def test_ParamPoly(self):
tangentX = np.array([9.389829642616592, -7.596531772501544])
tangentY = np.array([0.0, 5.5192033616035365])
t = np.array([0, 1])
x = np.array([0, 17.8605173461395])
y = np.array([0, -5.803233839653106])
hermiteX = CubicHermiteSpline(t, x, tangentX)
hermiteY = CubicHermiteSpline(t, y, tangentY)
xCoeffs = hermiteX.c.flatten()
yCoeffs = hermiteY.c.flatten()
# scipy coefficient and open drive coefficents have opposite order.
myRoad = self.roadBuilder.curveBuilder.createParamPoly3(
0,
isJunction=False,
au=xCoeffs[3],
bu=xCoeffs[2],
cu=xCoeffs[1],
du=xCoeffs[0],
av=yCoeffs[3],
bv=yCoeffs[2],
cv=yCoeffs[1],
dv=yCoeffs[0])
odr = pyodrx.OpenDrive("test")
odr.add_road(myRoad)
odr.adjust_roads_and_lanes()
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
def harvestByPainting2L(self, maxNumberOfRoadsPerJunction, triesPerRoadCount, show=False):
"""[summary]
Args:
maxNumberOfRoadsPerJunction ([type]): [description]
triesPerRoadCount ([type]): number of junctions to be created for each set of roads. for 3 roads, we will try triesPerRoadCount, for 4 roads the same.
save (bool, optional): [description]. Defaults to True.
"""
odrs = []
for numRoads in range(3, maxNumberOfRoadsPerJunction + 1):
for _ in range(triesPerRoadCount):
odr = self.sequentialJunctionBuilder.drawLikeAPainter2L(self.lastId, numRoads)
self.lastId += 1
if show:
extensions.view_road(odr, os.path.join('..', self.esminiPath))
xmlPath = self.getOutputPath(odr.name)
odr.write_xml(xmlPath)
# 2. save image
if self.saveImage is True:
extensions.saveRoadImageFromFile(xmlPath, self.esminiPath)
odrs.append(odr)
with(open(self.destinationPrefix + "harvestedByPainting2L.dill", "wb")) as f:
dill.dump(odrs, f)
print("Odr objects saved to " + self.destinationPrefix + "harvestedByPainting2L.dill" )
pass
def test_DifferentLaneConfigurations(self):
roads = []
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(0,
10,
n_lanes_left=1,
n_lanes_right=1))
connectionRoad = self.straightRoadBuilder.createWithDifferentLanes(
1, 10, n_lanes_left=2, n_lanes_right=2)
roads.append(connectionRoad)
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(2,
10,
n_lanes_left=1,
n_lanes_right=2))
roads[0].addExtendedSuccessor(roads[1], 0, pyodrx.ContactPoint.start)
roads[1].addExtendedPredecessor(roads[0], 0, pyodrx.ContactPoint.end)
roads[1].addExtendedSuccessor(roads[2], 0, pyodrx.ContactPoint.start)
roads[2].addExtendedPredecessor(roads[1], 0, pyodrx.ContactPoint.end)
self.laneBuilder.createLanesForConnectionRoad(connectionRoad, roads[0],
roads[2])
odrName = "test_DifferentLaneConfigurations"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_DifferentLaneConfigurations.xodr"
odr.write_xml(xmlPath)
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")))
def test_normalRoadLinks(self):
roads = []
roads.append(self.straightRoadBuilder.create(0))
roads.append(
self.roadBuilder.curveBuilder.createSimple(1,
np.pi / 4,
False,
curvature=0.2))
roads.append(self.straightRoadBuilder.create(2))
RoadLinker.createExtendedPredSuc(predRoad=roads[0],
predCp=pyodrx.ContactPoint.end,
sucRoad=roads[1],
sucCP=pyodrx.ContactPoint.start)
RoadLinker.createExtendedPredSuc(predRoad=roads[1],
predCp=pyodrx.ContactPoint.end,
sucRoad=roads[2],
sucCP=pyodrx.ContactPoint.start)
odrName = "test_connectionRoad"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
# self.laneBuilder.addRightTurnLaneUS(roads[0], 3)
# self.laneBuilder.addRightLaneUS(roads[1])
# odr.resetAndReadjust(byPredecessor=True)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
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_RightLane(self):
# test scenario for connection road
roads = []
roads.append(pyodrx.create_straight_road(0, 10))
# roads.append(self.roadBuilder.createSimpleCurve(1, np.pi/4, True, curvature = 0.2))
# roads.append(pyodrx.create_straight_road(2, 10))
# roads[0].add_successor(pyodrx.ElementType.junction,1)
# roads[1].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.end)
# # roads[1].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.start)
# roads[1].add_successor(pyodrx.ElementType.road,2,pyodrx.ContactPoint.start)
# roads[2].add_predecessor(pyodrx.ElementType.junction,1, pyodrx.ContactPoint.end)
odrName = "test_connectionRoad"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
