def test_dr_chn_merging(self):
# threeway_intersection
xodr_parser = XodrParser(
os.path.join(
os.path.dirname(__file__),
"../../../runtime/tests/data/DR_CHN_Merging_ZS_partial_v02.xodr"
))
# World Definition
params = ParameterServer()
world = World(params)
map_interface = MapInterface()
map_interface.SetOpenDriveMap(xodr_parser.map)
world.SetMap(map_interface)
roads = [0, 1]
driving_direction = XodrDrivingDirection.forward
map_interface.GenerateRoadCorridor(roads, driving_direction)
road_corridor = map_interface.GetRoadCorridor(roads, driving_direction)
# Draw map
viewer = MPViewer(params=params, use_world_bounds=True)
viewer.drawWorld(world)
viewer.drawPolygon2d(road_corridor.lane_corridors[0].polygon,
color="blue",
alpha=0.5)
viewer.drawPolygon2d(road_corridor.lane_corridors[1].polygon,
color="blue",
alpha=0.5)
viewer.drawPolygon2d(road_corridor.lane_corridors[2].polygon,
color="blue",
alpha=0.5)
viewer.show(block=False)
self.assertTrue(road_corridor.lane_corridors[0].polygon.Valid())
self.assertTrue(road_corridor.lane_corridors[1].polygon.Valid())
self.assertTrue(road_corridor.lane_corridors[2].polygon.Valid())
self.assertTrue(road_corridor.polygon.Valid())
def test_curved_road(self):
params = ParameterServer()
world = World(params)
xodr_map = MakeXodrMapCurved(50, 0.1)
map_interface = MapInterface()
map_interface.SetOpenDriveMap(xodr_map)
world.SetMap(map_interface)
roads = [100]
driving_direction = XodrDrivingDirection.forward
map_interface.GenerateRoadCorridor(roads, driving_direction)
road_corr = map_interface.GetRoadCorridor(roads, driving_direction)
viewer = MPViewer(params=params, use_world_bounds=True)
viewer.drawWorld(world)
viewer.drawRoadCorridor(road_corr)
#viewer.show(block=True)
# if this is not here, the second unit test is not executed (maybe parsing takes too long?)
time.sleep(1)
# end_point_list = [Point2d(153, 172), Point2d(168, 153), Point2d(188, 168)]
# comb = list(itertools.product(start_point, end_point_list))
# comb_all = comb_all + comb
print("comb_all", comb_all)
for cnt, (start_p, end_p) in enumerate(comb_all):
polygon = Polygon2d(
[0, 0, 0],
[Point2d(-1, -1),
Point2d(-1, 1),
Point2d(1, 1),
Point2d(1, -1)])
start_polygon = polygon.Translate(start_p)
goal_polygon = polygon.Translate(end_p)
rc = map_interface.GenerateRoadCorridor(start_p, goal_polygon)
if rc:
roads = rc.roads
road_ids = list(roads.keys())
print(road_ids, rc.road_ids)
viewer.drawWorld(world)
viewer.drawRoadCorridor(rc, "blue")
viewer.saveFig(output_dir + "/" + "roadcorridor_" + str(cnt) + ".png")
viewer.show()
viewer.clear()
for idx, lane_corridor in enumerate(rc.lane_corridors):
viewer.drawWorld(world)
viewer.drawLaneCorridor(lane_corridor, "green")
viewer.drawLine2d(lane_corridor.left_boundary, color="red")
def test_road_corridor_forward(self):
xodr_parser = XodrParser(
os.path.join(
os.path.dirname(__file__),
"../../../runtime/tests/data/road_corridor_test.xodr"))
# World Definition
params = ParameterServer()
world = World(params)
map_interface = MapInterface()
map_interface.SetOpenDriveMap(xodr_parser.map)
world.SetMap(map_interface)
open_drive_map = world.map.GetOpenDriveMap()
viewer = MPViewer(params=params, use_world_bounds=True)
# Draw map
viewer.drawWorld(world)
viewer.show(block=False)
