawio.svg) | -| `same_direction` | Lanelet A and Lanelet B are `same_direction` if A and B are directly or indirectly `adjacent` to each other. | In each map, orange Lanelets are `same_dirction` as green Lanelet.
![same_direction](./media/nomenclature/same_direction.drawio.svg) | -| `bundle` | A `bundle` refers to a transitive closure set of Lanelets which are `same_direction` to each other. | The enclosed sets of Lanelets are `bundle`s.
![bundle](./media/nomenclature/bundle.drawio.svg) | -| `opposite` | If A is `opposite` to B, A and B share a common `boundary` with opposite direction. | In the first map, green Lanelet and orange Lanelet are `opposite` to each other.
In the second map, two red Lanelets are not `opposite` relation because they do not share a common LineString.
![opposite](./media/nomenclature/opposite.drawio.svg) | -| `opposite_direction` | If A and B are `opposite_direction`, the bundle of A and B are directly `opposite` to each other. | In the each map, green Lanelet and orange Lanelet are `opposite_direction` becauase their `bundle`s(enclosed in dotted line) are `opposite` relation.
![opposite_direction](./media/nomenclature/opposite_direction.drawio.svg) | -| `connected` | A is `connected` to(from) B if and only if the `exit`(`entry`) of A is identical to the `entry`(`exit`) of B. | A is connected to B, and B is connected from A.
![connected](./media/nomenclature/connected.drawio.svg) | -| `following` | The `following` Lanelets of A is the list of Lanelets to which A is `connected`. | In each map, orange Lanelets are the `following` of green Lanelet.
![following](./media/nomenclature/following.drawio.svg) | -| `previous` | The `previous` Lanelets of A is the list of Lanelets from which A is `connected`. | In each map, orange Lanelets are the `previous` of green Lanelet.
![previous](./media/nomenclature/previous.drawio.svg) | -| `conflicting` | A is `conflicting` with B if A and B are geometrically intersecting. | | -| `merging` | A is said to be `merging` Lanelet of B if and only if A is `conflicting` with B and both A and B are connected to a common Lanelet. | In each map, one of the orange Lanelet is a `mergin` Lanelet of the other orange Lanelet.
![merging](./media/nomenclature/merging.drawio.svg) | -| `sibling` | The designated Lanelets are refered to as `sibling` if all of them are `connected` from a common Lanelet. | In each map, orange Lanelets are `sibling`s.
![sibling](./media/nomenclature/sibling.drawio.svg) | -| `oncoming` | TBD | TBD | -| `upcoming` | TBD | TBD | -| `sequence` | `sequence` is a list of Lanelets whose each element is `connected from` or `adjacent to` the previous element. | ![sequence](./media/nomenclature/sequence.drawio.svg) | +This package aims to strictly define the meaning of several words to clarify the documentation and API's scope. In the table below, `codespace` words are given specific meanings when used in the API and API description. _italic_ words are emphasized to indicate that it refers to social common sense which often comes with ambiguity. To help disambiguate the meaning, illustration is provided. "Lanelet" refers to the entity of a`lanelet::ConstLanelet` object in order to distinguish with the word "lane" used in social customs. `A` and `B` stands for some Lanelets objects. + +| Word | Meaning | Illustration | +| :-------------------------------- | :---------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | +| `driving` | The vehicle position belongs to the designated Lanelet. | In each map, green Lanelet are the `driving` lanes of the vehicle.
![driving](./media/nomenclature/driving.drawio.svg) | +| `boundary`,
`entry`,
`exit` | The `boundary` of a Lanelet refers to the left or right Linestring. | ![boundary_entry_exit](./media/nomenclature/boundary_entry_exit.drawio.svg) | +| `adjacent` | If A is `adjacent` to B, A and B share a common `boundary` with same direction either on the left or right side. | In each map, orange Lanelet is `adjacent` to green Lanelet.
![adjacent](./media/nomenclature/adjacent.drawio.svg) | +| `same_direction` | Lanelet A and Lanelet B are `same_direction` if A and B are directly or indirectly `adjacent` to each other. | In each map, orange Lanelets are `same_direction` as green Lanelet.
![same_direction](./media/nomenclature/same_direction.drawio.svg) | +| `bundle` | A `bundle` refers to a transitive closure set of Lanelets which are `same_direction` to each other. | The enclosed sets of Lanelets are `bundle`s.
![bundle](./media/nomenclature/bundle.drawio.svg) | +| `opposite` | If A is `opposite` to B, A and B share a common `boundary` with opposite direction. | In the first map, green Lanelet and orange Lanelet are `opposite` to each other.
In the second map, two red Lanelets are not `opposite` relation because they do not share a common LineString.
![opposite](./media/nomenclature/opposite.drawio.svg) | +| `opposite_direction` | If A and B are `opposite_direction`, the `bundle` of A and B are directly `opposite` to each other. | In the each map, green Lanelet and orange Lanelet are `opposite_direction` because their `bundle`s(enclosed in dotted line) are `opposite` relation.
![opposite_direction](./media/nomenclature/opposite_direction.drawio.svg) | +| `connected` | A is `connected` to(from) B if and only if the `exit`(`entry`) of A is identical to the `entry`(`exit`) of B. | A is connected to B, and B is connected from A.
![connected](./media/nomenclature/connected.drawio.svg) | +| `following` | The `following` Lanelets of A is the list of Lanelets to which A is `connected`. | In each map, orange Lanelets are the `following` of green Lanelet.
![following](./media/nomenclature/following.drawio.svg) | +| `previous` | The `previous` Lanelets of A is the list of Lanelets from which A is `connected`. | In each map, orange Lanelets are the `previous` of green Lanelet.
![previous](./media/nomenclature/previous.drawio.svg) | +| `conflicting` | A is `conflicting` with B if A and B are geometrically intersecting. | | +| `merging` | A is said to be `merging` Lanelet of B if and only if A is `conflicting` with B and both A and B are connected to a common Lanelet. | In each map, one of the orange Lanelet is a `merging` Lanelet of the other orange Lanelet.
![merging](./media/nomenclature/merging.drawio.svg) | +| `sibling` | The designated Lanelets are referred to as `sibling` if all of them are `connected` from a common Lanelet. | In each map, orange Lanelets are `sibling`s.
![sibling](./media/nomenclature/sibling.drawio.svg) | +| `oncoming` | TBD | TBD | +| `upcoming` | TBD | TBD | +| `sequence` | `sequence` is a list of Lanelets whose each element is `connected from` or `adjacent to` the previous element. | ![sequence](./media/nomenclature/sequence.drawio.svg) | ## API description +| Header | function | description | average computational complexity | illustration | +| :----------------------------------------- | ------------------------ | ------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `` | `is_road_lane` | | $O(1)$ | | +| | `is_shoulder_lane` | | $O(1)$ | | +| | `is_bicycle_lane` | | $O(1)$ | | +| `` | `left_lanelet` | This function ignores the permission of lane change. Also it ignores `shoulder` and `bicycle` Lanelet. | $O(1)$ | In the first map, the green Lanelet is the `left_lanelet` of the orange Lanelet.
In the second and third map, the `left_lanelet` of the orange Lanelet is `null`.
![left_lanelet](./media/api/left_lanelet.drawio.svg) | +| | `right_lanelet` | same as above `left_lanelet` | $O(1)$ | | +| | `left_opposite_lanelet` | same as below `right_opposite_lanelet` | $O(1)$
see [`findUsage`](./#complexity-of-findusage) for detail | | +| | `right_opposite_lanelet` | | $O(1)$
see [`findUsage`](./#complexity-of-findusage) for detail | In the first and second map, the green Lanelet is the `right_opposite_lanelet` of the orange Lanelet.
In the third map, the `right_opposite_lanelet` of the orange Lanelet is `null`.
![right_opposite_lanelet](./media/api/right_opposite_lanelet.drawio.svg) | +| | `leftmost_lanelet` | | $O(W)$ where $W$ is the size of the `bundle`. | In the first and second map, the green Lanelet is the `leftmost_lanelet` of the orange Lanelet.
In the third map, the `leftmost_lanelet` of the orange Lanelet is `null`.
![leftmost_lanelet](./media/api/leftmost_lanelet.drawio.svg) | +| | `rightmost_lanelet` | | $O(W)$ where $W$ is the size of the `bundle`. | In the first map, the green Lanelet is the `rightmost_lanelet` of the orange Lanelet.
In the second and third map, the `rightmost_lanelet` of the orange Lanelet is `null`.
![rightmost_lanelet](./media/api/rightmost_lanelet.drawio.svg) | +| | `left_lanelets` | The input Lanelet is not included in the output. | $O(W)$ where $W$ is the size of the `bundle`. | In the first map, the green Lanelete are the `left_lanelets` of the orange Lanelet.
In the second and third map, `left_lanelets` of the orange Lanelet is empty.
![left_lanelets](./media/api/left_lanelets.drawio.svg) | +| | `right_lanelets` | same as above `left_lanelets`. | $O(W)$ where $W$ is the size of the `bundle.` | In the first map, the green Lanelets are the `right_lanelets` of the orange Lanelet.
In the second and third map, `right_lanelets` of the orange Lanelet is empty.
![right_lanelets](./media/api/right_lanelets.drawio.svg) | + +### complexity of `findUsage` + +The readers should be noted that following description is implementation dependent. + +- [LaneletMap.h](https://github.com/fzi-forschungszentrum-informatik/Lanelet2/blob/d9320cf66698004cd5e57988ac001e02e73e2e40/lanelet2_core/include/lanelet2_core/LaneletMap.h) +- [LaneletMap.cpp](https://github.com/fzi-forschungszentrum-informatik/Lanelet2/blob/d9320cf66698004cd5e57988ac001e02e73e2e40/lanelet2_core/src/LaneletMap.cpp) + +Lanelet map primitives(like `Lanelet`, `Area`, `RegulatoryElement`) are stored in several `PrimitiveLayer` objects according to their types as shown below. + +```cpp title="lanelet2_core/LaneletMap.h#L375-L438" +class LaneletMap : public LaneletMapLayers { + public: + using LaneletMapLayers::LaneletMapLayers; + <...> +}; +``` + +```cpp title="lanelet2_core/LaneletMap.h#L313-L359" +class LaneletMapLayers { + <...> + LaneletLayer laneletLayer; //!< access to the lanelets within this map + AreaLayer areaLayer; //!< access to areas + RegulatoryElementLayer regulatoryElementLayer; //!< access to regElems + PolygonLayer polygonLayer; //!< access to the polygons + LineStringLayer lineStringLayer; //!< access to the lineStrings + PointLayer pointLayer; //!< access to the points +}; +``` + +```cpp title="lanelet2_core/LaneletMap.h#L285-L303" +class LaneletLayer : public PrimitiveLayer { + public: + using PrimitiveLayer::findUsages; + LaneletLayer() = default; + ~LaneletLayer() = default; + LaneletLayer(const LaneletLayer&) = delete; + LaneletLayer operator=(LaneletLayer&) = delete; + Lanelets findUsages(const RegulatoryElementConstPtr& regElem); + ConstLanelets findUsages(const RegulatoryElementConstPtr& regElem) const; + <...> +}; +``` + +Each `PrimitiveLayer` owns a field named `tree_` that contains a lookup table named `usage` of type `UsageLookup`, + +```cpp title="lanelet2_core/LaneletMap.h#L38-L253" +template +class PrimitiveLayer { + public: + <...> + /** + * @brief finds usages of an owned type within this layer + * + * This is the non-const version to find usages of a primitive in a layer. + */ + std::vector findUsages(const traits::ConstPrimitiveType>& primitive); + <...> + struct Tree; + // NOLINTNEXTLINE + std::unique_ptr tree_; //!< Hides boost trees from you/the compiler +``` + +```cpp title="lanelet2_core/src/LaneletMap.cpp#L277-L308" +template +struct PrimitiveLayer::Tree { + using TreeNode = std::pair; + using RTree = bgi::rtree>; + static TreeNode treeNode(const T& elem) { return {geometry::boundingBox2d(to2D(elem)), elem}; } + <...> + RTree rTree; + UsageLookup usage; +}; +``` + +and `UsageLookup` contains reference relation between different types as `std::unordered_multimap`. + +```cpp title="lanelet2_core/src/LaneletMap.cpp#L259-L270" +template <> +struct UsageLookup { + void add(Lanelet ll) { + ownedLookup.insert(std::make_pair(ll.leftBound(), ll)); + ownedLookup.insert(std::make_pair(ll.rightBound(), ll)); + for (const auto& elem : ll.regulatoryElements()) { + regElemLookup.insert(std::make_pair(elem, ll)); + } + } + std::unordered_multimap ownedLookup; + std::unordered_multimap regElemLookup; +}; +``` + +Thus the complexity of `findUsage` function is equal to that of `std::unordered_multimap::equal_range` + +```cpp title="lanelet2_core/src/LaneletMap.cpp#L419-L424" +template +std::vector::ConstPrimitiveT> PrimitiveLayer::findUsages( + const traits::ConstPrimitiveType::PrimitiveT>>& primitive) const { + return forEachMatchInMultiMap::PrimitiveT>>( + tree_->usage.ownedLookup, primitive, [](const auto& elem) { return traits::toConst(elem.second); }); +} +``` + +```cpp title="lanelet2_core/src/LaneletMap.cpp#L165-L169" +template +std::vector forEachMatchInMultiMap(const MapT& map, const KeyT& key, Func&& f) { + auto range = map.equal_range(key); + return utils::transform(range.first, range.second, f); +} +``` + ## How to craft test map On the VMB, create the map in local projector(or convert it to local projector from MGRS projector) and save the file as ``. Next, select the point to use as (0.0, 0.0) and pass its `` and run diff --git a/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/kind.hpp b/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/kind.hpp index 1d5225ff4..974a5623d 100644 --- a/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/kind.hpp +++ b/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/kind.hpp @@ -19,9 +19,6 @@ namespace autoware::lanelet2_utility { - -inline namespace kind -{ static constexpr const char * k_road_lane_type = "road"; static constexpr const char * k_shoulder_lane_type = "road_shoulder"; static constexpr const char * k_bicycle_lane_type = "bicycle_lane"; @@ -58,10 +55,8 @@ bool is_shoulder_lane(const lanelet::ConstLanelet & lanelet); /** * @brief check if the given lanelet type has "bicycle_lane" subtype * @param [in] lanelet input lanelet - * @return if the lanelet is bicicye_lane or not + * @return if the lanelet is bicycle_lane or not */ bool is_bicycle_lane(const lanelet::ConstLanelet & lanelet); -} // namespace kind - } // namespace autoware::lanelet2_utility #endif // AUTOWARE_LANELET2_UTILITY__KIND_HPP_ diff --git a/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp b/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp new file mode 100644 index 000000000..e94154e89 --- /dev/null +++ b/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp @@ -0,0 +1,149 @@ +// Copyright 2025 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE_LANELET2_UTILITY__TOPOLOGY_HPP_ +#define AUTOWARE_LANELET2_UTILITY__TOPOLOGY_HPP_ + +#include +#include + +#include +#include + +namespace autoware::lanelet2_utility +{ +/** + * @brief get the left adjacent and same_direction lanelet on the routing graph if exists regardless + * of lane change permission + * @param [in] lanelet input lanelet + * @param [in] routing_graph routing_graph containing `lanelet` + * @return optional of left adjacent lanelet(nullopt if there is no such adjacent lanelet) + */ +std::optional left_lanelet( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +/** + * @brief get the right adjacent and same_direction lanelet on the routing graph if exists + * @param [in] lanelet input lanelet + * @param [in] routing_graph routing_graph containing `lanelet` + * @return optional of right adjacent lanelet(nullopt if there is no such adjacent lanelet) + */ +std::optional right_lanelet( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +/** + * @brief get the left adjacent and opposite_direction lanelet on the routing graph if exists + * @param [in] lanelet input lanelet + * @param [in] routing_graph routing_graph containing `lanelet` + * @return optional of the left opposite lanelet(nullopt if there is not such opposite lanelet) + */ +std::optional left_opposite_lanelet( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +/** + * @brief get the right adjacent and opposite_direction lanelet on the routing graph if exists + * @param [in] lanelet input lanelet + * @param [in] routing_graph routing_graph containing `lanelet` + * @return optional of the right opposite lanelet(nullopt if there is no such opposite lanelet) + */ +std::optional right_opposite_lanelet( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +/** + * @brief get the leftmost same_direction lanelet if exists + * @param [in] lanelet input lanelet + * @param [in] routing_graph routing_graph containing `lanelet` + * @return optional of such lanelet(nullopt if there is no such adjacent lanelet) + */ +std::optional leftmost_lanelet( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +std::optional rightmost_lanelet( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +/** + * @brief get the left lanelets which are adjacent to `lanelet` + * @param [in] lanelet input lanelet + * @param [in] routing_graph routing_graph containing `lanelet` + * @param [in] include_opposite flag if opposite_direction lanelet is included + * @param [in] invert_opposite_lanelet flag if the opposite lanelet in the output is `.inverted()` + * or not + * @return the list of lanelets excluding `lanelet` which is ordered in the *hopping* number from + * `lanelet` + */ +lanelet::ConstLanelets left_lanelets( + const lanelet::ConstLanelet & lanelet, const lanelet::routing::RoutingGraphConstPtr routing_graph, + const bool include_opposite = false, const bool invert_opposite_lane = false); + +/** + * @brief get the right lanelets which are adjacent to `lanelet` + * @param [in] lanelet input lanelet + * @param [in] routing_graph routing_graph containing `lanelet` + * @param [in] include_opposite flag if opposite_direction lanelet is included + * @param [in] invert_opposite_lanelet flag if the opposite lanelet in the output is `.inverted()` + * or not + * @return the list of lanelets excluding `lanelet` which is ordered in the *hopping* number from + * `lanelet` + */ +lanelet::ConstLanelets right_lanelets( + const lanelet::ConstLanelet & lanelet, const lanelet::routing::RoutingGraphConstPtr routing_graph, + const bool include_opposite = false, const bool invert_opposite_lane = false); + +/** + * @brief get the following lanelets + * @param [in] lanelet input lanelet + * @param [in] routing_graph routing_graph containing `lanelet` + * @return the following lanelets + */ +lanelet::ConstLanelets following_lanelets( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +/** + * @brief get the previous lanelets + * @param [in] lanelet input lanelet + * @param [in] routing_graph routing_graph containing `lanelet` + * @return the previous lanelets + */ +lanelet::ConstLanelets previous_lanelets( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +/** + * @brief get the sibling lanelets + * @param [in] lanelet input lanelet + * @param [in] routing_graph routing_graph containing `lanelet` + * @return the sibling lanelets + */ +lanelet::ConstLanelets sibling_lanelets( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +/** + * @brief get Lanelet instances of the designated ids + * @param [in] lanelet input lanelet + * @param [in] routing_graph routing_graph containing `lanelet` + * @return the list of Lanelets in the same order as `ids` + */ +lanelet::ConstLanelets from_ids( + const lanelet::LaneletMapConstPtr lanelet_map_ptr, const std::vector & ids); +} // namespace autoware::lanelet2_utility + +#endif // AUTOWARE_LANELET2_UTILITY__TOPOLOGY_HPP_ diff --git a/common/autoware_lanelet2_utility/media/api/left_lanelet.drawio.svg b/common/autoware_lanelet2_utility/media/api/left_lanelet.drawio.svg new file mode 100644 index 000000000..4d61a038c --- /dev/null +++ b/common/autoware_lanelet2_utility/media/api/left_lanelet.drawio.svg @@ -0,0 +1,648 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + shoulder lane + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + bicycle lane + + + + + + +
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+ + (3) + + + + + + + Text is not SVG - cannot display + + + diff --git a/common/autoware_lanelet2_utility/src/kind.cpp b/common/autoware_lanelet2_utility/src/kind.cpp index 12a6e98e1..d369a22ef 100644 --- a/common/autoware_lanelet2_utility/src/kind.cpp +++ b/common/autoware_lanelet2_utility/src/kind.cpp @@ -18,9 +18,6 @@ namespace autoware::lanelet2_utility { - -inline namespace kind -{ bool is_road_lane(const lanelet::ConstLanelet & lanelet) { return strcmp(lanelet.attributeOr(lanelet::AttributeName::Subtype, "none"), k_road_lane_type) == @@ -38,5 +35,4 @@ bool is_bicycle_lane(const lanelet::ConstLanelet & lanelet) return strcmp( lanelet.attributeOr(lanelet::AttributeName::Subtype, "none"), k_bicycle_lane_type) == 0; } -} // namespace kind } // namespace autoware::lanelet2_utility diff --git a/common/autoware_lanelet2_utility/src/topology.cpp b/common/autoware_lanelet2_utility/src/topology.cpp new file mode 100644 index 000000000..6569999cc --- /dev/null +++ b/common/autoware_lanelet2_utility/src/topology.cpp @@ -0,0 +1,70 @@ +// Copyright 2025 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include +#include + +#include + +namespace autoware::lanelet2_utility +{ +std::optional left_lanelet( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +std::optional right_lanelet( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +std::optional left_opposite_lanelet( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +std::optional right_opposite_lanelet( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +std::optional leftmost_lanelet( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +std::optional rightmost_lanelet( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +lanelet::ConstLanelets left_lanelets( + const lanelet::ConstLanelet & lanelet, const lanelet::routing::RoutingGraphConstPtr routing_graph, + const bool include_opposite, const bool invert_opposite_lane); + +lanelet::ConstLanelets right_lanelets( + const lanelet::ConstLanelet & lanelet, const lanelet::routing::RoutingGraphConstPtr routing_graph, + const bool include_opposite, const bool invert_opposite_lane); + +lanelet::ConstLanelets following_lanelets( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +lanelet::ConstLanelets previous_lanelets( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +lanelet::ConstLanelets sibling_lanelets( + const lanelet::ConstLanelet & lanelet, + const lanelet::routing::RoutingGraphConstPtr routing_graph); + +lanelet::ConstLanelets from_ids( + const lanelet::LaneletMapConstPtr lanelet_map_ptr, const std::vector & ids); +} // namespace autoware::lanelet2_utility From d043752943e25510d538bdb7d23842c1fd03f19a Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 3 Mar 2025 07:31:33 +0900 Subject: [PATCH 03/17] rename script Signed-off-by: Mamoru Sobue --- common/autoware_lanelet2_utility/CMakeLists.txt | 2 +- common/autoware_lanelet2_utility/README.md | 2 +- .../{lanelet_anonymization_local.py => lanelet_anonymizer.py} | 0 3 files changed, 2 insertions(+), 2 deletions(-) rename common/autoware_lanelet2_utility/scripts/{lanelet_anonymization_local.py => lanelet_anonymizer.py} (100%) diff --git a/common/autoware_lanelet2_utility/CMakeLists.txt b/common/autoware_lanelet2_utility/CMakeLists.txt index da576dc0b..3d3ce5ae6 100644 --- a/common/autoware_lanelet2_utility/CMakeLists.txt +++ b/common/autoware_lanelet2_utility/CMakeLists.txt @@ -28,6 +28,6 @@ ament_auto_package(INSTALL_TO_SHARE ) install(PROGRAMS - scripts/lanelet_anonymization_local.py + scripts/lanelet_anonymizer.py DESTINATION lib/${PROJECT_NAME} ) diff --git a/common/autoware_lanelet2_utility/README.md b/common/autoware_lanelet2_utility/README.md index 2c2955a3f..644f6862c 100644 --- a/common/autoware_lanelet2_utility/README.md +++ b/common/autoware_lanelet2_utility/README.md @@ -154,7 +154,7 @@ std::vector forEachMatchInMultiMap(const MapT& map, const KeyT& key, Func&& f On the VMB, create the map in local projector(or convert it to local projector from MGRS projector) and save the file as ``. Next, select the point to use as (0.0, 0.0) and pass its `` and run ```bash -ros2 run autoware_lanelet2_utility lanelet_anonymization_local.py +ros2 run autoware_lanelet2_utility lanelet_anonymizer.py ``` Then the coordinate of the specified point is (0, 0) on the loaded map diff --git a/common/autoware_lanelet2_utility/scripts/lanelet_anonymization_local.py b/common/autoware_lanelet2_utility/scripts/lanelet_anonymizer.py similarity index 100% rename from common/autoware_lanelet2_utility/scripts/lanelet_anonymization_local.py rename to common/autoware_lanelet2_utility/scripts/lanelet_anonymizer.py From 421c858a5b7dffdc63d5872f261e77fc43dfb05d Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 4 Mar 2025 22:42:11 +0900 Subject: [PATCH 04/17] added topology Signed-off-by: Mamoru Sobue --- .../autoware_lanelet2_utility/CMakeLists.txt | 1 + common/autoware_lanelet2_utility/README.md | 71 +++--- .../autoware_lanelet2_utility/topology.hpp | 46 +++- common/autoware_lanelet2_utility/package.xml | 1 + .../src/topology.cpp | 227 ++++++++++++++++-- 5 files changed, 281 insertions(+), 65 deletions(-) diff --git a/common/autoware_lanelet2_utility/CMakeLists.txt b/common/autoware_lanelet2_utility/CMakeLists.txt index 3d3ce5ae6..4d964937c 100644 --- a/common/autoware_lanelet2_utility/CMakeLists.txt +++ b/common/autoware_lanelet2_utility/CMakeLists.txt @@ -6,6 +6,7 @@ autoware_package() ament_auto_add_library(${PROJECT_NAME} SHARED src/kind.cpp + src/topology.cpp ) if(BUILD_TESTING) diff --git a/common/autoware_lanelet2_utility/README.md b/common/autoware_lanelet2_utility/README.md index 644f6862c..4d2499e3e 100644 --- a/common/autoware_lanelet2_utility/README.md +++ b/common/autoware_lanelet2_utility/README.md @@ -4,40 +4,47 @@ This package aims to strictly define the meaning of several words to clarify the documentation and API's scope. In the table below, `codespace` words are given specific meanings when used in the API and API description. _italic_ words are emphasized to indicate that it refers to social common sense which often comes with ambiguity. To help disambiguate the meaning, illustration is provided. "Lanelet" refers to the entity of a`lanelet::ConstLanelet` object in order to distinguish with the word "lane" used in social customs. `A` and `B` stands for some Lanelets objects. -| Word | Meaning | Illustration | -| :-------------------------------- | :---------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | -| `driving` | The vehicle position belongs to the designated Lanelet. | In each map, green Lanelet are the `driving` lanes of the vehicle.