self.laneBuilder.addRightTurnLaneUS(roads[0], 3)
# self.laneBuilder.addRightLaneUS(roads[1])
odr.resetAndReadjust(byPredecessor=True)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test-RightLane.xodr"
odr.write_xml(xmlPath)
def test_cubicParams(self):
roads = []
roads.append(pyodrx.create_straight_road(0, 10))
roads.append(self.roadBuilder.createParamPoly3(1, isJunction=True))
roads.append(pyodrx.create_straight_road(2, 1))
roads[0].add_successor(pyodrx.ElementType.junction, 1)
roads[1].add_predecessor(pyodrx.ElementType.road, 0,
pyodrx.ContactPoint.end)
roads[1].add_successor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[2].add_predecessor(pyodrx.ElementType.junction, 1)
con1 = pyodrx.Connection(0, 1, pyodrx.ContactPoint.start)
con1.add_lanelink(-1, -1)
junction = pyodrx.Junction('test', 1)
junction.add_connection(con1)
odr = pyodrx.OpenDrive('test')
for r in roads:
odr.add_road(r)
odr.add_junction(junction)
odr.adjust_roads_and_lanes()
extensions.view_road(odr,
os.path.join('..', 'F:\\myProjects\\av\\esmini'))
def test_createMShape(self):
roads = []
roads.append(pyodrx.create_straight_road(0, 10))
roads.append(self.roadBuilder.createMShape(1, 1, np.pi / 1.5, 10))
roads.append(pyodrx.create_straight_road(2, 10))
roads[0].add_successor(pyodrx.ElementType.junction, 1)
roads[1].add_predecessor(pyodrx.ElementType.road, 0,
pyodrx.ContactPoint.end)
# roads[1].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.start)
roads[1].add_successor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[2].add_predecessor(pyodrx.ElementType.junction, 1)
junction = self.junctionBuilder.createJunctionForASeriesOfRoads(roads)
odrName = "test_connectionRoad"
odr = extensions.createOdr(odrName, roads, [junction])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/m-shape.xodr"
odr.write_xml(xmlPath)
extensions.saveRoadImageFromFile(xmlPath, self.esminiPath)
def test_createMShapeRightLanes(self):
roads = []
roads.append(pyodrx.create_straight_road(0, 10))
roads.append(
self.roadBuilder.createMShape(
1,
1,
-np.pi / 1.5,
10,
laneSides=junctions.LaneSides.RIGHT,
direction=CircularDirection.COUNTERCLOCK_WISE))
roads.append(pyodrx.create_straight_road(2, 10))
roads[0].add_successor(pyodrx.ElementType.junction, 1)
roads[1].add_predecessor(pyodrx.ElementType.road, 0,
pyodrx.ContactPoint.end)
# roads[1].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.start)
roads[1].add_successor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[2].add_predecessor(pyodrx.ElementType.junction, 1)
junction = self.junctionBuilder.createJunctionForASeriesOfRoads(roads)
odrName = "test_connectionRoad"
odr = extensions.createOdr(odrName, roads, [junction])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
def test_SimpleCurve(self):
roads = []
roads.append(
self.curveRoadBuilder.create(0,
angleBetweenEndpoints=np.pi / 2,
curvature=0.05,
isLeftTurnLane=True))
odrName = "test_LeftTurnLaneCurve"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_LeftTurnLaneCurve.xodr"
odr.write_xml(xmlPath)
roads = []
roads.append(
self.curveRoadBuilder.create(0,
angleBetweenEndpoints=np.pi / 2,
curvature=0.05,
isRightTurnLane=True))
odrName = "test_RightTurnLaneCurve"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_RightTurnLaneCurve.xodr"
odr.write_xml(xmlPath)
def test_buildSimpleRoundAboutAndCheckInternalConnection(self):
numRoads = 3
odr = self.junctionBuilder.buildSimpleRoundAbout(
odrId=0, numRoads=numRoads, radius=10, cp1=pyodrx.ContactPoint.end)
xmlPath = f"output/test-SimpleRoundAbout-{numRoads}.xodr"
odr.write_xml(xmlPath)
extensions.printRoadPositions(odr)
extensions.saveRoadImageFromFile(xmlPath, self.esminiPath)
extensions.view_road(odr, os.path.join('..', self.esminiPath))
