class test_Intersection(unittest.TestCase):
def setUp(self):
self.configuration = Configuration()
outputDir = os.path.join(os.getcwd(), 'output')
lastId = 0
self.seed = 2
self.builder = SequentialJunctionBuilder(minAngle=np.pi / 4,
maxAngle=np.pi * .75,
straightRoadLen=10,
probLongConnection=0.5,
probMinAngle=0.5,
probRestrictedLane=0.2,
maxConnectionLength=30,
minConnectionLength=12,
random_seed=self.seed)
self.randomState = self.configuration.get("random_state")
pass
def test_getIncidentPoints(self):
maxNumberOfRoadsPerJunction = 4
path = self.configuration.get("harvested_straight_roads")
intersection = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_FIRST,
getAsOdr=False)
odr = intersection.odr
xmlPath = f"output/test_getIncidentPoints-split-first-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
incidentPoints = intersection.getIncidentPoints()
translatedPoints = intersection.getIncidentPointsTranslatedToCenter()
print(f"width and height: {intersection.getWH()}")
print(incidentPoints)
print(translatedPoints)
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
class test_SequentialJunctionBuilder(unittest.TestCase):
def setUp(self):
self.configuration = Configuration()
outputDir = os.path.join(os.getcwd(), 'output')
lastId = 0
self.seed = 2
self.builder = SequentialJunctionBuilder(minAngle=np.pi / 10,
maxAngle=np.pi * .75,
straightRoadLen=5,
probLongConnection=0.5,
probMinAngle=0.5,
probRestrictedLane=0.2,
maxConnectionLength=50,
minConnectionLength=20,
random_seed=self.seed)
self.randomState = self.configuration.get("random_state")
self.validator = IntersectionValidator()
pass
def test_drawLikeAPainter2L(self):
maxNumberOfRoadsPerJunction = 3
odr = self.builder.drawLikeAPainter2L(
odrId=0, maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction)
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_drawLikeAPainter2L-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 4
odr = self.builder.drawLikeAPainter2L(
odrId=0, maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction)
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_drawLikeAPainter2L-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 5
odr = self.builder.drawLikeAPainter2L(
odrId=0, maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction)
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_drawLikeAPainter2L-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 6
odr = self.builder.drawLikeAPainter2L(
odrId=0, maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction)
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_drawLikeAPainter2L-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
def test_drawLikeAPainter2LWihtoutInternalConnections(self):
maxNumberOfRoadsPerJunction = 5
odr = self.builder.drawLikeAPainter2L(
odrId=0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
internalConnections=False)
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_drawLikeAPainter2LWihtoutInternalConnections.xodr"
odr.write_xml(xmlPath)
def test_createWithRandomLaneConfigurations(self):
maxNumberOfRoadsPerJunction = 4
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_FIRST,
restrictedLanes=True)
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-first-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
maxNumberOfRoadsPerJunction = 3
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_LAST,
uTurnLanes=1,
restrictedLanes=True)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-last-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 5
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
restrictedLanes=True)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 6
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 8
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
def test_equalAngles(self):
maxNumberOfRoadsPerJunction = 4
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
equalAngles=True)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 4
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
equalAngles=True)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 3
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
equalAngles=True)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 5
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
equalAngles=True)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 6
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
equalAngles=True)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
def test_6PlusLanes(self):
maxNumberOfRoadsPerJunction = 7
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 8
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 8
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
equalAngles=True)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 8
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 9
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
def test_TJunctions(self):
maxNumberOfRoadsPerJunction = 3
maxLanePerSide = 1
minLanePerSide = 1
for sl in range(5):
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=maxLanePerSide,
minLanePerSide=minLanePerSide,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
uTurnLanes=0)
# xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}-{sl}.xodr"
xmlPath = f"output/seed-{self.seed}-{maxNumberOfRoadsPerJunction}-way-{sl}.xodr"
odr.write_xml(xmlPath)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
extensions.saveRoadImageFromFile(
xmlPath, self.configuration.get("esminipath"))
def test_4WayJunctions(self):
maxNumberOfRoadsPerJunction = 4
maxLanePerSide = 1
minLanePerSide = 1
for sl in range(5):