![driving](./media/nomenclature/driving.drawio.svg) | -| `boundary`,
`entry`,
`exit` | The `boundary` of a Lanelet refers to the left or right Linestring. | ![boundary_entry_exit](./media/nomenclature/boundary_entry_exit.drawio.svg) | -| `adjacent` | If A is `adjacent` to B, A and B share a common `boundary` with same direction either on the left or right side. | In each map, orange Lanelet is `adjacent` to green Lanelet.
![adjacent](./media/nomenclature/adjacent.drawio.svg) | -| `same_direction` | Lanelet A and Lanelet B are `same_direction` if A and B are directly or indirectly `adjacent` to each other. | In each map, orange Lanelets are `same_direction` as green Lanelet.
![same_direction](./media/nomenclature/same_direction.drawio.svg) | -| `bundle` | A `bundle` refers to a transitive closure set of Lanelets which are `same_direction` to each other. | The enclosed sets of Lanelets are `bundle`s.
![bundle](./media/nomenclature/bundle.drawio.svg) | -| `opposite` | If A is `opposite` to B, A and B share a common `boundary` with opposite direction. | In the first map, green Lanelet and orange Lanelet are `opposite` to each other.
In the second map, two red Lanelets are not `opposite` relation because they do not share a common LineString.
![opposite](./media/nomenclature/opposite.drawio.svg) | -| `opposite_direction` | If A and B are `opposite_direction`, the `bundle` of A and B are directly `opposite` to each other. | In the each map, green Lanelet and orange Lanelet are `opposite_direction` because their `bundle`s(enclosed in dotted line) are `opposite` relation.
![opposite_direction](./media/nomenclature/opposite_direction.drawio.svg) | -| `connected` | A is `connected` to(from) B if and only if the `exit`(`entry`) of A is identical to the `entry`(`exit`) of B. | A is connected to B, and B is connected from A.
![connected](./media/nomenclature/connected.drawio.svg) | -| `following` | The `following` Lanelets of A is the list of Lanelets to which A is `connected`. | In each map, orange Lanelets are the `following` of green Lanelet.
![following](./media/nomenclature/following.drawio.svg) | -| `previous` | The `previous` Lanelets of A is the list of Lanelets from which A is `connected`. | In each map, orange Lanelets are the `previous` of green Lanelet.
![previous](./media/nomenclature/previous.drawio.svg) | -| `conflicting` | A is `conflicting` with B if A and B are geometrically intersecting. | | -| `merging` | A is said to be `merging` Lanelet of B if and only if A is `conflicting` with B and both A and B are connected to a common Lanelet. | In each map, one of the orange Lanelet is a `merging` Lanelet of the other orange Lanelet.
![merging](./media/nomenclature/merging.drawio.svg) | -| `sibling` | The designated Lanelets are referred to as `sibling` if all of them are `connected` from a common Lanelet. | In each map, orange Lanelets are `sibling`s.
![sibling](./media/nomenclature/sibling.drawio.svg) | -| `oncoming` | TBD | TBD | -| `upcoming` | TBD | TBD | -| `sequence` | `sequence` is a list of Lanelets whose each element is `connected from` or `adjacent to` the previous element. | ![sequence](./media/nomenclature/sequence.drawio.svg) | +| Word | Meaning | Illustration | +| --------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `driving` | The vehicle position belongs to the designated Lanelet. | In each map, green Lanelet are the `driving` lanes of the vehicle.
![driving](./media/nomenclature/driving.drawio.svg) | +| `boundary`,
`entry`,
`exit` | The `boundary` of a Lanelet refers to the left or right Linestring. | ![boundary_entry_exit](./media/nomenclature/boundary_entry_exit.drawio.svg) | +| `adjacent` | If A is `adjacent` to B, A and B share a common `boundary` with same direction either on the left or right side. | In each map, orange Lanelet is `adjacent` to green Lanelet.
![adjacent](./media/nomenclature/adjacent.drawio.svg) | +| `same_direction` | Lanelet A and Lanelet B are `same_direction` if A and B are directly or indirectly `adjacent` to each other. | In each map, orange Lanelets are `same_direction` as green Lanelet.
![same_direction](./media/nomenclature/same_direction.drawio.svg) | +| `bundle` | A `bundle` refers to a transitive closure set of Lanelets which are `same_direction` to each other. | The enclosed sets of Lanelets are `bundle`s.
![bundle](./media/nomenclature/bundle.drawio.svg) | +| `opposite` | If A is `opposite` to B, A and B share a common `boundary` with opposite direction. | In the first map, green Lanelet and orange Lanelet are `opposite` to each other.
In the second map, two red Lanelets are not `opposite` relation because they do not share a common LineString.
![opposite](./media/nomenclature/opposite.drawio.svg) | +| `opposite_direction` | If A and B are `opposite_direction`, the `bundle` of A and B are directly `opposite` to each other. | In the each map, green Lanelet and orange Lanelet are `opposite_direction` because their `bundle`s(enclosed in dotted line) are `opposite` relation.
![opposite_direction](./media/nomenclature/opposite_direction.drawio.svg) | +| `connected` | A is `connected` to(from) B if and only if the `exit`(`entry`) of A is identical to the `entry`(`exit`) of B. | A is connected to B, and B is connected from A.
![connected](./media/nomenclature/connected.drawio.svg) | +| `following` | The `following` Lanelets of A is the list of Lanelets to which A is `connected`. | In each map, orange Lanelets are the `following` of green Lanelet.
![following](./media/nomenclature/following.drawio.svg) | +| `previous` | The `previous` Lanelets of A is the list of Lanelets from which A is `connected`. | In each map, orange Lanelets are the `previous` of green Lanelet.
![previous](./media/nomenclature/previous.drawio.svg) | +| `conflicting` | A is `conflicting` with B if A and B are geometrically intersecting. | | +| `merging` | A is said to be `merging` Lanelet of B if and only if A is `conflicting` with B and both A and B are connected to a common Lanelet. | In each map, one of the orange Lanelet is a `merging` Lanelet of the other orange Lanelet.
![merging](./media/nomenclature/merging.drawio.svg) | +| `sibling` | The designated Lanelets are referred to as `sibling` if all of them are `connected` from a common Lanelet. | In each map, orange Lanelets are `sibling`s.
![sibling](./media/nomenclature/sibling.drawio.svg) | +| `oncoming` | TBD | TBD | +| `upcoming` | TBD | TBD | +| `sequence` | `sequence` is a list of Lanelets whose each element is `connected from` or `adjacent to` the previous element. | ![sequence](./media/nomenclature/sequence.drawio.svg) | +| `similar` | A and B are called `similar` if and only if both of them have same valid `turn_direction` value. | | ## API description -| Header | function | description | average computational complexity | illustration | -| :----------------------------------------- | ------------------------ | ------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| `` | `is_road_lane` | | $O(1)$ | | -| | `is_shoulder_lane` | | $O(1)$ | | -| | `is_bicycle_lane` | | $O(1)$ | | -| `` | `left_lanelet` | This function ignores the permission of lane change. Also it ignores `shoulder` and `bicycle` Lanelet. | $O(1)$ | In the first map, the green Lanelet is the `left_lanelet` of the orange Lanelet.
In the second and third map, the `left_lanelet` of the orange Lanelet is `null`.
![left_lanelet](./media/api/left_lanelet.drawio.svg) | -| | `right_lanelet` | same as above `left_lanelet` | $O(1)$ | | -| | `left_opposite_lanelet` | same as below `right_opposite_lanelet` | $O(1)$
see [`findUsage`](./#complexity-of-findusage) for detail | | -| | `right_opposite_lanelet` | | $O(1)$
see [`findUsage`](./#complexity-of-findusage) for detail | In the first and second map, the green Lanelet is the `right_opposite_lanelet` of the orange Lanelet.
In the third map, the `right_opposite_lanelet` of the orange Lanelet is `null`.
![right_opposite_lanelet](./media/api/right_opposite_lanelet.drawio.svg) | -| | `leftmost_lanelet` | | $O(W)$ where $W$ is the size of the `bundle`. | In the first and second map, the green Lanelet is the `leftmost_lanelet` of the orange Lanelet.
In the third map, the `leftmost_lanelet` of the orange Lanelet is `null`.
![leftmost_lanelet](./media/api/leftmost_lanelet.drawio.svg) | -| | `rightmost_lanelet` | | $O(W)$ where $W$ is the size of the `bundle`. | In the first map, the green Lanelet is the `rightmost_lanelet` of the orange Lanelet.
In the second and third map, the `rightmost_lanelet` of the orange Lanelet is `null`.
![rightmost_lanelet](./media/api/rightmost_lanelet.drawio.svg) | -| | `left_lanelets` | The input Lanelet is not included in the output. | $O(W)$ where $W$ is the size of the `bundle`. | In the first map, the green Lanelete are the `left_lanelets` of the orange Lanelet.
In the second and third map, `left_lanelets` of the orange Lanelet is empty.
![left_lanelets](./media/api/left_lanelets.drawio.svg) | -| | `right_lanelets` | same as above `left_lanelets`. | $O(W)$ where $W$ is the size of the `bundle.` | In the first map, the green Lanelets are the `right_lanelets` of the orange Lanelet.
In the second and third map, `right_lanelets` of the orange Lanelet is empty.
![right_lanelets](./media/api/right_lanelets.drawio.svg) | +| Header | function | description | average computational complexity | illustration | +| ------------------------------------------ | ----------------------------- | ------------------------------------------------------------------------------------------------------ | ---------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `` | `is_road_lane` | | $O(1)$ | | +| | `is_shoulder_lane` | | $O(1)$ | | +| | `is_bicycle_lane` | | $O(1)$ | | +| `` | `left_lanelet` | This function ignores the permission of lane change. Also it ignores `shoulder` and `bicycle` Lanelet. | $O(1)$ | In the first map, the green Lanelet is the `left_lanelet` of the orange Lanelet.
In the second and third map, the `left_lanelet` of the orange Lanelet is `null`.
![left_lanelet](./media/api/left_lanelet.drawio.svg) | +| | `right_lanelet` | same as above `left_lanelet` | $O(1)$ | | +| | `left_similar_lanelet`(TODO) | same as above `left_lanelet` | $O(1)$ | | +| | `right_similar_lanelet`(TODO) | same as above `left_lanelet` | $O(1)$ | | +| | `left_opposite_lanelet` | same as below `right_opposite_lanelet` | $O(1)$
see [`findUsage`](./#complexity-of-findusage) for detail | | +| | `right_opposite_lanelet` | | $O(1)$
see [`findUsage`](./#complexity-of-findusage) for detail | In the first and second map, the green Lanelet is the `right_opposite_lanelet` of the orange Lanelet.
In the third map, the `right_opposite_lanelet` of the orange Lanelet is `null`.
![right_opposite_lanelet](./media/api/right_opposite_lanelet.drawio.svg) | +| | `leftmost_lanelet` | | $O(W)$ where $W$ is the size of the `bundle`. | In the first and second map, the green Lanelet is the `leftmost_lanelet` of the orange Lanelet.
In the third map, the `leftmost_lanelet` of the orange Lanelet is `null`.
![leftmost_lanelet](./media/api/leftmost_lanelet.drawio.svg) | +| | `rightmost_lanelet` | | $O(W)$ where $W$ is the size of the `bundle`. | In the first map, the green Lanelet is the `rightmost_lanelet` of the orange Lanelet.
In the second and third map, the `rightmost_lanelet` of the orange Lanelet is `null`.
![rightmost_lanelet](./media/api/rightmost_lanelet.drawio.svg) | +| | `left_lanelets` | The input Lanelet is not included in the output. | $O(W)$ where $W$ is the size of the `bundle`. | In the first map, the green Lanelete are the `left_lanelets` of the orange Lanelet.
In the second and third map, `left_lanelets` of the orange Lanelet is empty.
![left_lanelets](./media/api/left_lanelets.drawio.svg) | +| | `right_lanelets` | same as above `left_lanelets`. | $O(W)$ where $W$ is the size of the `bundle.` | In the first map, the green Lanelets are the `right_lanelets` of the orange Lanelet.
In the second and third map, `right_lanelets` of the orange Lanelet is empty.