# Generate RoadCorridor
roads = [0, 1, 2]
driving_direction = XodrDrivingDirection.forward
map_interface.GenerateRoadCorridor(roads, driving_direction)
road_corridor = map_interface.GetRoadCorridor(roads, driving_direction)
# Assert road corridor
# Assert: 3 roads
self.assertEqual(len(road_corridor.roads), 3)
# Assert: road1: 2 lanes, road2: 1 lane, road3: 1 lane
self.assertEqual(len(road_corridor.GetRoad(0).lanes), 3)
self.assertEqual(len(road_corridor.GetRoad(1).lanes), 2)
self.assertEqual(len(road_corridor.GetRoad(2).lanes), 3)
# Assert: next road
self.assertEqual(road_corridor.GetRoad(0).next_road.road_id, 1)
self.assertEqual(road_corridor.GetRoad(1).next_road.road_id, 2)
# Assert: lane links
self.assertEqual(
road_corridor.GetRoad(0).GetLane(3).next_lane.lane_id, 5)
self.assertEqual(
road_corridor.GetRoad(1).GetLane(5).next_lane.lane_id, 8)
# Assert: LaneCorridor
self.assertEqual(len(road_corridor.lane_corridors), 3)
colors = ["blue", "red", "green"]
count = 0
for lane_corridor in road_corridor.lane_corridors:
viewer.drawPolygon2d(lane_corridor.polygon,
color=colors[count],
alpha=0.5)
viewer.drawLine2d(lane_corridor.left_boundary, color="red")
viewer.drawLine2d(lane_corridor.right_boundary, color="blue")
viewer.drawLine2d(lane_corridor.center_line, color="black")
viewer.show(block=False)
plt.pause(2.)
count += 1
def test_dr_deu_merging_centered(self):
# threeway_intersection
xodr_parser = XodrParser(
os.path.join(
os.path.dirname(__file__),
"../../../runtime/tests/data/DR_DEU_Merging_MT_v01_centered.xodr"
))
# World Definition
params = ParameterServer()
world = World(params)
map_interface = MapInterface()
map_interface.SetOpenDriveMap(xodr_parser.map)
world.SetMap(map_interface)
roads = [0, 1]
driving_direction = XodrDrivingDirection.forward
map_interface.GenerateRoadCorridor(roads, driving_direction)
road_corridor = map_interface.GetRoadCorridor(roads, driving_direction)
# Draw map
viewer = MPViewer(params=params, use_world_bounds=True)
viewer.drawWorld(world)
viewer.drawPolygon2d(road_corridor.lane_corridors[0].polygon,
color="blue",
alpha=0.5)
viewer.drawPolygon2d(road_corridor.lane_corridors[1].polygon,
color="blue",
alpha=0.5)
viewer.show(block=False)
self.assertTrue(road_corridor.lane_corridors[0].polygon.Valid())
self.assertTrue(road_corridor.lane_corridors[1].polygon.Valid())
self.assertTrue(road_corridor.polygon.Valid())
tol = 0.2
center_line_array = road_corridor.lane_corridors[
0].center_line.ToArray()
left_boundary_array = road_corridor.lane_corridors[
0].left_boundary.ToArray()
right_boundary_array = road_corridor.lane_corridors[
0].right_boundary.ToArray()
# beginning of left lane
self.assertAlmostEquals(center_line_array[0, 0], 106.4, 1)
self.assertAlmostEquals(center_line_array[0, 1], 103.47, 1)
self.assertAlmostEquals(
Distance(
Point2d(left_boundary_array[0, 0], left_boundary_array[0, 1]),
Point2d(right_boundary_array[0, 0],
right_boundary_array[0, 1])), 2.8, 1)
# end of left lane
self.assertAlmostEquals(center_line_array[-1, 0], -18.15, 1)
self.assertAlmostEquals(center_line_array[-1, 1], 109.0, 1)
self.assertAlmostEquals(
Distance(
Point2d(left_boundary_array[-1, 0], left_boundary_array[-1,
1]),
Point2d(right_boundary_array[-1, 0],
right_boundary_array[-1, 1])), 2.63, 1)