path = self.configuration.get("harvested_straight_roads")
intersection = self.builder.createWithRandomLaneConfigurations(
path,
sl,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=maxLanePerSide,
minLanePerSide=minLanePerSide,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
getAsOdr=False)
odr = intersection.odr
# xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}-{sl}.xodr"
xmlPath = f"output/seed-{self.seed}-{maxNumberOfRoadsPerJunction}-way-{sl}.xodr"
odr.write_xml(xmlPath)
isValid = self.validator.validateIncidentPoints(
intersection, self.builder.minConnectionLength)
# if isValid == False:
# print(f"{sl} is an invalid intersection")
plt = extensions.view_road(
odr,
os.path.join('..', self.configuration.get("esminipath")),
returnPlt=True)
if isValid == False:
plt.title("Invalid")
else:
plt.title("Valid")
plt.show()
extensions.saveRoadImageFromFile(
xmlPath, self.configuration.get("esminipath"))
def test_5WayJunctions(self):
maxNumberOfRoadsPerJunction = 5
maxLanePerSide = 3
minLanePerSide = 0
for sl in range(5):
path = self.configuration.get("harvested_straight_roads")
intersection = self.builder.createWithRandomLaneConfigurations(
path,
sl,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=maxLanePerSide,
minLanePerSide=minLanePerSide,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
getAsOdr=False)
odr = intersection.odr
# xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}-{sl}.xodr"
xmlPath = f"output/seed-{self.seed}-{maxNumberOfRoadsPerJunction}-way-{sl}.xodr"
odr.write_xml(xmlPath)
isValid = self.validator.validateIncidentPoints(
intersection, self.builder.minConnectionLength)
# if isValid == False:
# print(f"{sl} is an invalid intersection")
plt = extensions.view_road(
odr,
os.path.join('..', self.configuration.get("esminipath")),
returnPlt=True)
if isValid == False:
plt.title("Invalid")
else:
plt.title("Valid")
plt.show()
extensions.saveRoadImageFromFile(
xmlPath, self.configuration.get("esminipath"))
def test_6WayJunctions(self):
maxNumberOfRoadsPerJunction = 6
maxLanePerSide = 2
minLanePerSide = 0
for sl in range(5):
path = self.configuration.get("harvested_straight_roads")
intersection = self.builder.createWithRandomLaneConfigurations(
path,
sl,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=maxLanePerSide,
minLanePerSide=minLanePerSide,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
getAsOdr=False)
odr = intersection.odr
# xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}-{sl}.xodr"
xmlPath = f"output/seed-{self.seed}-{maxNumberOfRoadsPerJunction}-way-{sl}.xodr"
odr.write_xml(xmlPath)
extensions.printRoadPositions(odr)
isValid = self.validator.validateIncidentPoints(
intersection, self.builder.minConnectionLength)
# if isValid == False:
# print(f"{sl} is an invalid intersection")
plt = extensions.view_road(
odr,
os.path.join('..', self.configuration.get("esminipath")),
returnPlt=True)
if isValid == False:
plt.title(f"Invalid - {xmlPath}")
else:
plt.title(f"Valid - {xmlPath}")
plt.show()
extensions.saveRoadImageFromFile(
xmlPath, self.configuration.get("esminipath"))
def test_7WayJunctions(self):
maxNumberOfRoadsPerJunction = 7
maxLanePerSide = 2
minLanePerSide = 0
for sl in range(5):
path = self.configuration.get("harvested_straight_roads")
intersection = self.builder.createWithRandomLaneConfigurations(
path,
sl,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=maxLanePerSide,
minLanePerSide=minLanePerSide,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
getAsOdr=False)
odr = intersection.odr
# xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}-{sl}.xodr"
xmlPath = f"output/seed-{self.seed}-{maxNumberOfRoadsPerJunction}-way-{sl}.xodr"
odr.write_xml(xmlPath)
extensions.printRoadPositions(odr)
isValid = self.validator.validateIncidentPoints(
intersection, self.builder.minConnectionLength)
# if isValid == False:
# print(f"{sl} is an invalid intersection")
plt = extensions.view_road(
odr,
os.path.join('..', self.configuration.get("esminipath")),
returnPlt=True)
if isValid == False:
plt.title(f"Invalid - {xmlPath}")
else:
plt.title(f"Valid - {xmlPath}")
plt.show()
extensions.saveRoadImageFromFile(
xmlPath, self.configuration.get("esminipath"))
def test_7WayJunctionsEQA(self):
maxNumberOfRoadsPerJunction = 7
maxLanePerSide = 2
minLanePerSide = 0
for sl in range(5):
path = self.configuration.get("harvested_straight_roads")
intersection = self.builder.createWithRandomLaneConfigurations(
path,
sl,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=maxLanePerSide,
minLanePerSide=minLanePerSide,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
equalAngles=True,
getAsOdr=False)
odr = intersection.odr
# xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}-{sl}.xodr"
xmlPath = f"output/seed-{self.seed}-{maxNumberOfRoadsPerJunction}-way-{sl}.xodr"
odr.write_xml(xmlPath)
extensions.printRoadPositions(odr)
isValid = self.validator.validateIncidentPoints(
intersection, self.builder.minConnectionLength)
# if isValid == False:
# print(f"{sl} is an invalid intersection")
plt = extensions.view_road(
odr,
os.path.join('..', self.configuration.get("esminipath")),
returnPlt=True)
if isValid == False:
plt.title(f"Invalid - {xmlPath}")
else:
plt.title(f"Valid - {xmlPath}")
plt.show()
extensions.saveRoadImageFromFile(
xmlPath, self.configuration.get("esminipath"))
def test_8PlusWayJunctions(self):
maxNumberOfRoadsPerJunction = 20
maxLanePerSide = 2
minLanePerSide = 0
for sl in range(5):
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=maxLanePerSide,
minLanePerSide=minLanePerSide,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY)
# xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}-{sl}.xodr"
xmlPath = f"output/seed-{self.seed}-{maxNumberOfRoadsPerJunction}-way-{sl}.xodr"
odr.write_xml(xmlPath)
# extensions.view_road(odr,os.path.join('..',self.configuration.get("esminipath")))
extensions.saveRoadImageFromFile(
xmlPath, self.configuration.get("esminipath"))
maxNumberOfRoadsPerJunction += 1
def test_4WayJunctionsEqualAngles(self):
maxNumberOfRoadsPerJunction = 4
maxLanePerSide = 1
minLanePerSide = 1
for sl in range(5):
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=maxLanePerSide,
minLanePerSide=minLanePerSide,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
equalAngles=True)
# xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}-{sl}.xodr"
xmlPath = f"output/seed-{self.seed}-{maxNumberOfRoadsPerJunction}-way-eq-{sl}.xodr"
odr.write_xml(xmlPath)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
extensions.saveRoadImageFromFile(
xmlPath, self.configuration.get("esminipath"))
def test_SafeMinConnectionLengthForEqualAngle(self):
sl = 0
maxNumberOfRoadsPerJunction = 8
sl += 1
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=3,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
restrictedLanes=1,
equalAngles=True)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}-{sl}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 8
sl += 1
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
restrictedLanes=1,
equalAngles=True)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}-{sl}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 8
sl += 1
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
restrictedLanes=1,
equalAngles=True)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}-{sl}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 8
sl += 1
path = self.configuration.get("harvested_straight_roads")
odr = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
restrictedLanes=1,
equalAngles=True)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}-{sl}.xodr"
odr.write_xml(xmlPath)
class HDMapBuilder:
def __init__(self, nIntersections, p=[0.2, 0.7, 0.1, 0.1], startId=0, seed=0, mapSize=(500, 500), cellSize=(100, 100), debug=True) -> None:
self.nIntersections = nIntersections
self.p = p # probability distribution of 3-way, 4, 5, 6
self.intersections = {} # DirectionIntersection -> intersection
self.placedIntersections = {}
self.rotation = {}
self.nextIntersectionId = startId
self.seed = seed
self.builder = SequentialJunctionBuilder(
minAngle=np.pi/6,
maxAngle=np.pi * .75,
straightRoadLen=1,
probLongConnection=0.3,
probMinAngle=0.1,
probRestrictedLane=0,
maxConnectionLength=30,
minConnectionLength=12,
random_seed=self.seed)
self.moreThan4Builder = SequentialJunctionBuilder(
minAngle=np.pi/10,
maxAngle=np.pi * .75,
straightRoadLen=1,
probLongConnection=0.5,
probMinAngle=0.5,
probRestrictedLane=0,
maxConnectionLength=50,
minConnectionLength=20,
random_seed=self.seed)
self.validator = IntersectionValidator()
self.intersectionAdapter = IntersectionAdapter()
self.grid = Grid(size=mapSize, cellSize=cellSize)
self.mapBuilder = MapBuilder(self.grid, [], random_seed=40)
self.network = None
self.debug = debug
self.name = "HDMapBuilder"
self.nextRoadId = 0
pass
def createIntersections(self):
print(f"{self.name}: createIntersections")
minLanePerSide = 1
maxLanePerSide = 2
self.nextRoadId = 0
for sl in range(self.nIntersections):
print(f"{self.name}: creating {sl + 1}")
maxNumberOfRoadsPerJunction = np.random.choice([3, 4, 5], p=[0.6, 0.375, 0.025])
intersection = self.createValidIntersection(sl, self.nextRoadId, maxNumberOfRoadsPerJunction, minLanePerSide, maxLanePerSide)
self.nextRoadId = intersection.getLastRoadId() + 100
directionIntersection = self.intersectionAdapter.intersectionTo4DirectionIntersection(intersection)
self.intersections[directionIntersection] = intersection
def createValidIntersection(self, id, firstRoadId, maxNumberOfRoadsPerJunction, minLanePerSide, maxLanePerSide, rotate=False):
isEqualAngle = np.random.choice([False, True], p=[0.3, 0.7])
minConnectionLength = self.builder.minConnectionLength
if maxNumberOfRoadsPerJunction < 5:
intersection = self.builder.createWithRandomLaneConfigurations("",
id,
firstRoadId=firstRoadId,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=maxLanePerSide,
minLanePerSide=minLanePerSide,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy = LaneConfigurationStrategies.SPLIT_ANY,
equalAngles=isEqualAngle,
getAsOdr=False)
else:
minConnectionLength = self.moreThan4Builder.minConnectionLength
intersection = self.moreThan4Builder.createWithRandomLaneConfigurations("",
id,
firstRoadId=firstRoadId,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=maxLanePerSide,
minLanePerSide=minLanePerSide,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy = LaneConfigurationStrategies.SPLIT_ANY,
equalAngles=isEqualAngle,
getAsOdr=False)
while (self.validator.validateIncidentPoints(intersection, minConnectionLength) == False):
intersection = self.createValidIntersection(id, self.nextRoadId, maxNumberOfRoadsPerJunction, minLanePerSide, maxLanePerSide)
if rotate:
# self.rotation[intersection] = np.random.uniform(0, np.pi/10)
self.rotation[intersection] = np.random.choice([np.pi/2, np.pi, np.pi * 1.5])
intersection.transform(startX=0, startY=0, heading=self.rotation[intersection])
return intersection
def connectIntersectionsByCellAdjacency(self):
self.network = Network(self.placedIntersections)
for cell in self.grid.cellGenerator():
if isinstance(cell.element, DirectionIntersection):