![right_lanelets](./media/api/right_lanelets.drawio.svg) | +| | `following_lanelets` | | $O(E)$ where $E$ is the number of Lanelets to which the input is connected to. | | +| | `previous_lanelets` | | $O(E)$ where $E$ is the number of Lanelets from which the input is connected from. | | +| | `sibling_lanelets` | | $O(E)$ where $E$ is the number of sibling Lanelets | | +| | `from_ids` | | $O(n)$ | | ### complexity of `findUsage` @@ -130,7 +137,7 @@ struct UsageLookup { }; ``` -Thus the complexity of `findUsage` function is equal to that of `std::unordered_multimap::equal_range` +Thus the complexity of `findUsage` function is equal to that of `std::unordered_multimap::equal_range` which is $O(1)$. ```cpp title="lanelet2_core/src/LaneletMap.cpp#L419-L424" template diff --git a/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp b/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp index e94154e89..24ac75ca5 100644 --- a/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp +++ b/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp @@ -45,14 +45,39 @@ std::optional right_lanelet( const lanelet::routing::RoutingGraphConstPtr routing_graph); /** - * @brief get the left adjacent and opposite_direction lanelet on the routing graph if exists + * @brief get left_lanelet() or sibling lanelet. If `lanelet` has turn_direction, search for sibling + * lanelet is limited to the one with same turn_direction value + * @param [in] lanelet input lanelet + * @param [in] routing_graph routing_graph containing `lanelet` + * @return optional of abovementioned lanelet(nullopt if there is no such lanelet) + */ +/* +std::optional left_similar_lanelet( +const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map, +const lanelet::routing::RoutingGraphConstPtr routing_graph); +*/ + +/** + * @brief get right_lanelet() or sibling lanelet. If `lanelet` has turn_direction, search for + * sibling lanelet is limited to the one with same turn_direction value * @param [in] lanelet input lanelet * @param [in] routing_graph routing_graph containing `lanelet` + * @return optional of abovementioned lanelet(nullopt if there is no such lanelet) + */ +/* +std::optional right_similar_lanelet( +const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map, +const lanelet::routing::RoutingGraphConstPtr routing_graph); +*/ + +/** + * @brief get the left adjacent and opposite_direction lanelet on the routing graph if exists + * @param [in] lanelet input lanelet + * @param [in] lanelet_map lanelet_map containing `lanelet` * @return optional of the left opposite lanelet(nullopt if there is not such opposite lanelet) */ std::optional left_opposite_lanelet( - const lanelet::ConstLanelet & lanelet, - const lanelet::routing::RoutingGraphConstPtr routing_graph); + const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map); /** * @brief get the right adjacent and opposite_direction lanelet on the routing graph if exists @@ -61,8 +86,7 @@ std::optional left_opposite_lanelet( * @return optional of the right opposite lanelet(nullopt if there is no such opposite lanelet) */ std::optional right_opposite_lanelet( - const lanelet::ConstLanelet & lanelet, - const lanelet::routing::RoutingGraphConstPtr routing_graph); + const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map); /** * @brief get the leftmost same_direction lanelet if exists @@ -89,8 +113,9 @@ std::optional rightmost_lanelet( * `lanelet` */ lanelet::ConstLanelets left_lanelets( - const lanelet::ConstLanelet & lanelet, const lanelet::routing::RoutingGraphConstPtr routing_graph, - const bool include_opposite = false, const bool invert_opposite_lane = false); + const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map, + const lanelet::routing::RoutingGraphConstPtr routing_graph, const bool include_opposite = false, + const bool invert_opposite_lane = false); /** * @brief get the right lanelets which are adjacent to `lanelet` @@ -103,8 +128,9 @@ lanelet::ConstLanelets left_lanelets( * `lanelet` */ lanelet::ConstLanelets right_lanelets( - const lanelet::ConstLanelet & lanelet, const lanelet::routing::RoutingGraphConstPtr routing_graph, - const bool include_opposite = false, const bool invert_opposite_lane = false); + const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map, + const lanelet::routing::RoutingGraphConstPtr routing_graph, const bool include_opposite = false, + const bool invert_opposite_lane = false); /** * @brief get the following lanelets @@ -143,7 +169,7 @@ lanelet::ConstLanelets sibling_lanelets( * @return the list of Lanelets in the same order as `ids` */ lanelet::ConstLanelets from_ids( - const lanelet::LaneletMapConstPtr lanelet_map_ptr, const std::vector & ids); + const lanelet::LaneletMapConstPtr lanelet_map, const std::vector & ids); } // namespace autoware::lanelet2_utility #endif // AUTOWARE_LANELET2_UTILITY__TOPOLOGY_HPP_ diff --git a/common/autoware_lanelet2_utility/package.xml b/common/autoware_lanelet2_utility/package.xml index a7009db32..7ca1cbd52 100644 --- a/common/autoware_lanelet2_utility/package.xml +++ b/common/autoware_lanelet2_utility/package.xml @@ -13,6 +13,7 @@ autoware_cmake autoware_lanelet2_extension + rclcpp visualization_msgs ament_cmake_ros diff --git a/common/autoware_lanelet2_utility/src/topology.cpp b/common/autoware_lanelet2_utility/src/topology.cpp index 6569999cc..96d8c8b72 100644 --- a/common/autoware_lanelet2_utility/src/topology.cpp +++ b/common/autoware_lanelet2_utility/src/topology.cpp @@ -13,6 +13,7 @@ // limitations under the License. #include +#include #include #include @@ -21,50 +22,230 @@ namespace autoware::lanelet2_utility { + +static constexpr size_t k_normal_bundle_max_size = 10; + std::optional left_lanelet( - const lanelet::ConstLanelet & lanelet, - const lanelet::routing::RoutingGraphConstPtr routing_graph); + const lanelet::ConstLanelet & lanelet, const lanelet::routing::RoutingGraphConstPtr routing_graph) +{ + if (const auto left_lane = routing_graph->left(lanelet)) { + // lane changeable + return *left_lane; + } + if (const auto adjacent_left_lane = routing_graph->adjacentLeft(lanelet)) { + return *adjacent_left_lane; + } + return std::nullopt; +} std::optional right_lanelet( - const lanelet::ConstLanelet & lanelet, - const lanelet::routing::RoutingGraphConstPtr routing_graph); + const lanelet::ConstLanelet & lanelet, const lanelet::routing::RoutingGraphConstPtr routing_graph) +{ + if (const auto right_lane = routing_graph->right(lanelet)) { + // lane changeable + return *right_lane; + } + if (const auto adjacent_right_lane = routing_graph->adjacentRight(lanelet)) { + return *adjacent_right_lane; + } + return std::nullopt; +} + +/* +std::optional left_similar_lanelet( +const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map, +const lanelet::routing::RoutingGraphConstPtr routing_graph); +*/ + +/* +std::optional right_similar_lanelet( +const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map, +const lanelet::routing::RoutingGraphConstPtr routing_graph); +*/ std::optional left_opposite_lanelet( - const lanelet::ConstLanelet & lanelet, - const lanelet::routing::RoutingGraphConstPtr routing_graph); + const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map) +{ + for (const auto & opposite_candidate : + lanelet_map->laneletLayer.findUsages(lanelet.leftBound().invert())) { + if (opposite_candidate.rightBound().id() == lanelet.leftBound().id()) { + return opposite_candidate; + } + } + return std::nullopt; +} std::optional right_opposite_lanelet( - const lanelet::ConstLanelet & lanelet, - const lanelet::routing::RoutingGraphConstPtr routing_graph); + const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map) +{ + for (const auto & opposite_candidate : + lanelet_map->laneletLayer.findUsages(lanelet.rightBound().invert())) { + if (opposite_candidate.leftBound().id() == lanelet.rightBound().id()) { + return opposite_candidate; + } + } + return std::nullopt; +} std::optional leftmost_lanelet( - const lanelet::ConstLanelet & lanelet, - const lanelet::routing::RoutingGraphConstPtr routing_graph); + const lanelet::ConstLanelet & lanelet, const lanelet::routing::RoutingGraphConstPtr routing_graph) +{ + auto left_lane = left_lanelet(lanelet, routing_graph); + if (!left_lane) { + return std::nullopt; + } + size_t bundle_size_diagnosis = 0; + while (bundle_size_diagnosis < k_normal_bundle_max_size) { + const auto next_left_lane = left_lanelet(left_lane.value(), routing_graph); + if (!next_left_lane) { + // reached + return left_lane; + } + left_lane = next_left_lane.value(); + bundle_size_diagnosis++; + } + + RCLCPP_ERROR( + rclcpp::get_logger("autoware_lanelet2_utility"), + "You have passed an unrealistic map with a bundle of size>=10"); + return std::nullopt; +} std::optional rightmost_lanelet( - const lanelet::ConstLanelet & lanelet, - const lanelet::routing::RoutingGraphConstPtr routing_graph); + const lanelet::ConstLanelet & lanelet, const lanelet::routing::RoutingGraphConstPtr routing_graph) +{ + auto right_lane = right_lanelet(lanelet, routing_graph); + if (!right_lane) { + return std::nullopt; + } + size_t bundle_size_diagnosis = 0; + while (bundle_size_diagnosis < k_normal_bundle_max_size) { + const auto next_right_lane = left_lanelet(right_lane.value(), routing_graph); + if (!next_right_lane) { + // reached + return right_lane; + } + right_lane = next_right_lane.value(); + bundle_size_diagnosis++; + } + + RCLCPP_ERROR( + rclcpp::get_logger("autoware_lanelet2_utility"), + "You have passed an unrealistic map with a bundle of size>=10"); + return std::nullopt; +} lanelet::ConstLanelets left_lanelets( - const lanelet::ConstLanelet & lanelet, const lanelet::routing::RoutingGraphConstPtr routing_graph, - const bool include_opposite, const bool invert_opposite_lane); + const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map, + const lanelet::routing::RoutingGraphConstPtr routing_graph, const bool include_opposite, + const bool invert_opposite_lane) +{ + lanelet::ConstLanelets lefts{}; + auto left_lane = left_lanelet(lanelet, routing_graph); + size_t bundle_size_diagnosis = 0; + while (bundle_size_diagnosis < k_normal_bundle_max_size) { + if (!left_lane) { + break; + } + lefts.push_back(left_lane.value()); + left_lane = left_lanelet(left_lane.value(), routing_graph); + bundle_size_diagnosis++; + } + if (bundle_size_diagnosis >= k_normal_bundle_max_size) { + RCLCPP_ERROR( + rclcpp::get_logger("autoware_lanelet2_utility"), + "You have passed an unrealistic map with a bundle of size>=10"); + return {}; + } + if (lefts.empty()) { + return {}; + } + const auto & leftmost = lefts.back(); + if (include_opposite) { + const auto direct_opposite = right_opposite_lanelet(leftmost, lanelet_map); + if (direct_opposite) { + const auto opposites = + right_lanelets(direct_opposite.value(), lanelet_map, routing_graph, false, false); + for (const auto & opposite : opposites) { + lefts.push_back(invert_opposite_lane ? opposite.invert() : opposite); + } + } + } + return lefts; +} lanelet::ConstLanelets right_lanelets( - const lanelet::ConstLanelet & lanelet, const lanelet::routing::RoutingGraphConstPtr routing_graph, - const bool include_opposite, const bool invert_opposite_lane); + const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map, + const lanelet::routing::RoutingGraphConstPtr routing_graph, const bool include_opposite, + const bool invert_opposite_lane) +{ + lanelet::ConstLanelets rights{}; + auto right_lane = right_lanelet(lanelet, routing_graph); + size_t bundle_size_diagnosis = 0; + while (bundle_size_diagnosis < k_normal_bundle_max_size) { + if (!right_lane) { + break; + } + rights.push_back(right_lane.value()); + right_lane = right_lanelet(right_lane.value(), routing_graph); + bundle_size_diagnosis++; + } + if (bundle_size_diagnosis >= k_normal_bundle_max_size) { + RCLCPP_ERROR( + rclcpp::get_logger("autoware_lanelet2_utility"), + "You have passed an unrealistic map with a bundle of size>=10"); + return {}; + } + if (rights.empty()) { + return {}; + } + const auto & rightmost = rights.back(); + if (include_opposite) { + const auto direct_opposite = right_opposite_lanelet(rightmost, lanelet_map); + if (direct_opposite) { + const auto opposites = + left_lanelets(direct_opposite.value(), lanelet_map, routing_graph, false, false); + for (const auto & opposite : opposites) { + rights.push_back(invert_opposite_lane ? opposite.invert() : opposite); + } + } + } + return rights; +} lanelet::ConstLanelets following_lanelets( - const lanelet::ConstLanelet & lanelet, - const lanelet::routing::RoutingGraphConstPtr routing_graph); + const lanelet::ConstLanelet & lanelet, const lanelet::routing::RoutingGraphConstPtr routing_graph) +{ + return routing_graph->following(lanelet); +} lanelet::ConstLanelets previous_lanelets( - const lanelet::ConstLanelet & lanelet, - const lanelet::routing::RoutingGraphConstPtr routing_graph); + const lanelet::ConstLanelet & lanelet, const lanelet::routing::RoutingGraphConstPtr routing_graph) +{ + return routing_graph->previous(lanelet); +} lanelet::ConstLanelets sibling_lanelets( - const lanelet::ConstLanelet & lanelet, - const lanelet::routing::RoutingGraphConstPtr routing_graph); + const lanelet::ConstLanelet & lanelet, const lanelet::routing::RoutingGraphConstPtr routing_graph) +{ + lanelet::ConstLanelets siblings; + for (const auto & previous : previous_lanelets(lanelet, routing_graph)) { + for (const auto & following : following_lanelets(previous, routing_graph)) { + if (following.id() != lanelet.id()) { + siblings.push_back(following); + } + } + } + return siblings; +} lanelet::ConstLanelets from_ids( - const lanelet::LaneletMapConstPtr lanelet_map_ptr, const std::vector & ids); + const lanelet::LaneletMapConstPtr lanelet_map, const std::vector & ids) +{ + lanelet::ConstLanelets lanelets; + for (const auto id : ids) { + lanelets.push_back(lanelet_map->laneletLayer.get(id)); + } + return lanelets; +} } // namespace autoware::lanelet2_utility From c5bfb494bfeea9e401a30b79d7101d5489f30a39 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 5 Mar 2025 13:45:49 +0900 Subject: [PATCH 05/17] lanelet id aligner Signed-off-by: Mamoru Sobue --- .../scripts/lanelet_id_aligner.py | 72 +++++++++++++++++++ 1 file changed, 72 insertions(+) create mode 100755 common/autoware_lanelet2_utility/scripts/lanelet_id_aligner.py diff --git a/common/autoware_lanelet2_utility/scripts/lanelet_id_aligner.py b/common/autoware_lanelet2_utility/scripts/lanelet_id_aligner.py new file mode 100755 index 000000000..aa01ad8c2 --- /dev/null +++ b/common/autoware_lanelet2_utility/scripts/lanelet_id_aligner.py @@ -0,0 +1,72 @@ +#!/usr/bin/env python3 + +# Copyright 2025 TIER IV, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse +import xml.etree.ElementTree as ET + + +def renumber_osm_ids(input_file): + tree = ET.parse(input_file) + root = tree.getroot() + + id_map = {} + new_id = 0 + + # Collect nodes, ways, and relations with new ids + for element in root.findall("node") + root.findall("way") + root.findall("relation"): + old_id = element.attrib["id"] + id_map[old_id] = str(new_id) + element.set("id", str(new_id)) + new_id += 1 + + # Update references in (inside ) and (inside ) + for way in root.findall("way"): + for nd in way.findall("nd"): + old_ref = nd.attrib["ref"] + if old_ref in id_map: + nd.set("ref", id_map[old_ref]) + else: + print(f"reference to ref={old_ref} was invalid") + + for relation in root.findall("relation"): + for member in relation.findall("member"): + old_ref = member.attrib["ref"] + if old_ref in id_map: + member.set("ref", id_map[old_ref]) + else: + print(f"reference to ref={old_ref} was invalid") + + for tag in relation.findall("tag"): + if tag.attrib["k"] != "intersection_area": + continue + + old_ref = tag.attrib["v"] + if old_ref in id_map: + tag.set("k", id_map[old_ref]) + else: + print(f"reference to ref={old_ref} was invalid") + + tree.write(input_file, encoding="utf-8", xml_declaration=True) + print(f"Updated OSM file {input_file}") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser( + description="Update OSM file with new origin and adjusted coordinates." + ) + parser.add_argument("input_osm", help="Path to the input OSM file") + args = parser.parse_args() + renumber_osm_ids(args.input_osm) From c14a20e70ee267494a30723094a7dacf4d8bdf31 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 5 Mar 2025 14:24:01 +0900 Subject: [PATCH 06/17] aligned lanelet maps, add crossing map Signed-off-by: Mamoru Sobue --- .../autoware_lanelet2_utility/CMakeLists.txt | 1 + common/autoware_lanelet2_utility/README.md | 18 +- .../media/maps/intersection/crossing.png | Bin 0 -> 199869 bytes .../media/maps/road_shoulder/highway.png | Bin 0 -> 33082 bytes .../media/maps/road_shoulder/pudo.png | Bin 0 -> 78476 bytes .../sample_map/intersection/crossing.osm | 15586 ++++++++++++++++ .../sample_map/road_shoulder/highway.osm | 232 +- .../sample_map/road_shoulder/pudo.osm | 1192 +- .../scripts/lanelet_id_aligner.py | 2 +- .../autoware_lanelet2_utility/test/kind.cpp | 10 +- 10 files changed, 16321 insertions(+), 720 deletions(-) create mode 100644 common/autoware_lanelet2_utility/media/maps/intersection/crossing.png create mode 100644 common/autoware_lanelet2_utility/media/maps/road_shoulder/highway.png create mode 100644 