# what's the problem with internal connections?
internalConnection = odr.roads['12'].shallowCopy()
internalConnection.clearRoadLinks()
odr = extensions.createOdr("12 only", [internalConnection], [])
xmlPath = f"output/test-SimpleRoundAbout-{numRoads}-road-12.xodr"
odr.write_xml(xmlPath)
extensions.printRoadPositions(odr)
extensions.saveRoadImageFromFile(xmlPath, self.esminiPath)
extensions.view_road(odr, os.path.join('..', self.esminiPath))
def test_buildMap(self):
name = 'first_hd_map'
odr = self.hdMapBuilder.buildMap(name, plot=True)
xmlPath = f"output/test_HDMapBuilder-{name}.xodr"
odr.write_xml(xmlPath)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
pass
def test_getMaxCurvatureMaxRoadWidth(self):
roads = []
numberofLanes = 1
laneOffset = 3
angle = np.pi * .75
maxCurve = AngleCurvatureMap.getMaxCurvatureAgainstMaxRoadWidth(
angle, numberofLanes * laneOffset)
curve = maxCurve * 1.1
print(f"max curve {maxCurve}, current curve {curve}")
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(
0,
length=10,
junction=-1,
n_lanes_left=numberofLanes,
n_lanes_right=numberofLanes))
roads.append(
self.curveRoadBuilder.createSimpleCurveWithLongArc(
1,
angleBetweenEndpoints=angle,
curvature=curve,
isJunction=True,
n_lanes=numberofLanes))
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(
2,
length=10,
junction=-1,
n_lanes_left=numberofLanes,
n_lanes_right=numberofLanes))
RoadLinker.createExtendedPredSuc(predRoad=roads[0],
predCp=pyodrx.ContactPoint.end,
sucRoad=roads[1],
sucCP=pyodrx.ContactPoint.start)
RoadLinker.createExtendedPredSuc(predRoad=roads[1],
predCp=pyodrx.ContactPoint.end,
sucRoad=roads[2],
sucCP=pyodrx.ContactPoint.start)
odrName = "test_createSingleLaneConnectionRoad"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
# extensions.printRoadPositions(odr)
road = roads[1]
print(f"{road.id} has length {road.planview.get_total_length()}")
for geom in road.planview._adjusted_geometries:
print(geom.length)
extensions.view_road(odr, os.path.join('..', self.esminipath))
def test_DifferentCPs(self):
# same cps
roads = []
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(0,
length=20,
junction=-1,
n_lanes_left=2,
n_lanes_right=1))
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(1,
length=10,
junction=-1,
n_lanes_left=1,
n_lanes_right=2))
roads[0].addExtendedSuccessor(roads[1], 0, pyodrx.ContactPoint.start)
roads[1].addExtendedPredecessor(roads[0], 0, pyodrx.ContactPoint.start)
odrName = "test_DifferentCPs1"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_DifferentCPs1.xodr"
odr.write_xml(xmlPath)
# same cps 2
roads = []
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(0,
length=20,
junction=-1,
n_lanes_left=2,
n_lanes_right=1))
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(1,
length=10,
junction=-1,
n_lanes_left=2,
n_lanes_right=1))
roads[0].addExtendedSuccessor(roads[1], 0, pyodrx.ContactPoint.start)
roads[1].addExtendedPredecessor(roads[0], 0, pyodrx.ContactPoint.end)
odrName = "test_DifferentCPs2"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_DifferentCPs2.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_buildSimpleRoundAbout(self):