couldConnect = False
DI1 = cell.element
# We need to check right and top only as left and bottoms are traversed before.
if DI1.top.hasRoads():
DI2 = self.grid.topElement(cell)
if DI2 is not None and isinstance(DI2, DirectionIntersection):
if DI2.bot.hasRoads():
# We have a connection
quad1 = DI1.top
quad2 = DI2.bot
self.connectDirectionQuadrants(DI1, DI2, quad1, quad2)
couldConnect = True
if DI1.right.hasRoads():
DI2 = self.grid.rightElement(cell)
if DI2 is not None and isinstance(DI2, DirectionIntersection):
if DI2.left.hasRoads():
# We have a connection
quad1 = DI1.right
quad2 = DI2.left
self.connectDirectionQuadrants(DI1, DI2, quad1, quad2)
couldConnect = True
# if couldConnect == False:
# self.network.clusters.append(set([self.placedIntersections[DI1]]))
def connectDirectionQuadrants(self, DI1, DI2, quad1, quad2):
intersection1 = self.placedIntersections[DI1]
intersection2 = self.placedIntersections[DI2]
road1 = list(quad1.roads.keys())[0]
cp1 = list(quad1.roads.values())[0]
road2 = list(quad2.roads.keys())[0]
cp2 = list(quad2.roads.values())[0]
self.network.connect(self.nextRoadId, intersection1, road1, cp1, intersection2, road2, cp2, LaneSides.BOTH)
self.nextRoadId += 1
def adjustIntersectionPositions(self):
odrList = []
for cell in self.grid.cellGenerator():
if isinstance(cell.element, DirectionIntersection):
directionIntersection = cell.element
x, y = self.grid.getAbsCellPosition(cell)
# introduceNoise = np.random.choice([False, True], p=[0.1, 0.9])
introduceNoise = True
if introduceNoise:
# x = np.random.uniform(x, x + (cell.size[0] / 2))
# y = np.random.uniform(y, y + (cell.size[1] / 2))
# x = x + self.grid.cellNoises[cell] * cell.size[0]
# y = y + self.grid.cellNoises[cell] * cell.size[1]
x = x + self.grid.cellNoises[cell]
y = y + self.grid.cellNoises[cell]
intersection = self.intersections[directionIntersection]
if self.debug:
logging.info(f"Translating {intersection.id} to ({x}, {y})")
rotation = 0
if intersection in self.rotation:
rotation = self.rotation[intersection]
intersection.transform(startX=x, startY=y, heading=rotation)
# ODRHelper.transform(intersection.odr, startX=x, startY=y, heading=rotation)
self.placedIntersections[directionIntersection] = intersection
odrList.append(intersection.odr)
return odrList
def buildMap(self, name, plot=True):
# 1 create intersections and direction intersections.
if self.debug:
logging.info(f"{self.name}: Building new HDMap")
self.createIntersections()
self.mapBuilder.setDirectionIntersections(list(self.intersections.keys()))
self.mapBuilder.run(self.nIntersections * 2, plot=plot)
# now each cell in the grid has reference to the direction intersection
if self.debug:
logging.info(f"{self.name}: adjustIntersectionPositions")
odrList = self.adjustIntersectionPositions()
self.connectIntersectionsByCellAdjacency()
combinedOdr = ODRHelper.combine(odrList, name)
ODRHelper.addAdjustedRoads(combinedOdr, self.network.connectionRoads)
if self.debug:
logging.info(f"{self.name}: buildMap: number of clusters: {len(self.network.clusters)}")
self.network.logClusters()
return combinedOdr