common/autoware_lanelet2_utility/media/maps/road_shoulder/pudo.png create mode 100644 common/autoware_lanelet2_utility/sample_map/intersection/crossing.osm diff --git a/common/autoware_lanelet2_utility/CMakeLists.txt b/common/autoware_lanelet2_utility/CMakeLists.txt index 4d964937c..fb51b5792 100644 --- a/common/autoware_lanelet2_utility/CMakeLists.txt +++ b/common/autoware_lanelet2_utility/CMakeLists.txt @@ -30,5 +30,6 @@ ament_auto_package(INSTALL_TO_SHARE install(PROGRAMS scripts/lanelet_anonymizer.py + scripts/lanelet_id_aligner.py DESTINATION lib/${PROJECT_NAME} ) diff --git a/common/autoware_lanelet2_utility/README.md b/common/autoware_lanelet2_utility/README.md index 4d2499e3e..fa1c5d642 100644 --- a/common/autoware_lanelet2_utility/README.md +++ b/common/autoware_lanelet2_utility/README.md @@ -156,7 +156,15 @@ std::vector forEachMatchInMultiMap(const MapT& map, const KeyT& key, Func&& f } ``` -## How to craft test map +## Test maps + +| Map name | Origin point id | Image | +| --------------------------- | --------------- | --------------------------------------------------- | +| `road_shoulder/highway.osm` | `1` | ![highway](./media/maps/road_shoulder/highway.png) | +| `road_shoulder/pudo.osm` | `140` | ![pudo](./media/maps/road_shoulder/pudo.png) | +| `intersection/crossing.osm` | `1867` | ![crossing](./media/maps/intersection/crossing.png) | + +### How to craft test map On the VMB, create the map in local projector(or convert it to local projector from MGRS projector) and save the file as ``. Next, select the point to use as (0.0, 0.0) and pass its `` and run @@ -164,4 +172,10 @@ On the VMB, create the map in local projector(or convert it to local projector f ros2 run autoware_lanelet2_utility lanelet_anonymizer.py ``` -Then the coordinate of the specified point is (0, 0) on the loaded map +Then the coordinate of the specified point is (0, 0) on the loaded map. + +By applying `lanelet_id_aligner.py`, the primitive ids are aligned to start from 1 and increase one-by-one. + +```bash +ros2 run autoware_lanelet2_utility lanelet_id_aligner.py +``` diff --git a/common/autoware_lanelet2_utility/media/maps/intersection/crossing.png b/common/autoware_lanelet2_utility/media/maps/intersection/crossing.png new file mode 100644 index 0000000000000000000000000000000000000000..def5a0d22d60da10fbf97ca132daab0f4be05d6a GIT binary patch literal 199869 zcmeFZ`CC)T);3JHN9lHeK1W+nQM6@HQ9x0q2ytoz#GpV283dF`2ASt6*dC-+5J?1N z2vGqM5h5TnAt)k-QDy=JR00SDB4G$&NZzVs)8{!1C!0ld?AKIInp@ekiK24+8jSJ+Pue}TVu z`2Bvx&(zb&FYua=qnNXY=S{~WzV<$jjvl@@JpI_~sJfuh5!mRgkK;8z7f+A9W-d1! z#mpTY_Nt!Pd-0mj-eaoAPV7}Zrmd!?ef0R=OBeSVnwp7ET>V*0Y_FKXxzlDrX)MN2 zTpBlAWr6EcrgR8(51%~W!cvwWIj2Rnu$o@W-`3J|zCRZS8l}l5Lr5zeg5i z{l8oM|4x)dq*GCHR8-WuN_#X1O#G>TK1kdxoI*R5(b3UkM~}uQBqWf+DTA0jFXm=^ zP9*CW76y;C8vTLKF~qE#S2WQwp~XeaW$51igTQkwtl$;#OcN?cmj=dklZKX9o+A`$ zs7lXsbam)+D__j26Q^|#rn=~nb>*P>n_Yqtb06Oj?ck|a952ym zapj4BYn)*8g5V^9K;X5-k>{ks@>9}+Pg*P=;4O?)+wih!sl0C=jeUHVZg4)C;X)Ul zSmnqipjNDI-jwf|ww9jUQ{Gq!hZrfc;F_OONTk+*0qZ^`rSY(rOutH#wl?Ec&(dmv zmEbG7u{jk*E9EDh;pi+(Qqu*C@#i^j>t)B#+Y0wtpiO9_@eRgQWllY@*z$;)nwo{J zEt?%xKJGA~e=Qi?C6dqEstwmE=Gpl@&GW5jB5}!Rf@Vyzy}7bZtwf7V)sz{h#OVcWcvbVr15V9&ckryG`$t;m8fF zQuK1g`hjjSsw?eY+eYa>;SkywTM4(FTc$ ziG^?8m@TGE~p?oa8kzV8sCaz;>6By&ul;g`orny}{OLOB@bL|(x#|(Y7wPu4jENcNf zY$TT^D{yJAYDP7WlSXWUzAdm@RpjDyy9Lk}Yl?}SO61ero=M(PE_pOT&AH(LrxB|` zU@#o`67o-$yVCZ&h%9!_%VSKCQAd0+p&DAtCPIs)8q~cfq;e(zHZgu`lAo#rI8sfe8 zPbd;h>B(t^j^uSaV;xH3{rYNS=1o1*Q05;8NE2^1HA;ZyF>(7H#bLj~*MWPY&Q0BDYdY`Upd41XkQB#No>8T$d1bH*VWafY56KB zV$u$vVDx#7Oq}YyM6z5@Vk5@eoSddbAXArIC+0)wm&>v`3@mdUvq96yaAeTYmn#$A z^gCvk;p*cQ<4&fq_KfRnbGxpnRcIOj`;`8RBn^IuUTaZK+9F|U%B-Yx6EsxoUw;Ch z?l%iu3@isNErqi{!sj2DF?%{=Q zZ3DMr77U82$QnvJ#yTDAFI(k~=F$e{ycU|w37#jrlvIBmao8X1Bsp>bw2iFPw1i76 zCiX;Zwu{NSUKpkmT&gor4z`cKZ;%>#YTT)?BEj07v0Ow9X!np$m{~kJX5~rwV+Aiu z=?MiFe*R@g97#sl2b$eIei>C6sC@iHia|!gTt`y!vcsU^>ADx0Ni)}Tdv}Mve)Hy0 zR#sM_J!~JEDT>wmU7aUxv5YPbuAWs&t<{bk@~B;KF--L~z6KwUV|X%h%==prdW!B$Y8E*J(*b;Igfj0o z+7Lq=T#n&IG280zBmwLswsG{H4(wI>k4AHRoNmP`_l|$@V0h3M-qg4(0}!?&(`_a9-NTs@t7gd6Lj{QAz{nug05>roG=YNU2CW z+$yQ_FREQ0A&gbu0NTfF$KfGxi}ao+W;q1@HLF~5N0TLi)ev6}%O=X8N=mQ#c2G<+ zu^R@0KON5|L`CD>df2Pm!?kZ;+ z@|zaj?;hN7_Gd*FA(0WFH2!AO)fwhiW9B5eIz=iSSN%yR^q2-i>4#>?oGWG@9&}@U zrk3p3ul(`d6GSR5hiHApz%uoAD_qcZ4Zp%2B~}yEnEPM|qV=w?54yXFV;5O-dq7+1eTZ}Z_;R2ZGxA~Kvr4{)f@j!cYxgZ^GyKYH2I{nH zVe7kYn__iBY+Q6;Uq=>(y!Q`p7+}PPk&z!b7ihm9m<~(2lE)ZLWx<;5232z527>D^O6z`&L z1FU%?1}@mT%OXdsXI@Esv#~;f{Et#h4%{wx>P1hi`c4$>6B=y9kLzmPdfBnZ>F|P` zi_5_a7cSJPEOl$#AA%i;|Aj;lohkr69M6Nd#1`~Lvwz^62x26NkPGv{BN3+U%@|Rl z6_1FZgUk(Nx^AE%P6jjE276-l+HWMLI>&97lA0|hhaXX)%$XG2ujX_y;{?ZDTBfE} zMcyJ+=q;EcZ=w0BFONA2;7H8B$I?TUi;9YZm#0dLs;g~2K8THt1wrzR6Yv!^*N`o` z?U@aE3?K*qpk_am`#RQtNrd743LSDFyCDSsz$aiNZH+(FuVF$T!~`f&qOV^ZFnYjx zB=jvy|GnSAglldS?P>Z^&`IPE|IMK$*U-nmPVA&)cPOK1gMNMJ#)x^>W6O5s!PBOB z*hVJPfqrz_{pJyuyhLID8@~QSNXewHp_9`ZT9{_^qj#M1Q<}gc9_8z*r5*6^tH1i*5>lW_1v=E>$GwFuoe>9_8Xj$D*n=B)U-Z6 zOb|+eu3O?~5zvq}pY5`FI^H+`Wm~34vsHO|CiTxwfD^Zr41*~3JUNV8`*s$t{J1IfvoYK;5XcP_x&!%@6ptiBgO&==oJDpM};L^ z`}q1hqP0iD)$j!Nsf%>aq&!7S$%;~5o1*m_upQsgrsOnD?`NNMvN6PlB!r%`A(Gr|fb>tA ziD1W0^bvUfNN;u9sb3#__#>P6#ws+F3rSEBJFdsIxN~xzKZbi6A2vKolUg1+`g+ul zV=I_t+Ug#yN){3{Gd$R=cJ2rbyQYrGHojV!VtsX5Fl(%VcOJdhsHQ1d-74 z2nq&^&F4hhQm?nAa~(Z7Wq{VqfqN;eL*C5`$OUb>inRRsmN?tlhjagJ+&9;^q>*QG4{`Te|Gy8Hzcn>iIYxZ^r# zD;D_{c~;HJdYZod@ZwCS)#qZr(1Hs8ApR=c**^qiBI|0$OlJIv2+i|uPO_CKX z*7GK*{K=;+{5N3N7-29Af-`P_UFhUUe1{=V=Ga=C>$#y&R0Pmwo+2seHwaF_&u6dK zLjUWe(U-K9v!oTvBMQAzJ8AT~!SrV*Po$niCBXo#%LM@lJJ~Yii6s!4`D4J6YJM0K zZEL$Q7B-}n^2$R&sfVDVeqTu+Fcuk=G6%mLg7uY)+i^GlQtPL6#t+iWO8wPnE#DWw z)u-Mfe5tM5MX~~hWNnH16I?(Q1YbfcvruQx6c3{-me*%i0n z!DV7%)K}2f$WqjA6F!AuS&KTupVf*CeDj4U`nAf+30c@m+R>aWCyBNWxK~hGP!Qi^ z6Pov3M@rfHW7H<8dshp)4fylaLjmv^)-cYgr-Kp8Q(;~_pMnbjQmjyS)lI{m^zfqK zC4-&9w!27GJo|nfqK6tCnS&_!Ie`97*Y*X^X*39fX80N|X+NY-~ETB>{8qIwaiUUZ)V% z)%zr8UemuU9_a zt+68v4`g-bF2g*9vuL-;^%P>jl`{554~>|h7G>W7BQ%g;Kd zby%dkskC^a5G|*4=Ppcl z(98&HqGOx08`*9_u@{adU?$fNhSUC{&cE z_PLZUhc8c=ee;C`IEZir0xy*oCWi$cG!U%Mxpmc@yGJ4)z{?EU|D14{<0&-v{o^ZV z3T`;6@ida|R8C%ZE1SJ@vn2lbPRiuE=o{YNM}b)JvAx}75GPpW+qm9TFg?Ga&v&9T z=j8XAb-aaADkb_+_!4pGVtRxEZ%`0#y>!hRy35aE(k$aq@CzW|m&iS)+ep!%@znqQt|xD6j

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+ + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + diff --git a/common/autoware_lanelet2_utility/sample_map/road_shoulder/pudo.osm b/common/autoware_lanelet2_utility/sample_map/road_shoulder/pudo.osm index 669f1c0f8..56aa7b9bc 100644 --- a/common/autoware_lanelet2_utility/sample_map/road_shoulder/pudo.osm +++ b/common/autoware_lanelet2_utility/sample_map/road_shoulder/pudo.osm @@ -1,1654 +1,1654 @@ - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - - - - - - - - - - - - + + + + + + + + + + + + - - - - - - - - - - - - - - + + + + + + + + + + + + + + - - - - - - - - - - - - + + + + + + + + + + + + - - - - - - - - - - - - - - + + + + + + + + + + + + + + - - - - - - - - - - - - + + + + + + + + + + + + - - - - - - - - - - - - - - + + + + + + + + + + + + + + - - - - - - - - - - - - + + + + + + + + + + + + - - - - - - - - - - - - - - + + + + + + + + + + + + + + - - - - - - - - - - - - + + + + + + + + + + + + - - - - - - - - - - - - - - + + + + + + + + + + + + + + - - - - - - - - - - - - + + + + + + + + + + + + - - - - - - - - - - - - - - + + + + + + + + + + + + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - - - - - - - - + + + + + + + + + + - - - - - - - - - - + + + + + + + + + + - - - - - - - - - - + + + + + + + + + + - - - - - - - - - - + + + + + + + + + + - - - - - - - - - - + + + + + + + + + + - - - - - - - - - - + + + + + + + + + + - - - + + + - - - + + + - - - + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + - - - - - - - - - - - + + + + + + + + + + + - - - - - - - - - - + + + + + + + + + + - - - - - + + + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - - + + + + - - - - + + + + - - - + + + - - - + + + @@ -1656,9 +1656,9 @@ - - - + + + @@ -1666,37 +1666,37 @@ - - - + + + - - - + + + - - - - + + + + - - - + + + @@ -1704,9 +1704,9 @@ - - - + + + @@ -1714,9 +1714,9 @@ - - - + + + @@ -1724,9 +1724,9 @@ - - - + + + @@ -1734,19 +1734,19 @@ - - + + - - - + + + - - + + diff --git a/common/autoware_lanelet2_utility/scripts/lanelet_id_aligner.py b/common/autoware_lanelet2_utility/scripts/lanelet_id_aligner.py index aa01ad8c2..ca19aaacb 100755 --- a/common/autoware_lanelet2_utility/scripts/lanelet_id_aligner.py +++ b/common/autoware_lanelet2_utility/scripts/lanelet_id_aligner.py @@ -23,7 +23,7 @@ def renumber_osm_ids(input_file): root = tree.getroot() id_map = {} - new_id = 0 + new_id = 1 # Collect nodes, ways, and relations with new ids for element in root.findall("node") + root.findall("way") + root.findall("relation"): diff --git a/common/autoware_lanelet2_utility/test/kind.cpp b/common/autoware_lanelet2_utility/test/kind.cpp index d4787b8bd..d2fad85ca 100644 --- a/common/autoware_lanelet2_utility/test/kind.cpp +++ b/common/autoware_lanelet2_utility/test/kind.cpp @@ -44,20 +44,20 @@ class TestWithRoadShoulderHighwayMap : public ::testing::Test TEST_F(TestWithRoadShoulderHighwayMap, LoadCheck) { - const auto point8 = lanelet_map_ptr_->pointLayer.get(8); + const auto point8 = lanelet_map_ptr_->pointLayer.get(1); EXPECT_EQ(point8.x(), 0.0); EXPECT_EQ(point8.y(), 0.0); - const auto point10 = lanelet_map_ptr_->pointLayer.get(10); + const auto point10 = lanelet_map_ptr_->pointLayer.get(2); EXPECT_EQ(point10.x(), 4.0); EXPECT_EQ(point10.y(), 0.0); - const auto point15 = lanelet_map_ptr_->pointLayer.get(15); + const auto point15 = lanelet_map_ptr_->pointLayer.get(3); EXPECT_EQ(point15.x(), 8.0); EXPECT_EQ(point15.y(), 0.0); } TEST_F(TestWithRoadShoulderHighwayMap, is_road_lane) { - const auto ll = lanelet_map_ptr_->laneletLayer.get(1275); + const auto ll = lanelet_map_ptr_->laneletLayer.get(47); EXPECT_EQ(autoware::lanelet2_utility::is_road_lane(ll), true); EXPECT_EQ(autoware::lanelet2_utility::is_shoulder_lane(ll), false); EXPECT_EQ(autoware::lanelet2_utility::is_bicycle_lane(ll), false); @@ -65,7 +65,7 @@ TEST_F(TestWithRoadShoulderHighwayMap, is_road_lane) TEST_F(TestWithRoadShoulderHighwayMap, is_shoulder_lane) { - const auto ll = lanelet_map_ptr_->laneletLayer.get(67); + const auto ll = lanelet_map_ptr_->laneletLayer.get(44); EXPECT_EQ(autoware::lanelet2_utility::is_road_lane(ll), false); EXPECT_EQ(autoware::lanelet2_utility::is_shoulder_lane(ll), true); EXPECT_EQ(autoware::lanelet2_utility::is_bicycle_lane(ll), false); From 4c2da1d8ccd60ad3ecc7234c7b9cf3ff7329a89e Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 5 Mar 2025 16:00:34 +0900 Subject: [PATCH 07/17] adding test for left_lanelet Signed-off-by: Mamoru Sobue --- common/autoware_lanelet2_utility/README.md | 39 ++++----- .../autoware_lanelet2_utility/topology.hpp | 11 +++ .../src/topology.cpp | 8 ++ .../test/topology.cpp | 85 +++++++++++++++++++ 4 files changed, 124 insertions(+), 19 deletions(-) create mode 100644 common/autoware_lanelet2_utility/test/topology.cpp diff --git a/common/autoware_lanelet2_utility/README.md b/common/autoware_lanelet2_utility/README.md index fa1c5d642..a84d0b069 100644 --- a/common/autoware_lanelet2_utility/README.md +++ b/common/autoware_lanelet2_utility/README.md @@ -26,25 +26,26 @@ This package aims to strictly define the meaning of several words to clarify the ## API description -| Header | function | description | average computational complexity | illustration | -| ------------------------------------------ | ----------------------------- | ------------------------------------------------------------------------------------------------------ | ---------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| `` | `is_road_lane` | | $O(1)$ | | -| | `is_shoulder_lane` | | $O(1)$ | | -| | `is_bicycle_lane` | | $O(1)$ | | -| `` | `left_lanelet` | This function ignores the permission of lane change. Also it ignores `shoulder` and `bicycle` Lanelet. | $O(1)$ | In the first map, the green Lanelet is the `left_lanelet` of the orange Lanelet.
In the second and third map, the `left_lanelet` of the orange Lanelet is `null`.
![left_lanelet](./media/api/left_lanelet.drawio.svg) | -| | `right_lanelet` | same as above `left_lanelet` | $O(1)$ | | -| | `left_similar_lanelet`(TODO) | same as above `left_lanelet` | $O(1)$ | | -| | `right_similar_lanelet`(TODO) | same as above `left_lanelet` | $O(1)$ | | -| | `left_opposite_lanelet` | same as below `right_opposite_lanelet` | $O(1)$
see [`findUsage`](./#complexity-of-findusage) for detail | | -| | `right_opposite_lanelet` | | $O(1)$
see [`findUsage`](./#complexity-of-findusage) for detail | In the first and second map, the green Lanelet is the `right_opposite_lanelet` of the orange Lanelet.
In the third map, the `right_opposite_lanelet` of the orange Lanelet is `null`.
![right_opposite_lanelet](./media/api/right_opposite_lanelet.drawio.svg) | -| | `leftmost_lanelet` | | $O(W)$ where $W$ is the size of the `bundle`. | In the first and second map, the green Lanelet is the `leftmost_lanelet` of the orange Lanelet.
In the third map, the `leftmost_lanelet` of the orange Lanelet is `null`.
![leftmost_lanelet](./media/api/leftmost_lanelet.drawio.svg) | -| | `rightmost_lanelet` | | $O(W)$ where $W$ is the size of the `bundle`. | In the first map, the green Lanelet is the `rightmost_lanelet` of the orange Lanelet.
In the second and third map, the `rightmost_lanelet` of the orange Lanelet is `null`.
![rightmost_lanelet](./media/api/rightmost_lanelet.drawio.svg) | -| | `left_lanelets` | The input Lanelet is not included in the output. | $O(W)$ where $W$ is the size of the `bundle`. | In the first map, the green Lanelete are the `left_lanelets` of the orange Lanelet.
In the second and third map, `left_lanelets` of the orange Lanelet is empty.
![left_lanelets](./media/api/left_lanelets.drawio.svg) | -| | `right_lanelets` | same as above `left_lanelets`. | $O(W)$ where $W$ is the size of the `bundle.` | In the first map, the green Lanelets are the `right_lanelets` of the orange Lanelet.
In the second and third map, `right_lanelets` of the orange Lanelet is empty.
![right_lanelets](./media/api/right_lanelets.drawio.svg) | -| | `following_lanelets` | | $O(E)$ where $E$ is the number of Lanelets to which the input is connected to. | | -| | `previous_lanelets` | | $O(E)$ where $E$ is the number of Lanelets from which the input is connected from. | | -| | `sibling_lanelets` | | $O(E)$ where $E$ is the number of sibling Lanelets | | -| | `from_ids` | | $O(n)$ | | +| Header | function | description | average computational complexity | illustration | +| ------------------------------------------ | ----------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `` | `is_road_lane` | | $O(1)$ | | +| | `is_shoulder_lane` | | $O(1)$ | | +| | `is_bicycle_lane` | | $O(1)$ | | +| `` | `instantiate_routing_graph` | This function creates a `RoutingGraph` object only from "road" lanes, which means "road_shoulder" and "bicycle_lane" Lanelets are inaccessible from left/right adjacency. | | | +| | `left_lanelet` | This function ignores the permission of lane change. Also it ignores `shoulder` and `bicycle` Lanelet. | $O(1)$ | In the first map, the green Lanelet is the `left_lanelet` of the orange Lanelet.
In the second and third map, the `left_lanelet` of the orange Lanelet is `null`.
![left_lanelet](./media/api/left_lanelet.drawio.svg) | +| | `right_lanelet` | same as above `left_lanelet` | $O(1)$ | | +| | `left_similar_lanelet`(TODO) | same as above `left_lanelet` | $O(1)$ | | +| | `right_similar_lanelet`(TODO) | same as above `left_lanelet` | $O(1)$ | | +| | `left_opposite_lanelet` | same as below `right_opposite_lanelet` | $O(1)$
see [`findUsage`](./#complexity-of-findusage) for detail | | +| | `right_opposite_lanelet` | | $O(1)$
see [`findUsage`](./#complexity-of-findusage) for detail | In the first and second map, the green Lanelet is the `right_opposite_lanelet` of the orange Lanelet.
In the third map, the `right_opposite_lanelet` of the orange Lanelet is `null`.
![right_opposite_lanelet](./media/api/right_opposite_lanelet.drawio.svg) | +| | `leftmost_lanelet` | | $O(W)$ where $W$ is the size of the `bundle`. | In the first and second map, the green Lanelet is the `leftmost_lanelet` of the orange Lanelet.
In the third map, the `leftmost_lanelet` of the orange Lanelet is `null`.
![leftmost_lanelet](./media/api/leftmost_lanelet.drawio.svg) | +| | `rightmost_lanelet` | | $O(W)$ where $W$ is the size of the `bundle`. | In the first map, the green Lanelet is the `rightmost_lanelet` of the orange Lanelet.
In the second and third map, the `rightmost_lanelet` of the orange Lanelet is `null`.
![rightmost_lanelet](./media/api/rightmost_lanelet.drawio.svg) | +| | `left_lanelets` | The input Lanelet is not included in the output. | $O(W)$ where $W$ is the size of the `bundle`. | In the first map, the green Lanelete are the `left_lanelets` of the orange Lanelet.
In the second and third map, `left_lanelets` of the orange Lanelet is empty.
![left_lanelets](./media/api/left_lanelets.drawio.svg) | +| | `right_lanelets` | same as above `left_lanelets`. | $O(W)$ where $W$ is the size of the `bundle.` | In the first map, the green Lanelets are the `right_lanelets` of the orange Lanelet.
In the second and third map, `right_lanelets` of the orange Lanelet is empty.