numRoads = 6
odr = self.junctionBuilder.buildSimpleRoundAbout(
odrId=0, numRoads=numRoads, radius=10, cp1=pyodrx.ContactPoint.end)
xmlPath = f"output/test-SimpleRoundAbout-{numRoads}.xodr"
odr.write_xml(xmlPath)
extensions.printRoadPositions(odr)
extensions.saveRoadImageFromFile(xmlPath, self.esminiPath)
extensions.view_road(odr, os.path.join('..', self.esminiPath))
def test_addMedianIslandsTo3Sections(self):
road = self.straightRoadBuilder.create(1,
n_lanes_left=1,
n_lanes_right=1,
length=20,
force3Section=False)
try:
self.laneBuilder.addMedianIslandsTo2Of3Sections(
road, 20, skipEndpoint=pyodrx.ContactPoint.start, width=3)
assert False
except:
assert True
road = self.straightRoadBuilder.create(1,
n_lanes_left=1,
n_lanes_right=1,
length=20,
force3Section=True)
self.laneBuilder.addMedianIslandsTo2Of3Sections(
road, 20, skipEndpoint=pyodrx.ContactPoint.start, width=3)
assert len(road.lanes.lanesections[0].leftlanes) == 1
assert len(road.lanes.lanesections[0].rightlanes) == 1
assert len(road.lanes.lanesections[1].leftlanes) == 2
assert len(road.lanes.lanesections[1].rightlanes) == 2
assert len(road.lanes.lanesections[2].leftlanes) == 2
assert len(road.lanes.lanesections[2].rightlanes) == 2
road = self.straightRoadBuilder.create(1,
n_lanes_left=1,
n_lanes_right=1,
length=20,
force3Section=True)
self.laneBuilder.addMedianIslandsTo2Of3Sections(
road, 20, skipEndpoint=pyodrx.ContactPoint.end, width=3)
assert len(road.lanes.lanesections[0].leftlanes) == 2
assert len(road.lanes.lanesections[0].rightlanes) == 2
assert len(road.lanes.lanesections[1].leftlanes) == 2
assert len(road.lanes.lanesections[1].rightlanes) == 2
assert len(road.lanes.lanesections[2].leftlanes) == 1
assert len(road.lanes.lanesections[2].rightlanes) == 1
odrName = "test_DifferentLaneConfigurations"
odr = extensions.createOdrByPredecessor(odrName, [road], [])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_addMedianIslandsTo3Sections.xodr"
odr.write_xml(xmlPath)
def test_ThreeWayJunctionWithAngle(self):
angleBetweenRoads = np.pi / 4
odr = self.builder.ThreeWayJunctionWithAngle(
odrId=1,
angleBetweenRoads=angleBetweenRoads,
maxLanePerSide=4,
minLanePerSide=2,
cp1=pyodrx.ContactPoint.end)
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
# extensions.view_road_odrviewer(odr, os.path.join('..',self.configuration.get("esminipath")))
xmlPath = f"output/test_ThreeWayJunctionWithAngle.xodr"
odr.write_xml(xmlPath)
def test_getCurvatureForAngleAndLength(self):
numberofLanes = 10
laneOffset = 3
# angle = 120
# curve, angle = AngleCurvatureMap.getCurvatureForNonOverlappingRoads(angle, numberofLanes, laneOffset)
angle = np.pi * 1.2
length = 20
# curve, angle = AngleCurvatureMap.getCurvatureForNonOverlappingRoads(angle, numberofLanes, laneOffset)
maxCurve = AngleCurvatureMap.getMaxCurvatureAgainstMaxRoadWidth(
angle, numberofLanes * laneOffset)
curve = AngleCurvatureMap.getCurvatureForAngleAndLength(angle, length)
print(f"max curve {maxCurve}, current curve {curve}")
roads = []
roads.append(
pyodrx.create_straight_road(0,
50,
n_lanes=numberofLanes,
lane_offset=laneOffset))
roads.append(
self.roadBuilder.