![right_lanelets](./media/api/right_lanelets.drawio.svg) | +| | `following_lanelets` | | $O(E)$ where $E$ is the number of Lanelets to which the input is connected to. | | +| | `previous_lanelets` | | $O(E)$ where $E$ is the number of Lanelets from which the input is connected from. | | +| | `sibling_lanelets` | | $O(E)$ where $E$ is the number of sibling Lanelets | | +| | `from_ids` | | $O(n)$ | | ### complexity of `findUsage` diff --git a/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp b/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp index 24ac75ca5..1389437ea 100644 --- a/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp +++ b/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp @@ -17,12 +17,23 @@ #include #include +#include #include #include namespace autoware::lanelet2_utility { +/** + * @brief instantiate RoutingGraph from given LaneletMap only from "road" lanes + * @param location [in, opt, lanelet::Locations::Germany] location value + * @param particiapnt [in, opt, lanelet::Participants::Vehicle] participant value + * @return RoutingGraph object without road_shoulder and bicycle_lane + */ +lanelet::routing::RoutingGraphConstPtr instantiate_routing_graph( + lanelet::LaneletMapConstPtr lanelet_map, const char * location = lanelet::Locations::Germany, + const char * participant = lanelet::Participants::Vehicle); + /** * @brief get the left adjacent and same_direction lanelet on the routing graph if exists regardless * of lane change permission diff --git a/common/autoware_lanelet2_utility/src/topology.cpp b/common/autoware_lanelet2_utility/src/topology.cpp index 96d8c8b72..c3fa17e2d 100644 --- a/common/autoware_lanelet2_utility/src/topology.cpp +++ b/common/autoware_lanelet2_utility/src/topology.cpp @@ -25,6 +25,14 @@ namespace autoware::lanelet2_utility static constexpr size_t k_normal_bundle_max_size = 10; +lanelet::routing::RoutingGraphConstPtr instantiate_routing_graph( + lanelet::LaneletMapConstPtr lanelet_map, const char * location, const char * participant) +{ + const auto traffic_rules = + lanelet::traffic_rules::TrafficRulesFactory::create(location, participant); + return lanelet::routing::RoutingGraph::build(*lanelet_map, *traffic_rules); +} + std::optional left_lanelet( const lanelet::ConstLanelet & lanelet, const lanelet::routing::RoutingGraphConstPtr routing_graph) { diff --git a/common/autoware_lanelet2_utility/test/topology.cpp b/common/autoware_lanelet2_utility/test/topology.cpp new file mode 100644 index 000000000..e95ac05d9 --- /dev/null +++ b/common/autoware_lanelet2_utility/test/topology.cpp @@ -0,0 +1,85 @@ +// Copyright 2025 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "local_projector.hpp" + +#include +#include +#include + +#include +#include + +#include +#include + +namespace fs = std::filesystem; + +namespace autoware +{ + +class TestWithIntersectionCrossingMap : public ::testing::Test +{ +protected: + lanelet::LaneletMapConstPtr lanelet_map_ptr_{nullptr}; + lanelet::routing::RoutingGraphConstPtr routing_graph_ptr_{nullptr}; + + void SetUp() override + { + const auto sample_map_dir = + fs::path(ament_index_cpp::get_package_share_directory("autoware_lanelet2_utility")) / + "sample_map"; + const auto intersection_crossing_map_path = sample_map_dir / "intersection" / "crossing.osm"; + + lanelet_map_ptr_ = load_local_coordinate_map(intersection_crossing_map_path.string()); + routing_graph_ptr_ = lanelet2_utility::instantiate_routing_graph(lanelet_map_ptr_); + } +}; + +TEST_F(TestWithIntersectionCrossingMap, LoadCheck) +{ + const auto point1867 = lanelet_map_ptr_->pointLayer.get(1867); + EXPECT_EQ(point1867.x(), 0.0); + EXPECT_EQ(point1867.y(), 0.0); +} + +TEST_F(TestWithIntersectionCrossingMap, shoulder_lane_is_inaccesible_on_routing_graph) +{ + const auto left = + lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2395), routing_graph_ptr_); + EXPECT_EQ(left.has_value(), false); +} + +TEST_F(TestWithIntersectionCrossingMap, bicycle_lane_is_inaccesible_on_routing_graph) +{ + const auto left = + lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2447), routing_graph_ptr_); + EXPECT_EQ(left.has_value(), false); +} + +TEST_F(TestWithIntersectionCrossingMap, left_lanelet_without_lc_permission) +{ + const auto left = + lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2398), routing_graph_ptr_); + EXPECT_EQ(left.value().id(), 2397); +} + +TEST_F(TestWithIntersectionCrossingMap, left_lanelet_with_lc_permission) +{ + const auto left = + lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2396), routing_graph_ptr_); + EXPECT_EQ(left.value().id(), 2395); +} + +} // namespace autoware From 33b61d69d98991d7a021ae38b69e628f306a54e5 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 5 Mar 2025 17:36:02 +0900 Subject: [PATCH 08/17] get_right_opposite test is strange Signed-off-by: Mamoru Sobue --- common/autoware_lanelet2_utility/README.md | 2 +- .../sample_map/intersection/crossing.osm | 29368 ++++++++-------- .../src/topology.cpp | 8 +- .../test/topology.cpp | 61 +- 4 files changed, 14765 insertions(+), 14674 deletions(-) diff --git a/common/autoware_lanelet2_utility/README.md b/common/autoware_lanelet2_utility/README.md index a84d0b069..1cc259d56 100644 --- a/common/autoware_lanelet2_utility/README.md +++ b/common/autoware_lanelet2_utility/README.md @@ -163,7 +163,7 @@ std::vector forEachMatchInMultiMap(const MapT& map, const KeyT& key, Func&& f | --------------------------- | --------------- | --------------------------------------------------- | | `road_shoulder/highway.osm` | `1` | ![highway](./media/maps/road_shoulder/highway.png) | | `road_shoulder/pudo.osm` | `140` | ![pudo](./media/maps/road_shoulder/pudo.png) | -| `intersection/crossing.osm` | `1867` | ![crossing](./media/maps/intersection/crossing.png) | +| `intersection/crossing.osm` | `1861` | ![crossing](./media/maps/intersection/crossing.png) | ### How to craft test map diff --git a/common/autoware_lanelet2_utility/sample_map/intersection/crossing.osm b/common/autoware_lanelet2_utility/sample_map/intersection/crossing.osm index ff5184aa7..9030df5a9 100644 --- a/common/autoware_lanelet2_utility/sample_map/intersection/crossing.osm +++ b/common/autoware_lanelet2_utility/sample_map/intersection/crossing.osm @@ -1,15586 +1,15636 @@ - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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a/common/autoware_lanelet2_utility/src/topology.cpp +++ b/common/autoware_lanelet2_utility/src/topology.cpp @@ -76,9 +76,7 @@ std::optional left_opposite_lanelet( { for (const auto & opposite_candidate : lanelet_map->laneletLayer.findUsages(lanelet.leftBound().invert())) { - if (opposite_candidate.rightBound().id() == lanelet.leftBound().id()) { - return opposite_candidate; - } + return opposite_candidate; } return std::nullopt; } @@ -88,9 +86,7 @@ std::optional right_opposite_lanelet( { for (const auto & opposite_candidate : lanelet_map->laneletLayer.findUsages(lanelet.rightBound().invert())) { - if (opposite_candidate.leftBound().id() == lanelet.rightBound().id()) { - return opposite_candidate; - } + return opposite_candidate; } return std::nullopt; } diff --git a/common/autoware_lanelet2_utility/test/topology.cpp b/common/autoware_lanelet2_utility/test/topology.cpp index e95ac05d9..5e6c90fa2 100644 --- a/common/autoware_lanelet2_utility/test/topology.cpp +++ b/common/autoware_lanelet2_utility/test/topology.cpp @@ -49,37 +49,82 @@ class TestWithIntersectionCrossingMap : public ::testing::Test TEST_F(TestWithIntersectionCrossingMap, LoadCheck) { - const auto point1867 = lanelet_map_ptr_->pointLayer.get(1867); - EXPECT_EQ(point1867.x(), 0.0); - EXPECT_EQ(point1867.y(), 0.0); + const auto point1861 = lanelet_map_ptr_->pointLayer.get(1861); + EXPECT_EQ(point1861.x(), 0.0); + EXPECT_EQ(point1861.y(), 0.0); } TEST_F(TestWithIntersectionCrossingMap, shoulder_lane_is_inaccesible_on_routing_graph) { const auto left = - lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2395), routing_graph_ptr_); + lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2398), routing_graph_ptr_); EXPECT_EQ(left.has_value(), false); } TEST_F(TestWithIntersectionCrossingMap, bicycle_lane_is_inaccesible_on_routing_graph) { const auto left = - lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2447), routing_graph_ptr_); + lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2450), routing_graph_ptr_); EXPECT_EQ(left.has_value(), false); } TEST_F(TestWithIntersectionCrossingMap, left_lanelet_without_lc_permission) { + const auto left = + lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2400), routing_graph_ptr_); + EXPECT_EQ(left.value().id(), 2399); +} + +TEST_F(TestWithIntersectionCrossingMap, left_lanelet_with_lc_permission) +{ + const auto left = + lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2399), routing_graph_ptr_); + EXPECT_EQ(left.value().id(), 2398); +} + +TEST_F(TestWithIntersectionCrossingMap, right_lanelet_without_lc_permission) +{ + const auto left = + lanelet2_utility::right_lanelet(lanelet_map_ptr_->laneletLayer.get(2399), routing_graph_ptr_); + EXPECT_EQ(left.value().id(), 2400); +} + +TEST_F(TestWithIntersectionCrossingMap, right_lanelet_with_lc_permission) +{ + const auto left = + lanelet2_utility::right_lanelet(lanelet_map_ptr_->laneletLayer.get(2398), routing_graph_ptr_); + EXPECT_EQ(left.value().id(), 2399); +} + +TEST_F(TestWithIntersectionCrossingMap, right_opposite_lanelet_null_because_it_is_middle_lane) +{ + const auto right_opposite = lanelet2_utility::right_opposite_lanelet( + lanelet_map_ptr_->laneletLayer.get(2451), lanelet_map_ptr_); + EXPECT_EQ(right_opposite.has_value(), false); +} + +TEST_F(TestWithIntersectionCrossingMap, right_opposite_lanelet_valid) +{ + const auto lanelet = lanelet_map_ptr_->laneletLayer.get(2479); + const auto right_opposite = lanelet2_utility::right_opposite_lanelet(lanelet, lanelet_map_ptr_); + EXPECT_EQ(lanelet_map_ptr_->laneletLayer.findUsages(lanelet.rightBound().invert()).size(), 1); + // EXPECT_EQ(right_opposite.value().id(), lanelet_map_ptr_->laneletLayer.get(2407).id()); +} + +/* +TEST_F(TestWithIntersectionCrossingInverseMap, left_opposite_lanelet_valid) +n{ const auto left = lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2398), routing_graph_ptr_); EXPECT_EQ(left.value().id(), 2397); } -TEST_F(TestWithIntersectionCrossingMap, left_lanelet_with_lc_permission) +TEST_F(TestWithIntersectionCrossingInverseMap, left_opposite_lanelet_null) { const auto left = - lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2396), routing_graph_ptr_); - EXPECT_EQ(left.value().id(), 2395); + lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2398), routing_graph_ptr_); + EXPECT_EQ(left.value().id(), 2397); } +*/ } // namespace autoware From 1c536ed41648ef3143cc4f2f91397ff2c6726da7 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 5 Mar 2025 20:09:20 +0900 Subject: [PATCH 09/17] for opposite lane, use other map Signed-off-by: Mamoru Sobue --- common/autoware_lanelet2_utility/README.md | 4 +- .../sample_map/intersection/crossing.osm | 29331 ++++++++-------- .../test/topology.cpp | 53 +- 3 files changed, 14393 insertions(+), 14995 deletions(-) diff --git a/common/autoware_lanelet2_utility/README.md b/common/autoware_lanelet2_utility/README.md index 1cc259d56..0bbe9f94c 100644 --- a/common/autoware_lanelet2_utility/README.md +++ b/common/autoware_lanelet2_utility/README.md @@ -159,11 +159,13 @@ std::vector forEachMatchInMultiMap(const MapT& map, const KeyT& key, Func&& f ## Test maps +All of the maps are in `local` coordinate. + | Map name | Origin point id | Image | | --------------------------- | --------------- | --------------------------------------------------- | | `road_shoulder/highway.osm` | `1` | ![highway](./media/maps/road_shoulder/highway.png) | | `road_shoulder/pudo.osm` | `140` | ![pudo](./media/maps/road_shoulder/pudo.png) | -| `intersection/crossing.osm` | `1861` | ![crossing](./media/maps/intersection/crossing.png) | +| `intersection/crossing.osm` | `1824` | ![crossing](./media/maps/intersection/crossing.png) | ### How to craft test map diff --git a/common/autoware_lanelet2_utility/sample_map/intersection/crossing.osm b/common/autoware_lanelet2_utility/sample_map/intersection/crossing.osm index 9030df5a9..66e43e0d4 100644 --- a/common/autoware_lanelet2_utility/sample_map/intersection/crossing.osm +++ b/common/autoware_lanelet2_utility/sample_map/intersection/crossing.osm @@ -1,15636 +1,15063 @@ - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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- + + + + + + + diff --git a/common/autoware_lanelet2_utility/test/topology.cpp b/common/autoware_lanelet2_utility/test/topology.cpp index 5e6c90fa2..deacab655 100644 --- a/common/autoware_lanelet2_utility/test/topology.cpp +++ b/common/autoware_lanelet2_utility/test/topology.cpp @@ -49,7 +49,7 @@ class TestWithIntersectionCrossingMap : public ::testing::Test TEST_F(TestWithIntersectionCrossingMap, LoadCheck) { - const auto point1861 = lanelet_map_ptr_->pointLayer.get(1861); + const auto point1861 = lanelet_map_ptr_->pointLayer.get(1824); EXPECT_EQ(point1861.x(), 0.0); EXPECT_EQ(point1861.y(), 0.0); } @@ -57,74 +57,43 @@ TEST_F(TestWithIntersectionCrossingMap, LoadCheck) TEST_F(TestWithIntersectionCrossingMap, shoulder_lane_is_inaccesible_on_routing_graph) { const auto left = - lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2398), routing_graph_ptr_); + lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2341), routing_graph_ptr_); EXPECT_EQ(left.has_value(), false); } TEST_F(TestWithIntersectionCrossingMap, bicycle_lane_is_inaccesible_on_routing_graph) { const auto left = - lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2450), routing_graph_ptr_); + lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2372), routing_graph_ptr_); EXPECT_EQ(left.has_value(), false); } TEST_F(TestWithIntersectionCrossingMap, left_lanelet_without_lc_permission) { const auto left = - lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2400), routing_graph_ptr_); - EXPECT_EQ(left.value().id(), 2399); + lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2335), routing_graph_ptr_); + EXPECT_EQ(left.value().id(), 2334); } TEST_F(TestWithIntersectionCrossingMap, left_lanelet_with_lc_permission) { const auto left = - lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2399), routing_graph_ptr_); - EXPECT_EQ(left.value().id(), 2398); + lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2334), routing_graph_ptr_); + EXPECT_EQ(left.value().id(), 2333); } TEST_F(TestWithIntersectionCrossingMap, right_lanelet_without_lc_permission) { const auto left = - lanelet2_utility::right_lanelet(lanelet_map_ptr_->laneletLayer.get(2399), routing_graph_ptr_); - EXPECT_EQ(left.value().id(), 2400); + lanelet2_utility::right_lanelet(lanelet_map_ptr_->laneletLayer.get(2333), routing_graph_ptr_); + EXPECT_EQ(left.value().id(), 2334); } TEST_F(TestWithIntersectionCrossingMap, right_lanelet_with_lc_permission) { const auto left = - lanelet2_utility::right_lanelet(lanelet_map_ptr_->laneletLayer.get(2398), routing_graph_ptr_); - EXPECT_EQ(left.value().id(), 2399); + lanelet2_utility::right_lanelet(lanelet_map_ptr_->laneletLayer.get(2334), routing_graph_ptr_); + EXPECT_EQ(left.value().id(), 2335); } -TEST_F(TestWithIntersectionCrossingMap, right_opposite_lanelet_null_because_it_is_middle_lane) -{ - const auto right_opposite = lanelet2_utility::right_opposite_lanelet( - lanelet_map_ptr_->laneletLayer.get(2451), lanelet_map_ptr_); - EXPECT_EQ(right_opposite.has_value(), false); -} - -TEST_F(TestWithIntersectionCrossingMap, right_opposite_lanelet_valid) -{ - const auto lanelet = lanelet_map_ptr_->laneletLayer.get(2479); - const auto right_opposite = lanelet2_utility::right_opposite_lanelet(lanelet, lanelet_map_ptr_); - EXPECT_EQ(lanelet_map_ptr_->laneletLayer.findUsages(lanelet.rightBound().invert()).size(), 1); - // EXPECT_EQ(right_opposite.value().id(), lanelet_map_ptr_->laneletLayer.get(2407).id()); -} - -/* -TEST_F(TestWithIntersectionCrossingInverseMap, left_opposite_lanelet_valid) -n{ - const auto left = - lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2398), routing_graph_ptr_); - EXPECT_EQ(left.value().id(), 2397); -} - -TEST_F(TestWithIntersectionCrossingInverseMap, left_opposite_lanelet_null) -{ - const auto left = - lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2398), routing_graph_ptr_); - EXPECT_EQ(left.value().id(), 2397); -} -*/ - } // namespace autoware From 5d5df1b092d535fe411689af1880b7f48425c5a2 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 5 Mar 2025 21:19:01 +0900 Subject: [PATCH 10/17] [Pass] opposite lane is impossible to test Signed-off-by: Mamoru Sobue --- common/autoware_lanelet2_utility/README.md | 3 +- .../autoware_lanelet2_utility/topology.hpp | 6 +- .../sample_map/intersection/T-Shape.osm | 1648 +++++++++++++++++ .../src/topology.cpp | 2 +- .../autoware_lanelet2_utility/test/kind.cpp | 39 +- .../test/topology.cpp | 112 +- 6 files changed, 1781 insertions(+), 29 deletions(-) create mode 100644 common/autoware_lanelet2_utility/sample_map/intersection/T-Shape.osm diff --git a/common/autoware_lanelet2_utility/README.md b/common/autoware_lanelet2_utility/README.md index 0bbe9f94c..2c171958e 100644 --- a/common/autoware_lanelet2_utility/README.md +++ b/common/autoware_lanelet2_utility/README.md @@ -40,7 +40,7 @@ This package aims to strictly define the meaning of several words to clarify the | | `right_opposite_lanelet` | | $O(1)$
see [`findUsage`](./#complexity-of-findusage) for detail | In the first and second map, the green Lanelet is the `right_opposite_lanelet` of the orange Lanelet.
In the third map, the `right_opposite_lanelet` of the orange Lanelet is `null`.
![right_opposite_lanelet](./media/api/right_opposite_lanelet.drawio.svg) | | | `leftmost_lanelet` | | $O(W)$ where $W$ is the size of the `bundle`. | In the first and second map, the green Lanelet is the `leftmost_lanelet` of the orange Lanelet.
In the third map, the `leftmost_lanelet` of the orange Lanelet is `null`.
![leftmost_lanelet](./media/api/leftmost_lanelet.drawio.svg) | | | `rightmost_lanelet` | | $O(W)$ where $W$ is the size of the `bundle`. | In the first map, the green Lanelet is the `rightmost_lanelet` of the orange Lanelet.
In the second and third map, the `rightmost_lanelet` of the orange Lanelet is `null`.
![rightmost_lanelet](./media/api/rightmost_lanelet.drawio.svg) | -| | `left_lanelets` | The input Lanelet is not included in the output. | $O(W)$ where $W$ is the size of the `bundle`. | In the first map, the green Lanelete are the `left_lanelets` of the orange Lanelet.
In the second and third map, `left_lanelets` of the orange Lanelet is empty.
![left_lanelets](./media/api/left_lanelets.drawio.svg) | +| | `left_lanelets` | The input Lanelet is not included in the output. | $O(W)$ where $W$ is the size of the `bundle`. | In the first map, the green Lanelets are the `left_lanelets` of the orange Lanelet.
In the second and third map, `left_lanelets` of the orange Lanelet is empty.
![left_lanelets](./media/api/left_lanelets.drawio.svg) | | | `right_lanelets` | same as above `left_lanelets`. | $O(W)$ where $W$ is the size of the `bundle.` | In the first map, the green Lanelets are the `right_lanelets` of the orange Lanelet.
In the second and third map, `right_lanelets` of the orange Lanelet is empty.
![right_lanelets](./media/api/right_lanelets.drawio.svg) | | | `following_lanelets` | | $O(E)$ where $E$ is the number of Lanelets to which the input is connected to. | | | | `previous_lanelets` | | $O(E)$ where $E$ is the number of Lanelets from which the input is connected from. | | @@ -166,6 +166,7 @@ All of the maps are in `local` coordinate. | `road_shoulder/highway.osm` | `1` | ![highway](./media/maps/road_shoulder/highway.png) | | `road_shoulder/pudo.osm` | `140` | ![pudo](./media/maps/road_shoulder/pudo.png) | | `intersection/crossing.osm` | `1824` | ![crossing](./media/maps/intersection/crossing.png) | +| `intersection/T-shape.osm` | `212` | | ### How to craft test map diff --git a/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp b/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp index 1389437ea..1ea97b8ac 100644 --- a/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp +++ b/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp @@ -27,7 +27,7 @@ namespace autoware::lanelet2_utility /** * @brief instantiate RoutingGraph from given LaneletMap only from "road" lanes * @param location [in, opt, lanelet::Locations::Germany] location value - * @param particiapnt [in, opt, lanelet::Participants::Vehicle] participant value + * @param participant [in, opt, lanelet::Participants::Vehicle] participant value * @return RoutingGraph object without road_shoulder and bicycle_lane */ lanelet::routing::RoutingGraphConstPtr instantiate_routing_graph( @@ -60,7 +60,7 @@ std::optional right_lanelet( * lanelet is limited to the one with same turn_direction value * @param [in] lanelet input lanelet * @param [in] routing_graph routing_graph containing `lanelet` - * @return optional of abovementioned lanelet(nullopt if there is no such lanelet) + * @return optional of aforementioned lanelet(nullopt if there is no such lanelet) */ /* std::optional left_similar_lanelet( @@ -73,7 +73,7 @@ const lanelet::routing::RoutingGraphConstPtr routing_graph); * sibling lanelet is limited to the one with same turn_direction value * @param [in] lanelet input lanelet * @param [in] routing_graph routing_graph containing `lanelet` - * @return optional of abovementioned lanelet(nullopt if there is no such lanelet) + * @return optional of aforementioned lanelet(nullopt if there is no such lanelet) */ /* std::optional right_similar_lanelet( diff --git a/common/autoware_lanelet2_utility/sample_map/intersection/T-Shape.osm b/common/autoware_lanelet2_utility/sample_map/intersection/T-Shape.osm new file mode 100644 index 000000000..c5832c58b --- /dev/null +++ b/common/autoware_lanelet2_utility/sample_map/intersection/T-Shape.osm @@ -0,0 +1,1648 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/common/autoware_lanelet2_utility/src/topology.cpp b/common/autoware_lanelet2_utility/src/topology.cpp index 1a815b1ba..42693ffae 100644 --- a/common/autoware_lanelet2_utility/src/topology.cpp +++ b/common/autoware_lanelet2_utility/src/topology.cpp @@ -124,7 +124,7 @@ std::optional rightmost_lanelet( } size_t bundle_size_diagnosis = 0; while (bundle_size_diagnosis < k_normal_bundle_max_size) { - const auto next_right_lane = left_lanelet(right_lane.value(), routing_graph); + const auto next_right_lane = right_lanelet(right_lane.value(), routing_graph); if (!next_right_lane) { // reached return right_lane; diff --git a/common/autoware_lanelet2_utility/test/kind.cpp b/common/autoware_lanelet2_utility/test/kind.cpp index d2fad85ca..ea72ae78c 100644 --- a/common/autoware_lanelet2_utility/test/kind.cpp +++ b/common/autoware_lanelet2_utility/test/kind.cpp @@ -26,6 +26,8 @@ namespace fs = std::filesystem; +namespace autoware +{ class TestWithRoadShoulderHighwayMap : public ::testing::Test { protected: @@ -42,6 +44,22 @@ class TestWithRoadShoulderHighwayMap : public ::testing::Test } }; +class TestWithIntersectionCrossingMap : public ::testing::Test +{ +protected: + lanelet::LaneletMapConstPtr lanelet_map_ptr_{nullptr}; + + void SetUp() override + { + const auto sample_map_dir = + fs::path(ament_index_cpp::get_package_share_directory("autoware_lanelet2_utility")) / + "sample_map"; + const auto road_shoulder_highway_map_path = sample_map_dir / "intersection" / "crossing.osm"; + + lanelet_map_ptr_ = load_local_coordinate_map(road_shoulder_highway_map_path.string()); + } +}; + TEST_F(TestWithRoadShoulderHighwayMap, LoadCheck) { const auto point8 = lanelet_map_ptr_->pointLayer.get(1); @@ -58,20 +76,27 @@ TEST_F(TestWithRoadShoulderHighwayMap, LoadCheck) TEST_F(TestWithRoadShoulderHighwayMap, is_road_lane) { const auto ll = lanelet_map_ptr_->laneletLayer.get(47); - EXPECT_EQ(autoware::lanelet2_utility::is_road_lane(ll), true); - EXPECT_EQ(autoware::lanelet2_utility::is_shoulder_lane(ll), false); - EXPECT_EQ(autoware::lanelet2_utility::is_bicycle_lane(ll), false); + EXPECT_EQ(lanelet2_utility::is_road_lane(ll), true); + EXPECT_EQ(lanelet2_utility::is_shoulder_lane(ll), false); + EXPECT_EQ(lanelet2_utility::is_bicycle_lane(ll), false); } TEST_F(TestWithRoadShoulderHighwayMap, is_shoulder_lane) { const auto ll = lanelet_map_ptr_->laneletLayer.get(44); - EXPECT_EQ(autoware::lanelet2_utility::is_road_lane(ll), false); - EXPECT_EQ(autoware::lanelet2_utility::is_shoulder_lane(ll), true); - EXPECT_EQ(autoware::lanelet2_utility::is_bicycle_lane(ll), false); + EXPECT_EQ(lanelet2_utility::is_road_lane(ll), false); + EXPECT_EQ(lanelet2_utility::is_shoulder_lane(ll), true); + EXPECT_EQ(lanelet2_utility::is_bicycle_lane(ll), false); } -// TODO(soblin): add and use bicycle lane map +TEST_F(TestWithIntersectionCrossingMap, is_shoulder_lane) +{ + const auto ll = lanelet_map_ptr_->laneletLayer.get(2392); + EXPECT_EQ(lanelet2_utility::is_road_lane(ll), false); + EXPECT_EQ(lanelet2_utility::is_shoulder_lane(ll), false); + EXPECT_EQ(lanelet2_utility::is_bicycle_lane(ll), true); +} +} // namespace autoware int main(int argc, char ** argv) { diff --git a/common/autoware_lanelet2_utility/test/topology.cpp b/common/autoware_lanelet2_utility/test/topology.cpp index deacab655..e289a978a 100644 --- a/common/autoware_lanelet2_utility/test/topology.cpp +++ b/common/autoware_lanelet2_utility/test/topology.cpp @@ -49,51 +49,129 @@ class TestWithIntersectionCrossingMap : public ::testing::Test TEST_F(TestWithIntersectionCrossingMap, LoadCheck) { - const auto point1861 = lanelet_map_ptr_->pointLayer.get(1824); - EXPECT_EQ(point1861.x(), 0.0); - EXPECT_EQ(point1861.y(), 0.0); + const auto point = lanelet_map_ptr_->pointLayer.get(1824); + EXPECT_EQ(point.x(), 0.0); + EXPECT_EQ(point.y(), 0.0); } -TEST_F(TestWithIntersectionCrossingMap, shoulder_lane_is_inaccesible_on_routing_graph) +TEST_F(TestWithIntersectionCrossingMap, shoulder_lane_is_inaccessible_on_routing_graph) { - const auto left = + const auto lane = lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2341), routing_graph_ptr_); - EXPECT_EQ(left.has_value(), false); + EXPECT_EQ(lane.has_value(), false); } -TEST_F(TestWithIntersectionCrossingMap, bicycle_lane_is_inaccesible_on_routing_graph) +TEST_F(TestWithIntersectionCrossingMap, bicycle_lane_is_inaccessible_on_routing_graph) { - const auto left = + const auto lane = lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2372), routing_graph_ptr_); - EXPECT_EQ(left.has_value(), false); + EXPECT_EQ(lane.has_value(), false); } TEST_F(TestWithIntersectionCrossingMap, left_lanelet_without_lc_permission) { - const auto left = + const auto lane = lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2335), routing_graph_ptr_); - EXPECT_EQ(left.value().id(), 2334); + EXPECT_EQ(lane.value().id(), 2334); } TEST_F(TestWithIntersectionCrossingMap, left_lanelet_with_lc_permission) { - const auto left = + const auto lane = lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2334), routing_graph_ptr_); - EXPECT_EQ(left.value().id(), 2333); + EXPECT_EQ(lane.value().id(), 2333); } TEST_F(TestWithIntersectionCrossingMap, right_lanelet_without_lc_permission) { - const auto left = + const auto lane = lanelet2_utility::right_lanelet(lanelet_map_ptr_->laneletLayer.get(2333), routing_graph_ptr_); - EXPECT_EQ(left.value().id(), 2334); + EXPECT_EQ(lane.value().id(), 2334); } TEST_F(TestWithIntersectionCrossingMap, right_lanelet_with_lc_permission) { - const auto left = + const auto lane = lanelet2_utility::right_lanelet(lanelet_map_ptr_->laneletLayer.get(2334), routing_graph_ptr_); - EXPECT_EQ(left.value().id(), 2335); + EXPECT_EQ(lane.value().id(), 2335); } +TEST_F(TestWithIntersectionCrossingMap, leftmost_lanelet_valid) +{ + const auto lane = lanelet2_utility::leftmost_lanelet( + lanelet_map_ptr_->laneletLayer.get(2335), routing_graph_ptr_); + EXPECT_EQ(lane.value().id(), 2333); +} + +TEST_F(TestWithIntersectionCrossingMap, leftmost_lanelet_null) +{ + const auto lane = lanelet2_utility::leftmost_lanelet( + lanelet_map_ptr_->laneletLayer.get(2333), routing_graph_ptr_); + EXPECT_EQ(lane.has_value(), false); +} + +TEST_F(TestWithIntersectionCrossingMap, rightmost_lanelet_valid) +{ + const auto lane = lanelet2_utility::rightmost_lanelet( + lanelet_map_ptr_->laneletLayer.get(2333), routing_graph_ptr_); + EXPECT_EQ(lane.value().id(), 2337); +} + +TEST_F(TestWithIntersectionCrossingMap, rightmost_lanelet_null) +{ + const auto lane = lanelet2_utility::rightmost_lanelet( + lanelet_map_ptr_->laneletLayer.get(2337), routing_graph_ptr_); + EXPECT_EQ(lane.has_value(), false); +} + +TEST_F(TestWithIntersectionCrossingMap, left_lanelets_without_opposite) +{ + const auto lefts = lanelet2_utility::left_lanelets( + lanelet_map_ptr_->laneletLayer.get(2344), lanelet_map_ptr_, routing_graph_ptr_); + EXPECT_EQ(lefts.size(), 3); + EXPECT_EQ(lefts[0].id(), 2343); + EXPECT_EQ(lefts[1].id(), 2342); + EXPECT_EQ(lefts[2].id(), 2341); +} + +TEST_F(TestWithIntersectionCrossingMap, right_lanelets_without_opposite) +{ + const auto lefts = lanelet2_utility::right_lanelets( + lanelet_map_ptr_->laneletLayer.get(2341), lanelet_map_ptr_, routing_graph_ptr_); + EXPECT_EQ(lefts.size(), 3); + EXPECT_EQ(lefts[0].id(), 2342); + EXPECT_EQ(lefts[1].id(), 2343); + EXPECT_EQ(lefts[2].id(), 2344); +} + +class TestWithIntersection_T_ShapeMap : public ::testing::Test +{ +protected: + lanelet::LaneletMapConstPtr lanelet_map_ptr_{nullptr}; + lanelet::routing::RoutingGraphConstPtr routing_graph_ptr_{nullptr}; + + void SetUp() override + { + const auto sample_map_dir = + fs::path(ament_index_cpp::get_package_share_directory("autoware_lanelet2_utility")) / + "sample_map"; + const auto intersection_t_shape_map_path = sample_map_dir / "intersection" / "T-Shape.osm"; + + lanelet_map_ptr_ = load_local_coordinate_map(intersection_t_shape_map_path.string()); + routing_graph_ptr_ = lanelet2_utility::instantiate_routing_graph(lanelet_map_ptr_); + } +}; + +TEST_F(TestWithIntersection_T_ShapeMap, LoadCheck) +{ + const auto point = lanelet_map_ptr_->pointLayer.get(212); + EXPECT_EQ(point.x(), 0.0); + EXPECT_EQ(point.y(), 0.0); +} } // namespace autoware + +int main(int argc, char ** argv) +{ + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} From 46b280d02540d5b9ab20f5dd4b72d1e08f12662a Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 6 Mar 2025 16:44:04 +0900 Subject: [PATCH 11/17] updated map to MGRS Signed-off-by: Mamoru Sobue --- common/autoware_lanelet2_utility/README.md | 7 +- common/autoware_lanelet2_utility/package.xml | 1 + .../sample_map/intersection/T-Shape.osm | 1648 - .../sample_map/intersection/crossing.osm | 28390 ++++++++-------- .../intersection/crossing_fms_original.osm | 14533 ++++++++ .../sample_map/road_shoulder/fms.osm | 3464 ++ .../sample_map/road_shoulder/highway.osm | 270 +- .../sample_map/road_shoulder/pudo.osm | 3151 +- .../scripts/lanelet_anonymizer.py | 14 +- .../autoware_lanelet2_utility/test/kind.cpp | 26 +- .../{local_projector.hpp => map_loader.hpp} | 33 +- .../test/topology.cpp | 83 +- 12 files changed, 34394 insertions(+), 17226 deletions(-) delete mode 100644 common/autoware_lanelet2_utility/sample_map/intersection/T-Shape.osm create mode 100644 common/autoware_lanelet2_utility/sample_map/intersection/crossing_fms_original.osm create mode 100644 common/autoware_lanelet2_utility/sample_map/road_shoulder/fms.osm rename common/autoware_lanelet2_utility/test/{local_projector.hpp => map_loader.hpp} (52%) diff --git a/common/autoware_lanelet2_utility/README.md b/common/autoware_lanelet2_utility/README.md index 2c171958e..ede576760 100644 --- a/common/autoware_lanelet2_utility/README.md +++ b/common/autoware_lanelet2_utility/README.md @@ -165,18 +165,17 @@ All of the maps are in `local` coordinate. | --------------------------- | --------------- | --------------------------------------------------- | | `road_shoulder/highway.osm` | `1` | ![highway](./media/maps/road_shoulder/highway.png) | | `road_shoulder/pudo.osm` | `140` | ![pudo](./media/maps/road_shoulder/pudo.png) | -| `intersection/crossing.osm` | `1824` | ![crossing](./media/maps/intersection/crossing.png) | -| `intersection/T-shape.osm` | `212` | | +| `intersection/crossing.osm` | `1791` | ![crossing](./media/maps/intersection/crossing.png) | ### How to craft test map -On the VMB, create the map in local projector(or convert it to local projector from MGRS projector) and save the file as ``. Next, select the point to use as (0.0, 0.0) and pass its `` and run +On the VMB, create the map in MGRS system and save the file as ``. Next, select the point to set (100.0, 100.0) and pass its `` and run ```bash ros2 run autoware_lanelet2_utility lanelet_anonymizer.py ``` -Then the coordinate of the specified point is (0, 0) on the loaded map. +Then the coordinate of the specified point is (100, 100) on the loaded map(NOTE: not exactly (0, 0) because MGRS does not any point to have negative coordinate value). 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -1181,7 +1976,7 @@ - + @@ -1198,7 +1993,7 @@ - + @@ -1213,7 +2008,7 @@ - + @@ -1230,7 +2025,7 @@ - + @@ -1245,7 +2040,7 @@ - + @@ -1262,7 +2057,7 @@ - + @@ -1277,7 +2072,7 @@ - + @@ -1294,7 +2089,7 @@ - + @@ -1309,7 +2104,7 @@ - + @@ -1326,171 +2121,467 @@ - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + + + + - - - - - - - - - - + + + - - - - - - - - - - + + + + + + - - - - - - - - - - + + + + - - - - - - - - - - + + + - - - - - - - - - - + + + - - - - - - - - - - + + + - - - + + + - - - + + + + + + - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + @@ -1499,7 +2590,7 @@ - + @@ -1508,7 +2599,7 @@ - + @@ -1528,7 +2619,7 @@ - + @@ -1542,7 +2633,7 @@ - + @@ -1555,100 +2646,160 @@ - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - - + + + + - - - - + + + + - - - + + + - - - + + + @@ -1656,9 +2807,9 @@ - - - + + + @@ -1666,37 +2817,37 @@ - - - + + + - - - + + + - - - - + + + + - - - + + + @@ -1704,9 +2855,9 @@ - - - + + + @@ -1714,9 +2865,9 @@ - - - + + + @@ -1724,9 +2875,67 @@ - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -1734,19 +2943,163 @@ - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - + + + - - + + diff --git a/common/autoware_lanelet2_utility/scripts/lanelet_anonymizer.py b/common/autoware_lanelet2_utility/scripts/lanelet_anonymizer.py index 3b77b9533..06854c935 100755 --- a/common/autoware_lanelet2_utility/scripts/lanelet_anonymizer.py +++ b/common/autoware_lanelet2_utility/scripts/lanelet_anonymizer.py @@ -17,8 +17,8 @@ import argparse import xml.etree.ElementTree as ET -origin_offset_x = 0.0 -origin_offset_y = 0.0 +origin_x = 100.0 +origin_y = 100.0 def update_osm_latlon(osm_file, output_file, origin_id): @@ -33,8 +33,8 @@ def update_osm_latlon(osm_file, output_file, origin_id): if node.attrib["id"] == str(origin_id): old_origin_local_xy = (float(local_x_tag.attrib["v"]), float(local_y_tag.attrib["v"])) - local_x_tag.set("v", str(0.0 - origin_offset_x)) - local_y_tag.set("v", str(0.0 - origin_offset_y)) + local_x_tag.set("v", str(origin_x)) + local_y_tag.set("v", str(origin_y)) break if old_origin_local_xy is None: @@ -55,10 +55,8 @@ def update_osm_latlon(osm_file, output_file, origin_id): adj_local_x = local_x - old_origin_x adj_local_y = local_y - old_origin_y - local_x_tag.set("v", str(adj_local_x - origin_offset_x)) - local_y_tag.set("v", str(adj_local_y - origin_offset_y)) - node.set("lat", str(0.0)) - node.set("lon", str(0.0)) + local_x_tag.set("v", str(origin_x + adj_local_x)) + local_y_tag.set("v", str(origin_y + adj_local_y)) tree.write(output_file, encoding="UTF-8", xml_declaration=True) print(f"Updated OSM file created: {output_file}") diff --git a/common/autoware_lanelet2_utility/test/kind.cpp b/common/autoware_lanelet2_utility/test/kind.cpp index ea72ae78c..d9c66898a 100644 --- a/common/autoware_lanelet2_utility/test/kind.cpp +++ b/common/autoware_lanelet2_utility/test/kind.cpp @@ -12,14 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "local_projector.hpp" +#include "map_loader.hpp" #include -#include #include #include -#include #include #include @@ -40,7 +38,7 @@ class TestWithRoadShoulderHighwayMap : public ::testing::Test "sample_map"; const auto road_shoulder_highway_map_path = sample_map_dir / "road_shoulder" / "highway.osm"; - lanelet_map_ptr_ = load_local_coordinate_map(road_shoulder_highway_map_path.string()); + lanelet_map_ptr_ = load_mgrs_coordinate_map(road_shoulder_highway_map_path.string()); } }; @@ -56,26 +54,20 @@ class TestWithIntersectionCrossingMap : public ::testing::Test "sample_map"; const auto road_shoulder_highway_map_path = sample_map_dir / "intersection" / "crossing.osm"; - lanelet_map_ptr_ = load_local_coordinate_map(road_shoulder_highway_map_path.string()); + lanelet_map_ptr_ = load_mgrs_coordinate_map(road_shoulder_highway_map_path.string()); } }; TEST_F(TestWithRoadShoulderHighwayMap, LoadCheck) { - const auto point8 = lanelet_map_ptr_->pointLayer.get(1); - EXPECT_EQ(point8.x(), 0.0); - EXPECT_EQ(point8.y(), 0.0); - const auto point10 = lanelet_map_ptr_->pointLayer.get(2); - EXPECT_EQ(point10.x(), 4.0); - EXPECT_EQ(point10.y(), 0.0); - const auto point15 = lanelet_map_ptr_->pointLayer.get(3); - EXPECT_EQ(point15.x(), 8.0); - EXPECT_EQ(point15.y(), 0.0); + const auto point = lanelet_map_ptr_->pointLayer.get(1); + EXPECT_NEAR(point.x(), 100.0, 0.05); + EXPECT_NEAR(point.y(), 100.0, 0.05); } TEST_F(TestWithRoadShoulderHighwayMap, is_road_lane) { - const auto ll = lanelet_map_ptr_->laneletLayer.get(47); + const auto ll = lanelet_map_ptr_->laneletLayer.get(46); EXPECT_EQ(lanelet2_utility::is_road_lane(ll), true); EXPECT_EQ(lanelet2_utility::is_shoulder_lane(ll), false); EXPECT_EQ(lanelet2_utility::is_bicycle_lane(ll), false); @@ -83,7 +75,7 @@ TEST_F(TestWithRoadShoulderHighwayMap, is_road_lane) TEST_F(TestWithRoadShoulderHighwayMap, is_shoulder_lane) { - const auto ll = lanelet_map_ptr_->laneletLayer.get(44); + const auto ll = lanelet_map_ptr_->laneletLayer.get(47); EXPECT_EQ(lanelet2_utility::is_road_lane(ll), false); EXPECT_EQ(lanelet2_utility::is_shoulder_lane(ll), true); EXPECT_EQ(lanelet2_utility::is_bicycle_lane(ll), false); @@ -91,7 +83,7 @@ TEST_F(TestWithRoadShoulderHighwayMap, is_shoulder_lane) TEST_F(TestWithIntersectionCrossingMap, is_shoulder_lane) { - const auto ll = lanelet_map_ptr_->laneletLayer.get(2392); + const auto ll = lanelet_map_ptr_->laneletLayer.get(2303); EXPECT_EQ(lanelet2_utility::is_road_lane(ll), false); EXPECT_EQ(lanelet2_utility::is_shoulder_lane(ll), false); EXPECT_EQ(lanelet2_utility::is_bicycle_lane(ll), true); diff --git a/common/autoware_lanelet2_utility/test/local_projector.hpp b/common/autoware_lanelet2_utility/test/map_loader.hpp similarity index 52% rename from common/autoware_lanelet2_utility/test/local_projector.hpp rename to common/autoware_lanelet2_utility/test/map_loader.hpp index 00e56e8cb..d173b583b 100644 --- a/common/autoware_lanelet2_utility/test/local_projector.hpp +++ b/common/autoware_lanelet2_utility/test/map_loader.hpp @@ -12,8 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LOCAL_PROJECTOR_HPP_ -#define LOCAL_PROJECTOR_HPP_ +#ifndef MAP_LOADER_HPP_ +#define MAP_LOADER_HPP_ + +#include #include #include @@ -22,33 +24,12 @@ #include #include -class LocalProjector : public lanelet::Projector -{ -public: - LocalProjector() : Projector(lanelet::Origin(lanelet::GPSPoint{})) {} - - lanelet::BasicPoint3d forward(const lanelet::GPSPoint & gps) const override // NOLINT - { - return lanelet::BasicPoint3d{0.0, 0.0, gps.ele}; - } - - [[nodiscard]] lanelet::GPSPoint reverse(const lanelet::BasicPoint3d & point) const override - { - return lanelet::GPSPoint{0.0, 0.0, point.z()}; - } -}; - -inline lanelet::LaneletMapConstPtr load_local_coordinate_map(const std::string & path) +inline lanelet::LaneletMapConstPtr load_mgrs_coordinate_map(const std::string & path) { lanelet::ErrorMessages errors{}; - LocalProjector projector; + lanelet::projection::MGRSProjector projector; auto lanelet_map_ptr_mut = lanelet::load(path, projector, &errors); - for (auto point : lanelet_map_ptr_mut->pointLayer) { - point.x() = point.attribute("local_x").asDouble().value(); - point.y() = point.attribute("local_y").asDouble().value(); - } - return lanelet::LaneletMapConstPtr{std::move(lanelet_map_ptr_mut)}; } -#endif // LOCAL_PROJECTOR_HPP_ +#endif // MAP_LOADER_HPP_ diff --git a/common/autoware_lanelet2_utility/test/topology.cpp b/common/autoware_lanelet2_utility/test/topology.cpp index e289a978a..1e59fcaa1 100644 --- a/common/autoware_lanelet2_utility/test/topology.cpp +++ b/common/autoware_lanelet2_utility/test/topology.cpp @@ -12,16 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "local_projector.hpp" +#include "map_loader.hpp" #include -#include #include +#include #include #include #include +#include #include namespace fs = std::filesystem; @@ -42,108 +43,125 @@ class TestWithIntersectionCrossingMap : public ::testing::Test "sample_map"; const auto intersection_crossing_map_path = sample_map_dir / "intersection" / "crossing.osm"; - lanelet_map_ptr_ = load_local_coordinate_map(intersection_crossing_map_path.string()); + lanelet_map_ptr_ = load_mgrs_coordinate_map(intersection_crossing_map_path.string()); routing_graph_ptr_ = lanelet2_utility::instantiate_routing_graph(lanelet_map_ptr_); } }; TEST_F(TestWithIntersectionCrossingMap, LoadCheck) { - const auto point = lanelet_map_ptr_->pointLayer.get(1824); - EXPECT_EQ(point.x(), 0.0); - EXPECT_EQ(point.y(), 0.0); + const auto point = lanelet_map_ptr_->pointLayer.get(1791); + EXPECT_NEAR(point.x(), 100.0, 0.05); + EXPECT_NEAR(point.y(), 100.0, 0.05); } TEST_F(TestWithIntersectionCrossingMap, shoulder_lane_is_inaccessible_on_routing_graph) { const auto lane = - lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2341), routing_graph_ptr_); + lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2257), routing_graph_ptr_); EXPECT_EQ(lane.has_value(), false); } TEST_F(TestWithIntersectionCrossingMap, bicycle_lane_is_inaccessible_on_routing_graph) { const auto lane = - lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2372), routing_graph_ptr_); + lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2286), routing_graph_ptr_); EXPECT_EQ(lane.has_value(), false); } TEST_F(TestWithIntersectionCrossingMap, left_lanelet_without_lc_permission) { const auto lane = - lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2335), routing_graph_ptr_); - EXPECT_EQ(lane.value().id(), 2334); + lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2246), routing_graph_ptr_); + EXPECT_EQ(lane.value().id(), 2245); } TEST_F(TestWithIntersectionCrossingMap, left_lanelet_with_lc_permission) { const auto lane = - lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2334), routing_graph_ptr_); - EXPECT_EQ(lane.value().id(), 2333); + lanelet2_utility::left_lanelet(lanelet_map_ptr_->laneletLayer.get(2245), routing_graph_ptr_); + EXPECT_EQ(lane.value().id(), 2244); } TEST_F(TestWithIntersectionCrossingMap, right_lanelet_without_lc_permission) { const auto lane = - lanelet2_utility::right_lanelet(lanelet_map_ptr_->laneletLayer.get(2333), routing_graph_ptr_); - EXPECT_EQ(lane.value().id(), 2334); + lanelet2_utility::right_lanelet(lanelet_map_ptr_->laneletLayer.get(2245), routing_graph_ptr_); + EXPECT_EQ(lane.value().id(), 2246); } TEST_F(TestWithIntersectionCrossingMap, right_lanelet_with_lc_permission) { const auto lane = - lanelet2_utility::right_lanelet(lanelet_map_ptr_->laneletLayer.get(2334), routing_graph_ptr_); - EXPECT_EQ(lane.value().id(), 2335); + lanelet2_utility::right_lanelet(lanelet_map_ptr_->laneletLayer.get(2244), routing_graph_ptr_); + EXPECT_EQ(lane.value().id(), 2245); +} + +TEST_F(TestWithIntersectionCrossingMap, right_opposite_lanelet) +{ + const auto lane = lanelet2_utility::right_opposite_lanelet( + lanelet_map_ptr_->laneletLayer.get(2288), lanelet_map_ptr_); + EXPECT_EQ(lane.value().id(), 2311); } TEST_F(TestWithIntersectionCrossingMap, leftmost_lanelet_valid) { const auto lane = lanelet2_utility::leftmost_lanelet( - lanelet_map_ptr_->laneletLayer.get(2335), routing_graph_ptr_); - EXPECT_EQ(lane.value().id(), 2333); + lanelet_map_ptr_->laneletLayer.get(2288), routing_graph_ptr_); + EXPECT_EQ(lane.value().id(), 2286); } TEST_F(TestWithIntersectionCrossingMap, leftmost_lanelet_null) { const auto lane = lanelet2_utility::leftmost_lanelet( - lanelet_map_ptr_->laneletLayer.get(2333), routing_graph_ptr_); + lanelet_map_ptr_->laneletLayer.get(2286), routing_graph_ptr_); EXPECT_EQ(lane.has_value(), false); } TEST_F(TestWithIntersectionCrossingMap, rightmost_lanelet_valid) { const auto lane = lanelet2_utility::rightmost_lanelet( - lanelet_map_ptr_->laneletLayer.get(2333), routing_graph_ptr_); - EXPECT_EQ(lane.value().id(), 2337); + lanelet_map_ptr_->laneletLayer.get(2286), routing_graph_ptr_); + EXPECT_EQ(lane.value().id(), 2288); } TEST_F(TestWithIntersectionCrossingMap, rightmost_lanelet_null) { const auto lane = lanelet2_utility::rightmost_lanelet( - lanelet_map_ptr_->laneletLayer.get(2337), routing_graph_ptr_); + lanelet_map_ptr_->laneletLayer.get(2288), routing_graph_ptr_); EXPECT_EQ(lane.has_value(), false); } TEST_F(TestWithIntersectionCrossingMap, left_lanelets_without_opposite) { const auto lefts = lanelet2_utility::left_lanelets( - lanelet_map_ptr_->laneletLayer.get(2344), lanelet_map_ptr_, routing_graph_ptr_); - EXPECT_EQ(lefts.size(), 3); - EXPECT_EQ(lefts[0].id(), 2343); - EXPECT_EQ(lefts[1].id(), 2342); - EXPECT_EQ(lefts[2].id(), 2341); + lanelet_map_ptr_->laneletLayer.get(2288), lanelet_map_ptr_, routing_graph_ptr_); + EXPECT_EQ(lefts.size(), 2); + EXPECT_EQ(lefts[0].id(), 2287); + EXPECT_EQ(lefts[1].id(), 2286); } TEST_F(TestWithIntersectionCrossingMap, right_lanelets_without_opposite) { const auto lefts = lanelet2_utility::right_lanelets( - lanelet_map_ptr_->laneletLayer.get(2341), lanelet_map_ptr_, routing_graph_ptr_); - EXPECT_EQ(lefts.size(), 3); - EXPECT_EQ(lefts[0].id(), 2342); - EXPECT_EQ(lefts[1].id(), 2343); - EXPECT_EQ(lefts[2].id(), 2344); + lanelet_map_ptr_->laneletLayer.get(2286), lanelet_map_ptr_, routing_graph_ptr_); + EXPECT_EQ(lefts.size(), 2); + EXPECT_EQ(lefts[0].id(), 2287); + EXPECT_EQ(lefts[1].id(), 2288); +} + +TEST_F(TestWithIntersectionCrossingMap, following_lanelets) +{ + const auto following = lanelet2_utility::following_lanelets( + lanelet_map_ptr_->laneletLayer.get(2244), routing_graph_ptr_); + EXPECT_EQ(following.size(), 2); + const auto ids = following | ranges::views::transform([](const auto & l) { return l.id(); }) | + ranges::to(); + EXPECT_EQ(ids.find(2271) != ids.end(), true); + EXPECT_EQ(ids.find(2265) != ids.end(), true); } +/* class TestWithIntersection_T_ShapeMap : public ::testing::Test { protected: @@ -168,6 +186,7 @@ TEST_F(TestWithIntersection_T_ShapeMap, LoadCheck) EXPECT_EQ(point.x(), 0.0); EXPECT_EQ(point.y(), 0.0); } +*/ } // namespace autoware int main(int argc, char ** argv) From 0b12536bfac8cc78b670b943da6e9c5944aead99 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 6 Mar 2025 20:27:31 +0900 Subject: [PATCH 12/17] added more tests Signed-off-by: Mamoru Sobue --- .../autoware_lanelet2_utility/topology.hpp | 2 +- .../intersection/crossing_inverse.osm | 12470 ++++++++++++++++ .../src/topology.cpp | 12 +- .../test/topology.cpp | 89 +- 4 files changed, 12562 insertions(+), 11 deletions(-) create mode 100644 common/autoware_lanelet2_utility/sample_map/intersection/crossing_inverse.osm diff --git a/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp b/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp index 1ea97b8ac..1fab4540e 100644 --- a/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp +++ b/common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp @@ -167,7 +167,7 @@ lanelet::ConstLanelets previous_lanelets( * @brief get the sibling lanelets * @param [in] lanelet input lanelet * @param [in] routing_graph routing_graph containing `lanelet` - * @return the sibling lanelets + * @return the sibling lanelets excluding `lanelet` */ lanelet::ConstLanelets sibling_lanelets( const lanelet::ConstLanelet & lanelet, diff --git a/common/autoware_lanelet2_utility/sample_map/intersection/crossing_inverse.osm b/common/autoware_lanelet2_utility/sample_map/intersection/crossing_inverse.osm new file mode 100644 index 000000000..17eca88dc --- /dev/null +++ b/common/autoware_lanelet2_utility/sample_map/intersection/crossing_inverse.osm @@ -0,0 +1,12470 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+109,12 @@ std::optional leftmost_lanelet( bundle_size_diagnosis++; } + // LCOV_EXCL_START RCLCPP_ERROR( rclcpp::get_logger("autoware_lanelet2_utility"), "You have passed an unrealistic map with a bundle of size>=10"); return std::nullopt; + // LCOV_EXCL_STOP } std::optional rightmost_lanelet( @@ -133,10 +135,12 @@ std::optional rightmost_lanelet( bundle_size_diagnosis++; } + // LCOV_EXCL_START RCLCPP_ERROR( rclcpp::get_logger("autoware_lanelet2_utility"), "You have passed an unrealistic map with a bundle of size>=10"); return std::nullopt; + // LCOV_EXCL_STOP } lanelet::ConstLanelets left_lanelets( @@ -155,21 +159,24 @@ lanelet::ConstLanelets left_lanelets( left_lane = left_lanelet(left_lane.value(), routing_graph); bundle_size_diagnosis++; } + // LCOV_EXCL_START if (bundle_size_diagnosis >= k_normal_bundle_max_size) { RCLCPP_ERROR( rclcpp::get_logger("autoware_lanelet2_utility"), "You have passed an unrealistic map with a bundle of size>=10"); return {}; } + // LCOV_EXCL_STOP if (lefts.empty()) { return {}; } const auto & leftmost = lefts.back(); if (include_opposite) { - const auto direct_opposite = right_opposite_lanelet(leftmost, lanelet_map); + const auto direct_opposite = left_opposite_lanelet(leftmost, lanelet_map); if (direct_opposite) { const auto opposites = right_lanelets(direct_opposite.value(), lanelet_map, routing_graph, false, false); + lefts.push_back(direct_opposite.value()); for (const auto & opposite : opposites) { lefts.push_back(invert_opposite_lane ? opposite.invert() : opposite); } @@ -194,12 +201,14 @@ lanelet::ConstLanelets right_lanelets( right_lane = right_lanelet(right_lane.value(), routing_graph); bundle_size_diagnosis++; } + // LCOV_EXCL_START if (bundle_size_diagnosis >= k_normal_bundle_max_size) { RCLCPP_ERROR( rclcpp::get_logger("autoware_lanelet2_utility"), "You have passed an unrealistic map with a bundle of size>=10"); return {}; } + // LCOV_EXCL_STOP if (rights.empty()) { return {}; } @@ -209,6 +218,7 @@ lanelet::ConstLanelets right_lanelets( if (direct_opposite) { const auto opposites = left_lanelets(direct_opposite.value(), lanelet_map, routing_graph, false, false); + rights.push_back(direct_opposite.value()); for (const auto & opposite : opposites) { rights.push_back(invert_opposite_lane ? opposite.invert() : opposite); } diff --git a/common/autoware_lanelet2_utility/test/topology.cpp b/common/autoware_lanelet2_utility/test/topology.cpp index 1e59fcaa1..92486a5e4 100644 --- a/common/autoware_lanelet2_utility/test/topology.cpp +++ b/common/autoware_lanelet2_utility/test/topology.cpp @@ -24,6 +24,7 @@ #include #include #include +#include namespace fs = std::filesystem; @@ -141,6 +142,13 @@ TEST_F(TestWithIntersectionCrossingMap, left_lanelets_without_opposite) EXPECT_EQ(lefts[1].id(), 2286); } +TEST_F(TestWithIntersectionCrossingMap, left_lanelets_without_opposite_empty) +{ + const auto lefts = lanelet2_utility::left_lanelets( + lanelet_map_ptr_->laneletLayer.get(2286), lanelet_map_ptr_, routing_graph_ptr_); + EXPECT_EQ(lefts.size(), 0); +} + TEST_F(TestWithIntersectionCrossingMap, right_lanelets_without_opposite) { const auto lefts = lanelet2_utility::right_lanelets( @@ -150,6 +158,25 @@ TEST_F(TestWithIntersectionCrossingMap, right_lanelets_without_opposite) EXPECT_EQ(lefts[1].id(), 2288); } +TEST_F(TestWithIntersectionCrossingMap, right_lanelets_without_opposite_empty) +{ + const auto lefts = lanelet2_utility::right_lanelets( + lanelet_map_ptr_->laneletLayer.get(2288), lanelet_map_ptr_, routing_graph_ptr_); + EXPECT_EQ(lefts.size(), 0); +} + +TEST_F(TestWithIntersectionCrossingMap, right_lanelets_with_opposite) +{ + const auto rights = lanelet2_utility::right_lanelets( + lanelet_map_ptr_->laneletLayer.get(2286), lanelet_map_ptr_, routing_graph_ptr_, + true /* include opposite */); + EXPECT_EQ(rights.size(), 4); + EXPECT_EQ(rights[0].id(), 2287); + EXPECT_EQ(rights[1].id(), 2288); + EXPECT_EQ(rights[2].id(), 2311); + EXPECT_EQ(rights[3].id(), 2312); +} + TEST_F(TestWithIntersectionCrossingMap, following_lanelets) { const auto following = lanelet2_utility::following_lanelets( @@ -161,8 +188,40 @@ TEST_F(TestWithIntersectionCrossingMap, following_lanelets) EXPECT_EQ(ids.find(2265) != ids.end(), true); } -/* -class TestWithIntersection_T_ShapeMap : public ::testing::Test +TEST_F(TestWithIntersectionCrossingMap, previous_lanelets) +{ + const auto previous = lanelet2_utility::previous_lanelets( + lanelet_map_ptr_->laneletLayer.get(2249), routing_graph_ptr_); + EXPECT_EQ(previous.size(), 3); + const auto ids = previous | ranges::view::transform([](const auto & l) { return l.id(); }) | + ranges::to(); + EXPECT_EQ(ids.find(2283) != ids.end(), true); + EXPECT_EQ(ids.find(2265) != ids.end(), true); + EXPECT_EQ(ids.find(2270) != ids.end(), true); +} + +TEST_F(TestWithIntersectionCrossingMap, sibling_lanelets) +{ + const auto siblings = lanelet2_utility::sibling_lanelets( + lanelet_map_ptr_->laneletLayer.get(2273), routing_graph_ptr_); + const auto ids = siblings | ranges::view::transform([](const auto & l) { return l.id(); }) | + ranges::to(); + EXPECT_EQ(ids.find(2273) != ids.end(), false); + EXPECT_EQ(ids.find(2280) != ids.end(), true); + EXPECT_EQ(ids.find(2281) != ids.end(), true); +} + +TEST_F(TestWithIntersectionCrossingMap, from_ids) +{ + const auto lanelets = + lanelet2_utility::from_ids(lanelet_map_ptr_, std::vector({2296, 2286, 2270})); + EXPECT_EQ(lanelets.size(), 3); + EXPECT_EQ(lanelets[0].id(), 2296); + EXPECT_EQ(lanelets[1].id(), 2286); + EXPECT_EQ(lanelets[2].id(), 2270); +} + +class TestWithIntersectionCrossingInverseMap : public ::testing::Test { protected: lanelet::LaneletMapConstPtr lanelet_map_ptr_{nullptr}; @@ -173,20 +232,32 @@ class TestWithIntersection_T_ShapeMap : public ::testing::Test const auto sample_map_dir = fs::path(ament_index_cpp::get_package_share_directory("autoware_lanelet2_utility")) / "sample_map"; - const auto intersection_t_shape_map_path = sample_map_dir / "intersection" / "T-Shape.osm"; + const auto intersection_crossing_map_path = + sample_map_dir / "intersection" / "crossing_inverse.osm"; - lanelet_map_ptr_ = load_local_coordinate_map(intersection_t_shape_map_path.string()); + lanelet_map_ptr_ = load_mgrs_coordinate_map(intersection_crossing_map_path.string()); routing_graph_ptr_ = lanelet2_utility::instantiate_routing_graph(lanelet_map_ptr_); } }; -TEST_F(TestWithIntersection_T_ShapeMap, LoadCheck) +TEST_F(TestWithIntersectionCrossingInverseMap, left_opposite_lanelet) +{ + const auto lane = lanelet2_utility::left_opposite_lanelet( + lanelet_map_ptr_->laneletLayer.get(2311), lanelet_map_ptr_); + EXPECT_EQ(lane.value().id(), 2288); +} + +TEST_F(TestWithIntersectionCrossingInverseMap, left_lanelets_with_opposite) { - const auto point = lanelet_map_ptr_->pointLayer.get(212); - EXPECT_EQ(point.x(), 0.0); - EXPECT_EQ(point.y(), 0.0); + const auto lefts = lanelet2_utility::left_lanelets( + lanelet_map_ptr_->laneletLayer.get(2312), lanelet_map_ptr_, routing_graph_ptr_, true); + EXPECT_EQ(lefts.size(), 4); + EXPECT_EQ(lefts[0].id(), 2311); + EXPECT_EQ(lefts[1].id(), 2288); + EXPECT_EQ(lefts[2].id(), 2287); + EXPECT_EQ(lefts[3].id(), 2286); } -*/ + } // namespace autoware int main(int argc, char ** argv) From bbff5c6015e8736cdeae29b583e6d2794e91d572 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 6 Mar 2025 20:57:33 +0900 Subject: [PATCH 13/17] added more tests Signed-off-by: Mamoru Sobue --- .../src/topology.cpp | 9 +++-- .../test/topology.cpp | 35 +++++++++++++++++-- 2 files changed, 37 insertions(+), 7 deletions(-) diff --git a/common/autoware_lanelet2_utility/src/topology.cpp b/common/autoware_lanelet2_utility/src/topology.cpp index 49f8c8216..ce50e2832 100644 --- a/common/autoware_lanelet2_utility/src/topology.cpp +++ b/common/autoware_lanelet2_utility/src/topology.cpp @@ -13,6 +13,7 @@ // limitations under the License. #include +#include #include #include @@ -256,10 +257,8 @@ lanelet::ConstLanelets sibling_lanelets( lanelet::ConstLanelets from_ids( const lanelet::LaneletMapConstPtr lanelet_map, const std::vector & ids) { - lanelet::ConstLanelets lanelets; - for (const auto id : ids) { - lanelets.push_back(lanelet_map->laneletLayer.get(id)); - } - return lanelets; + return ids | + ranges::view::transform([&](const auto id) { return lanelet_map->laneletLayer.get(id); }) | + ranges::to(); } } // namespace autoware::lanelet2_utility diff --git a/common/autoware_lanelet2_utility/test/topology.cpp b/common/autoware_lanelet2_utility/test/topology.cpp index 92486a5e4..574444f41 100644 --- a/common/autoware_lanelet2_utility/test/topology.cpp +++ b/common/autoware_lanelet2_utility/test/topology.cpp @@ -98,13 +98,20 @@ TEST_F(TestWithIntersectionCrossingMap, right_lanelet_with_lc_permission) EXPECT_EQ(lane.value().id(), 2245); } -TEST_F(TestWithIntersectionCrossingMap, right_opposite_lanelet) +TEST_F(TestWithIntersectionCrossingMap, right_opposite_lanelet_valid) { const auto lane = lanelet2_utility::right_opposite_lanelet( lanelet_map_ptr_->laneletLayer.get(2288), lanelet_map_ptr_); EXPECT_EQ(lane.value().id(), 2311); } +TEST_F(TestWithIntersectionCrossingMap, right_opposite_lanelet_null) +{ + const auto lane = lanelet2_utility::right_opposite_lanelet( + lanelet_map_ptr_->laneletLayer.get(2260), lanelet_map_ptr_); + EXPECT_EQ(lane.has_value(), false); +} + TEST_F(TestWithIntersectionCrossingMap, leftmost_lanelet_valid) { const auto lane = lanelet2_utility::leftmost_lanelet( @@ -177,6 +184,15 @@ TEST_F(TestWithIntersectionCrossingMap, right_lanelets_with_opposite) EXPECT_EQ(rights[3].id(), 2312); } +TEST_F(TestWithIntersectionCrossingMap, right_lanelets_with_opposite_without_actual_opposites) +{ + const auto rights = lanelet2_utility::right_lanelets( + lanelet_map_ptr_->laneletLayer.get(2259), lanelet_map_ptr_, routing_graph_ptr_, + true /* include opposite */); + EXPECT_EQ(rights.size(), 1); + EXPECT_EQ(rights[0].id(), 2260); +} + TEST_F(TestWithIntersectionCrossingMap, following_lanelets) { const auto following = lanelet2_utility::following_lanelets( @@ -240,13 +256,20 @@ class TestWithIntersectionCrossingInverseMap : public ::testing::Test } }; -TEST_F(TestWithIntersectionCrossingInverseMap, left_opposite_lanelet) +TEST_F(TestWithIntersectionCrossingInverseMap, left_opposite_lanelet_valid) { const auto lane = lanelet2_utility::left_opposite_lanelet( lanelet_map_ptr_->laneletLayer.get(2311), lanelet_map_ptr_); EXPECT_EQ(lane.value().id(), 2288); } +TEST_F(TestWithIntersectionCrossingInverseMap, left_opposite_lanelet_null) +{ + const auto lane = lanelet2_utility::left_opposite_lanelet( + lanelet_map_ptr_->laneletLayer.get(2252), lanelet_map_ptr_); + EXPECT_EQ(lane.has_value(), false); +} + TEST_F(TestWithIntersectionCrossingInverseMap, left_lanelets_with_opposite) { const auto lefts = lanelet2_utility::left_lanelets( @@ -258,6 +281,14 @@ TEST_F(TestWithIntersectionCrossingInverseMap, left_lanelets_with_opposite) EXPECT_EQ(lefts[3].id(), 2286); } +TEST_F(TestWithIntersectionCrossingInverseMap, left_lanelets_with_opposite_without_actual_opposites) +{ + const auto lefts = lanelet2_utility::left_lanelets( + lanelet_map_ptr_->laneletLayer.get(2251), lanelet_map_ptr_, routing_graph_ptr_, true); + EXPECT_EQ(lefts.size(), 1); + EXPECT_EQ(lefts[0].id(), 2252); +} + } // namespace autoware int main(int argc, char ** argv) From 26da71e258aa21254706600286f496905fcbf059 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 6 Mar 2025 21:28:30 +0900 Subject: [PATCH 14/17] update docs Signed-off-by: Mamoru Sobue --- common/autoware_lanelet2_utility/README.md | 44 +- .../media/api/left_lanelets.drawio.svg | 987 ++++++++++++++---- .../media/api/right_lanelets.drawio.svg | 687 ++++++++---- 3 files changed, 1296 insertions(+), 422 deletions(-) diff --git a/common/autoware_lanelet2_utility/README.md b/common/autoware_lanelet2_utility/README.md index ede576760..45e8d6b0e 100644 --- a/common/autoware_lanelet2_utility/README.md +++ b/common/autoware_lanelet2_utility/README.md @@ -26,26 +26,26 @@ This package aims to strictly define the meaning of several words to clarify the ## API description -| Header | function | description | average computational complexity | illustration | -| ------------------------------------------ | ----------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| `` | `is_road_lane` | | $O(1)$ | | -| | `is_shoulder_lane` | | $O(1)$ | | -| | `is_bicycle_lane` | | $O(1)$ | | -| `` | `instantiate_routing_graph` | This function creates a `RoutingGraph` object only from "road" lanes, which means "road_shoulder" and "bicycle_lane" Lanelets are inaccessible from left/right adjacency. | | | -| | `left_lanelet` | This function ignores the permission of lane change. Also it ignores `shoulder` and `bicycle` Lanelet. | $O(1)$ | In the first map, the green Lanelet is the `left_lanelet` of the orange Lanelet.