createSimpleCurveWithLongArcWithLaneNumberandOffset(
1,
angle,
False,
curvature=curve,
_n_lanes=numberofLanes,
_lane_offset=laneOffset))
roads.append(
pyodrx.create_straight_road(2,
50,
n_lanes=numberofLanes,
lane_offset=laneOffset))
roads[0].add_successor(pyodrx.ElementType.road, 1,
pyodrx.ContactPoint.start)
roads[1].add_predecessor(pyodrx.ElementType.road, 0,
pyodrx.ContactPoint.end)
roads[1].add_successor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[2].add_predecessor(pyodrx.ElementType.road, 1,
pyodrx.ContactPoint.end)
odrName = "curve_test"
odr = extensions.createOdr(odrName, roads, [])
extensions.view_road(odr, self.esminiPath)
def test_addMedianIslandsToAllSections(self):
roads = []
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(0,
10,
n_lanes_left=1,
n_lanes_right=1))
self.laneBuilder.addMedianIslandsToAllSections(
roads[0], self.configuration.get('default_lane_width'))
odrName = "test_DifferentLaneConfigurations"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_addMedianIslandsToAllSections.xodr"
odr.write_xml(xmlPath)
def test_getLanePosition(self):
roads = []
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(0,
length=10,
junction=-1,
n_lanes_left=2,
n_lanes_right=2))
roads.append(
self.straightRoadBuilder.createWithRightTurnLanesOnLeft(
1,
length=10,
n_lanes=2,
junction=1,
isLeftTurnLane=True,
isRightTurnLane=True,
numberOfRightTurnLanesOnLeft=2,
mergeLaneOnTheOppositeSideForInternalTurn=False))
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(2,
length=10,
junction=-1,
n_lanes_left=5,
n_lanes_right=3))
self.roadLinker.linkConsecutiveRoadsWithNoBranches(roads)
roads[1].updatePredecessorOffset(-2)
odrName = "test_getBorderDistanceOfLane"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
extensions.printRoadPositions(odr)
print(roads[0].getLanePosition(0, pyodrx.ContactPoint.end))
print(roads[0].getLanePosition(1, pyodrx.ContactPoint.end))
print(roads[0].getLanePosition(2, pyodrx.ContactPoint.end))
positionLeftMost = roads[0].getLanePosition(2, pyodrx.ContactPoint.end)
assert positionLeftMost[0] == 10.0
assert positionLeftMost[1] == 6.0
assert positionLeftMost[2] == 0
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
def test_merge2R2L2(self):
odrList = []
for angleOdrList in self.odrDic.values():
odrList += angleOdrList
numberOfOds = len(odrList)
for _ in range(5):
try:
selectedOdrs = [odrList[np.random.choice(numberOfOds)], odrList[np.random.choice(numberOfOds)]]
newOdr = self.merger.merge2R2L(selectedOdrs)
extensions.view_road(newOdr,os.path.join('..',self.configuration.get("esminipath")))
except:
pass
# extensions.save_road_image(newOdr,os.path.join('..',self.configuration.get("esminipath")))
def test_RotateOpenDrive(self):
angleBetweenRoads = np.pi / 4
odr = self.threeWayJunctionBuilder.ThreeWayJunctionWithAngle(
odrId=1,
angleBetweenRoads=angleBetweenRoads,
maxLanePerSide=4,
minLanePerSide=2,
cp1=pyodrx.ContactPoint.end)
# extensions.view_road(odr, os.path.join('..', self.configuration.get("esminipath")))
# extensions.printRoadPositions(odr)
RotatedODR = extensions.rotateOpenDrive(odr=odr,
startX=0.0,