In the second and third map, the `left_lanelet` of the orange Lanelet is `null`.
![left_lanelet](./media/api/left_lanelet.drawio.svg) | -| | `right_lanelet` | same as above `left_lanelet` | $O(1)$ | | -| | `left_similar_lanelet`(TODO) | same as above `left_lanelet` | $O(1)$ | | -| | `right_similar_lanelet`(TODO) | same as above `left_lanelet` | $O(1)$ | | -| | `left_opposite_lanelet` | same as below `right_opposite_lanelet` | $O(1)$
see [`findUsage`](./#complexity-of-findusage) for detail | | -| | `right_opposite_lanelet` | | $O(1)$
see [`findUsage`](./#complexity-of-findusage) for detail | In the first and second map, the green Lanelet is the `right_opposite_lanelet` of the orange Lanelet.
In the third map, the `right_opposite_lanelet` of the orange Lanelet is `null`.
![right_opposite_lanelet](./media/api/right_opposite_lanelet.drawio.svg) | -| | `leftmost_lanelet` | | $O(W)$ where $W$ is the size of the `bundle`. | In the first and second map, the green Lanelet is the `leftmost_lanelet` of the orange Lanelet.
In the third map, the `leftmost_lanelet` of the orange Lanelet is `null`.
![leftmost_lanelet](./media/api/leftmost_lanelet.drawio.svg) | -| | `rightmost_lanelet` | | $O(W)$ where $W$ is the size of the `bundle`. | In the first map, the green Lanelet is the `rightmost_lanelet` of the orange Lanelet.
In the second and third map, the `rightmost_lanelet` of the orange Lanelet is `null`.
![rightmost_lanelet](./media/api/rightmost_lanelet.drawio.svg) | -| | `left_lanelets` | The input Lanelet is not included in the output. | $O(W)$ where $W$ is the size of the `bundle`. | In the first map, the green Lanelets are the `left_lanelets` of the orange Lanelet.
In the second and third map, `left_lanelets` of the orange Lanelet is empty.
![left_lanelets](./media/api/left_lanelets.drawio.svg) | -| | `right_lanelets` | same as above `left_lanelets`. | $O(W)$ where $W$ is the size of the `bundle.` | In the first map, the green Lanelets are the `right_lanelets` of the orange Lanelet.
In the second and third map, `right_lanelets` of the orange Lanelet is empty.
![right_lanelets](./media/api/right_lanelets.drawio.svg) | -| | `following_lanelets` | | $O(E)$ where $E$ is the number of Lanelets to which the input is connected to. | | -| | `previous_lanelets` | | $O(E)$ where $E$ is the number of Lanelets from which the input is connected from. | | -| | `sibling_lanelets` | | $O(E)$ where $E$ is the number of sibling Lanelets | | -| | `from_ids` | | $O(n)$ | | +| Header | function | description | average computational complexity | illustration | +| ------------------------------------------ | ----------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `` | `is_road_lane` | | $O(1)$ | | +| | `is_shoulder_lane` | | $O(1)$ | | +| | `is_bicycle_lane` | | $O(1)$ | | +| `` | `instantiate_routing_graph` | This function creates a `RoutingGraph` object only from "road" lanes, which means "road_shoulder" and "bicycle_lane" Lanelets are inaccessible from left/right adjacency. | | | +| | `left_lanelet` | This function ignores the permission of lane change. Also it ignores `shoulder` and `bicycle` Lanelet. | $O(1)$ | In the first map, the green Lanelet is the `left_lanelet` of the orange Lanelet.
In the second and third map, the `left_lanelet` of the orange Lanelet is `null`.
![left_lanelet](./media/api/left_lanelet.drawio.svg) | +| | `right_lanelet` | same as above `left_lanelet` | $O(1)$ | | +| | `left_similar_lanelet`(TODO) | same as above `left_lanelet` | $O(1)$ | | +| | `right_similar_lanelet`(TODO) | same as above `left_lanelet` | $O(1)$ | | +| | `left_opposite_lanelet` | same as below `right_opposite_lanelet` | $O(1)$
see [`findUsage`](./#complexity-of-findusage) for detail | | +| | `right_opposite_lanelet` | | $O(1)$
see [`findUsage`](./#complexity-of-findusage) for detail | In the first and second map, the green Lanelet is the `right_opposite_lanelet` of the orange Lanelet.
In the third map, the `right_opposite_lanelet` of the orange Lanelet is `null`.
![right_opposite_lanelet](./media/api/right_opposite_lanelet.drawio.svg) | +| | `leftmost_lanelet` | | $O(W)$ where $W$ is the size of the `bundle`. | In the first and second map, the green Lanelet is the `leftmost_lanelet` of the orange Lanelet.
In the third map, the `leftmost_lanelet` of the orange Lanelet is `null`.
![leftmost_lanelet](./media/api/leftmost_lanelet.drawio.svg) | +| | `rightmost_lanelet` | | $O(W)$ where $W$ is the size of the `bundle`. | In the first map, the green Lanelet is the `rightmost_lanelet` of the orange Lanelet.
In the second and third map, the `rightmost_lanelet` of the orange Lanelet is `null`.
![rightmost_lanelet](./media/api/rightmost_lanelet.drawio.svg) | +| | `left_lanelets` | The input Lanelet is not included in the output. | $O(W)$ where $W$ is the size of the `bundle`. | In the first map, the green Lanelets are the `left_lanelets` of the orange Lanelet.
In the second and third map, `left_lanelets` of the orange Lanelet is empty.
If the flag `include_opposite = true`, the left opposite Lanelet and all of its `same_direction` Lanelets area also retrieved as illustrated in the fourth and fifth maps.
![left_lanelets](./media/api/left_lanelets.drawio.svg) | +| | `right_lanelets` | same as above `left_lanelets`. | $O(W)$ where $W$ is the size of the `bundle.` | In the first map, the green Lanelets are the `right_lanelets` of the orange Lanelet.
In the second and third map, `right_lanelets` of the orange Lanelet is empty.
If the flag `include_opposite = true`, the right opposite Lanelet and all of its `same_direction` Lanelets area also retrieved as illustrated in the fourth and fifth maps.
![right_lanelets](./media/api/right_lanelets.drawio.svg) | +| | `following_lanelets` | | $O(E)$ where $E$ is the number of Lanelets to which the input is connected to. | | +| | `previous_lanelets` | | $O(E)$ where $E$ is the number of Lanelets from which the input is connected from. | | +| | `sibling_lanelets` | | $O(E)$ where $E$ is the number of sibling Lanelets | | +| | `from_ids` | | $O(n)$ | | ### complexity of `findUsage` @@ -159,7 +159,7 @@ std::vector forEachMatchInMultiMap(const MapT& map, const KeyT& key, Func&& f ## Test maps -All of the maps are in `local` coordinate. +All of the maps are in `MGRS` coordinate. In each map, an anchor point is set to an origin point $(100.0, 100.0)$ for simplicity. | Map name | Origin point id | Image | | --------------------------- | --------------- | --------------------------------------------------- | @@ -169,7 +169,7 @@ All of the maps are in `local` coordinate. ### How to craft test map -On the VMB, create the map in MGRS system and save the file as ``. Next, select the point to set (100.0, 100.0) and pass its `` and run +On the VMB, create the map in MGRS system and save the file as ``. Next, select the point to set as origin, get its `` and run ```bash ros2 run autoware_lanelet2_utility lanelet_anonymizer.py diff --git a/common/autoware_lanelet2_utility/media/api/left_lanelets.drawio.svg b/common/autoware_lanelet2_utility/media/api/left_lanelets.drawio.svg index 64edd454c..5eac8f02d 100644 --- a/common/autoware_lanelet2_utility/media/api/left_lanelets.drawio.svg +++ b/common/autoware_lanelet2_utility/media/api/left_lanelets.drawio.svg @@ -5,136 +5,142 @@ xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" - width="1122px" - height="555px" - viewBox="-0.5 -0.5 1122 555" - content="<mxfile host="Electron" modified="2025-03-02T22:18:46.196Z" agent="5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/20.3.0 Chrome/104.0.5112.114 Electron/20.1.3 Safari/537.36" etag="hKYweLl4rWbtMYw8dBpX" version="20.3.0" type="device"><diagram id="eq9gud2WWk_s3i5_h-gE" 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> - - + + - - + + + + + + + + - - - - - - - - - + + + + + + + + + - + - - - - + + + + - - + + - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + - - + + - + - + - - - - + + + + - + - - + + - - - - - - - - - - - - - - + + + + + + + + + + + + + + - - + + - + - - - - + + + + - - - + + + - - - shoulder lane + + + shoulder lane - - - - - - bicycle lane + + + + + + bicycle lane - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + - + - + - - - - - - - + + + + + + + - - - - - + + + + + -

+
2 @@ -589,14 +592,14 @@
- 2 + 2 - + -
+
@@ -606,14 +609,14 @@
- (3) + (3) - + -
+
@@ -623,14 +626,14 @@
- (1) + (1) - + -
+
@@ -640,17 +643,17 @@
- (2) + (2) - - - + + +
@@ -659,7 +662,545 @@
- 1 + 1 + + + + + + +
+
+
+ + include_opposite = false (default) + +
+
+
+ + include_opposite = false (default) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + shoulder lane + + + + + + + bicycle lane + + + + + +
+
+
+ + (5) + +
+
+
+ + (5) + + + + + + +
+
+
+ + (4) + +
+
+
+ + (4) + + + + + + + +
+
+
+ + include_opposite = true + +
+
+
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</diagram></mxfile>" > - - + + + + + - - - + + + - - + + - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + - - + + - + - + - - - - + + + + - - - - - - bicycle lane + + + + + + bicycle lane - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + - + - + - - - - - - - + + + + + + + - - - - - + + + + +
@@ -308,14 +311,14 @@
- 2 + 2 - + -
+
@@ -325,14 +328,14 @@
- (1) + (1) - + -
+
@@ -342,94 +345,94 @@
- (2) + (2) - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + - + - + - - - - - - - + + + + + + + - - - + + + -
+
@@ -439,16 +442,16 @@
- (3) + (3) - - + +
@@ -457,7 +460,337 @@
- 1 + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + shoulder lane + + + + + +
+
+
+ + (4) + +
+
+
+ + (4) + + + + + + + +
+
+
+ + include_opposite = false (default) + +
+
+
+ + include_opposite = false (default) + + + + + + +
+
+
+ + include_opposite = true + +
+
+
+ + include_opposite = true From 345fc84122f1c20d8959290b4053dae1e7daacf9 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 6 Mar 2025 21:47:50 +0900 Subject: [PATCH 15/17] fix Signed-off-by: Mamoru Sobue --- .../intersection/crossing_fms_original.osm | 14533 ---------------- .../sample_map/road_shoulder/fms.osm | 3464 ---- .../src/topology.cpp | 5 +- .../test/topology.cpp | 4 +- 4 files changed, 5 insertions(+), 18001 deletions(-) delete mode 100644 common/autoware_lanelet2_utility/sample_map/intersection/crossing_fms_original.osm delete mode 100644 common/autoware_lanelet2_utility/sample_map/road_shoulder/fms.osm diff --git a/common/autoware_lanelet2_utility/sample_map/intersection/crossing_fms_original.osm b/common/autoware_lanelet2_utility/sample_map/intersection/crossing_fms_original.osm deleted file mode 100644 index f91599594..000000000 --- a/common/autoware_lanelet2_utility/sample_map/intersection/crossing_fms_original.osm +++ /dev/null @@ -1,14533 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/common/autoware_lanelet2_utility/src/topology.cpp b/common/autoware_lanelet2_utility/src/topology.cpp index ce50e2832..164b1e118 100644 --- a/common/autoware_lanelet2_utility/src/topology.cpp +++ b/common/autoware_lanelet2_utility/src/topology.cpp @@ -257,8 +257,9 @@ lanelet::ConstLanelets sibling_lanelets( lanelet::ConstLanelets from_ids( const lanelet::LaneletMapConstPtr lanelet_map, const std::vector & ids) { - return ids | - ranges::view::transform([&](const auto id) { return lanelet_map->laneletLayer.get(id); }) | + return ids | ranges::views::transform([&](const auto id) { + return lanelet_map->laneletLayer.get(id); + }) | ranges::to(); } } // namespace autoware::lanelet2_utility diff --git a/common/autoware_lanelet2_utility/test/topology.cpp b/common/autoware_lanelet2_utility/test/topology.cpp index 574444f41..0f57bb876 100644 --- a/common/autoware_lanelet2_utility/test/topology.cpp +++ b/common/autoware_lanelet2_utility/test/topology.cpp @@ -209,7 +209,7 @@ TEST_F(TestWithIntersectionCrossingMap, previous_lanelets) const auto previous = lanelet2_utility::previous_lanelets( lanelet_map_ptr_->laneletLayer.get(2249), routing_graph_ptr_); EXPECT_EQ(previous.size(), 3); - const auto ids = previous | ranges::view::transform([](const auto & l) { return l.id(); }) | + const auto ids = previous | ranges::views::transform([](const auto & l) { return l.id(); }) | ranges::to(); EXPECT_EQ(ids.find(2283) != ids.end(), true); EXPECT_EQ(ids.find(2265) != ids.end(), true); @@ -220,7 +220,7 @@ TEST_F(TestWithIntersectionCrossingMap, sibling_lanelets) { const auto siblings = lanelet2_utility::sibling_lanelets( lanelet_map_ptr_->laneletLayer.get(2273), routing_graph_ptr_); - const auto ids = siblings | ranges::view::transform([](const auto & l) { return l.id(); }) | + const auto ids = siblings | ranges::views::transform([](const auto & l) { return l.id(); }) | ranges::to(); EXPECT_EQ(ids.find(2273) != ids.end(), false); EXPECT_EQ(ids.find(2280) != ids.end(), true); From 938ed96de5877689f8db47378efb6e895ea6c94f Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 6 Mar 2025 21:51:29 +0900 Subject: [PATCH 16/17] fix2 Signed-off-by: Mamoru Sobue --- common/autoware_lanelet2_utility/package.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/common/autoware_lanelet2_utility/package.xml b/common/autoware_lanelet2_utility/package.xml index d526dbeea..c2207bbfa 100644 --- a/common/autoware_lanelet2_utility/package.xml +++ b/common/autoware_lanelet2_utility/package.xml @@ -15,7 +15,6 @@ autoware_lanelet2_extension range-v3 rclcpp - visualization_msgs ament_cmake_ros ament_index_cpp From 5c2aa46e0ce25bc6ec8feafce2730cfdbaf64de3 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 7 Mar 2025 11:04:28 +0900 Subject: [PATCH 17/17] add maintainer Signed-off-by: Mamoru Sobue --- common/autoware_lanelet2_utility/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/common/autoware_lanelet2_utility/package.xml b/common/autoware_lanelet2_utility/package.xml index c2207bbfa..38d3e7b2e 100644 --- a/common/autoware_lanelet2_utility/package.xml +++ b/common/autoware_lanelet2_utility/package.xml @@ -5,6 +5,7 @@ 0.0.0 The autoware_lanelet2_utility package Mamoru Sobue + Kosuke Takeuchi Apache License 2.0 Mamoru Sobue