startY=0.0,
heading=np.pi)
extensions.printRoadPositions(RotatedODR)
extensions.view_road(
RotatedODR, os.path.join('..',
self.configuration.get("esminipath")))
def test_StartEnd(self):
roads = []
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(0,
10,
n_lanes_left=1,
n_lanes_right=1))
connectionRoad = self.curveBuilder.create(1,
np.pi / 4,
isJunction=True,
curvature=0.1,
n_lanes=1)
roads.append(connectionRoad)
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(2,
10,
n_lanes_left=1,
n_lanes_right=1))
roads[0].addExtendedSuccessor(roads[1], 0, pyodrx.ContactPoint.start)
roads[1].addExtendedPredecessor(roads[0], 0, pyodrx.ContactPoint.start)
roads[1].addExtendedSuccessor(roads[2], 0, pyodrx.ContactPoint.start)
roads[2].addExtendedPredecessor(roads[1], 0, pyodrx.ContactPoint.end)
self.laneBuilder.createLanesForConnectionRoad(connectionRoad, roads[0],
roads[2])
odrName = "test_StartEnd"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
print(
math.degrees(
self.roadLinker.getAngleBetweenStraightRoads(
roads[0], roads[2])))
xmlPath = f"output/test_StartEnd.xodr"
odr.write_xml(xmlPath)
def test_merge2R2L2(self):
odrList = []
for angleOdrList in self.odrDic.values():
odrList += angleOdrList
numberOfOds = len(odrList)
for _ in range(20):
try:
selectedOdrs = [
odrList[np.random.choice(numberOfOds)],
odrList[np.random.choice(numberOfOds)]
]
newOdr = self.merger.merge2R2L(selectedOdrs)
extensions.view_road(
newOdr, os.path.join('..', 'F:\\myProjects\\av\\esmini'))
except:
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_merge2R2L(self):
odrs = self.odrDic['0.3141592653589793']
odrs2 = [odrs[0], odrs[5]]
newOdr = self.merger.merge2R2L(odrs2)
extensions.view_road(newOdr,
os.path.join('..', 'F:\\myProjects\\av\\esmini'))
odrs = self.odrDic['0.3141592653589793']
odrs2 = [odrs[1], odrs[2]]
newOdr = self.merger.merge2R2L(odrs2)
extensions.view_road(newOdr,
os.path.join('..', 'F:\\myProjects\\av\\esmini'))
odrs = self.odrDic['0.3141592653589793']
odrs2 = [odrs[3], odrs[4]]
newOdr = self.merger.merge2R2L(odrs2)
extensions.view_road(newOdr,
os.path.join('..', 'F:\\myProjects\\av\\esmini'))
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"))
odr.add_road(r)
# create junction
junction = pyodrx.Junction('test',1)
con1 = pyodrx.Connection(0,1,pyodrx.ContactPoint.start)
con1.add_lanelink(-1,-1)
con2 = pyodrx.Connection(0,3,pyodrx.ContactPoint.start)
con2.add_lanelink(-1,-1)
con3 = pyodrx.Connection(0,5,pyodrx.ContactPoint.start)
con3.add_lanelink(-1,-1)
con4 = pyodrx.Connection(2,1,pyodrx.ContactPoint.end)
con4.add_lanelink(1,1)
con5 = pyodrx.Connection(4,3,pyodrx.ContactPoint.end)
con5.add_lanelink(1,1)
con6 = pyodrx.Connection(6,5,pyodrx.ContactPoint.end)
con6.add_lanelink(1,1)
junction.add_connection(con1)
junction.add_connection(con2)
junction.add_connection(con3)
junction.add_connection(con4)
junction.add_connection(con5)
junction.add_connection(con6)
# odr.create_junction()
odr.add_junction(junction)
odr.adjust_roads_and_lanes()
# pyodrx.prettyprint(odr.get_element())
extensions.view_road(odr,os.path.join('..','F:\\myProjects\\av\\esmini'))
