feat(lanelet2_map_validator): check whether intersection_area satisfi…

…es vm-03-08 (#171) * Create the framework for intersection_area_validity. Signed-off-by: TaikiYamada4 <[email protected]> * Made is_valid checker in intersection_area_validity Signed-off-by: TaikiYamada4 <[email protected]> * Split and create a new validator intersection_area_segement_type. Signed-off-by: TaikiYamada4 <[email protected]> * Completed intersection_area_segment_type Signed-off-by: TaikiYamada4 <[email protected]> * Added `vm-03-08` to autoware_requirement_set.json Signed-off-by: TaikiYamada4 <[email protected]> * Added `vm-03-08` to autoware_requirement_set.json Signed-off-by: TaikiYamada4 <[email protected]> * Added documents for intersection_area validators Signed-off-by: TaikiYamada4 <[email protected]> * Added `intersection_area` type polygons to sample_map.osm Signed-off-by: TaikiYamada4 <[email protected]> * Added test codes Signed-off-by: TaikiYamada4 <[email protected]> * Fixed spelling error Signed-off-by: TaikiYamada4 <[email protected]> * Removed original bbox calculation and use the one in the Lanelet2 library Signed-off-by: TaikiYamada4 <[email protected]> * Added explanation of functions Signed-off-by: TaikiYamada4 <[email protected]> --------- Signed-off-by: TaikiYamada4 <[email protected]>
autowarefoundation · Dec 17, 2024 · 85a88fe · 85a88fe
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diff --git a/map/autoware_lanelet2_map_validator/CMakeLists.txt b/map/autoware_lanelet2_map_validator/CMakeLists.txt
@@ -65,6 +65,8 @@ if(BUILD_TESTING)
   add_validation_test(regulatory_elements_details_for_traffic_lights)
   add_validation_test(traffic_light_facing)
   add_validation_test(missing_referrers_for_traffic_lights)
+  add_validation_test(intersection_area_validity)
+  add_validation_test(intersection_area_segment_type)
 endif()
 
 ament_auto_package(

diff --git a/map/autoware_lanelet2_map_validator/README.md b/map/autoware_lanelet2_map_validator/README.md
@@ -326,7 +326,7 @@ The "Validators" column will be blank if it hasn't be implemented.
 | vm-03-05 | Lanelet division in the intersection                    |                                                                                                                                                                                                                                                                                                                                                                 |
 | vm-03-06 | Guide lines in the intersection                         |                                                                                                                                                                                                                                                                                                                                                                 |
 | vm-03-07 | Multiple lanelets in the intersection                   |                                                                                                                                                                                                                                                                                                                                                                 |
-| vm-03-08 | Intersection Area range                                 |                                                                                                                                                                                                                                                                                                                                                                 |
+| vm-03-08 | Intersection Area range                                 | [mapping.intersection.intersection_area_validity](./docs/intersection/intersection_area_validity.md), [mapping.intersection.intersection_area_segment_type](./docs/intersection/intersection_area_segment_type.md)                                                                                                                                              |
 | vm-03-09 | Range of Lanelet in the intersection                    |                                                                                                                                                                                                                                                                                                                                                                 |
 | vm-03-10 | Right of way (with signal)                              |                                                                                                                                                                                                                                                                                                                                                                 |
 | vm-03-11 | Right of way (without signal)                           |                                                                                                                                                                                                                                                                                                                                                                 |

diff --git a/map/autoware_lanelet2_map_validator/autoware_requirement_set.json b/map/autoware_lanelet2_map_validator/autoware_requirement_set.json
@@ -8,6 +8,17 @@
         }
       ]
     },
+    {
+      "id": "vm-03-08",
+      "validators": [
+        {
+          "name": "mapping.intersection.intersection_area_validity"
+        },
+        {
+          "name": "mapping.intersection.intersection_area_segment_type"
+        }
+      ]
+    },
     {
       "id": "vm-04-01",
       "validators": [

diff --git a/...ware_lanelet2_map_validator/docs/intersection/intersection_area_segment_type.md b/...ware_lanelet2_map_validator/docs/intersection/intersection_area_segment_type.md
@@ -0,0 +1,31 @@
+# intersection_area_segment_type
+
+## Validator name
+
+mapping.intersection.intersection_area_segment_type
+
+## Feature
+
+This validator check whether each `intersection_area` type polygon is made from points that belong to `road_border` type linestrings or the starting/ending edge of a lanelet.
+
+This is achieved by the following procedure.
+
+1. Create a 2D bounding box that circumscribes the polygon.
+2. Collect `road_border` type linestrings within or intersecting the 2D bounding box.
+3. Collect starting/ending edges of lanelets within or intersecting the 2D bounding box.
+4. Examine each point that constitutes the polygon whether it belongs to the collection above.
+
+The validator outputs the following issue with the corresponding ID of the primitive.
+
+| Issue Code                                   | Message                                                                                                                     | Severity | Primitive | Description                                                                                                                                                                 | Approach                                                                                           |
+| -------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------- | -------- | --------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------- |
+| Intersection.IntersectionAreaSegmentType-001 | "This intersection area is not made by points from road_border linestrings or lanelet edges. (Point ID: \<POINT ID LIST\>)" | Error    | Polygon   | The `intersection_area` polygon has points that doesn't belong to `road_border` type linestrings or lanelet edges. The violating points are listed up at \<POINT ID LIST\>. | Ensure that the `intersection_area` is formed ONLY by `road_border` linestrings and lanelet edges. |
+
+### Supplementary information
+
+Note that this validator only examines what type of linestring the points constituting the polygon belongs to, and doesn't examine they have a valid connection. Use the `mapping.intersection.intersection_area_validity` to check whether the polygon is `boost::geometry::is_valid()`.
+
+## Related source codes
+
+- intersection_area_segment_type.hpp
+- intersection_area_segment_type.cpp
diff --git a/...autoware_lanelet2_map_validator/docs/intersection/intersection_area_validity.md b/...autoware_lanelet2_map_validator/docs/intersection/intersection_area_validity.md
@@ -0,0 +1,20 @@
+# intersection_area_validity
+
+## Validator name
+
+mapping.intersection.intersection_area_validity
+
+## Feature
+
+This validator check whether each `intersection_area` type polygon satisfies [`boost::geometry::is_valid`](https://www.boost.io/doc/libs/1_86_0/libs/geometry/doc/html/geometry/reference/algorithms/is_valid/is_valid_2_with_message.html).
+
+The validator outputs the following issue with the corresponding ID of the primitive.
+
+| Issue Code                                | Message                                                                                 | Severity | Primitive | Description                                                                 | Approach                                                                                                                                                                                                                                                                       |
+| ----------------------------------------- | --------------------------------------------------------------------------------------- | -------- | --------- | --------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| Intersection.IntersectionAreaValidity-001 | "This intersection_area doesn't satisfy boost::geometry::is_valid (reason: \<MESSAGE\>) | Error    | Polygon   | The `intersection_area` polygon didn't satisfy `boost::geometry::is_valid`. | There are several reasons expected and it is written in "(reason: \<MESSAGE\>)". The \<MESSAGE\> is a copy of [the output message defined in the `boost::geometry` library](https://www.boost.org/doc/libs/1_86_0/boost/geometry/policies/is_valid/failing_reason_policy.hpp). |
+
+## Related source codes
+
+- intersection_area_validity.hpp
+- intersection_area_validity.cpp
diff --git a/...include/lanelet2_map_validator/validators/intersection/intersection_area_segment_type.hpp b/...include/lanelet2_map_validator/validators/intersection/intersection_area_segment_type.hpp
@@ -0,0 +1,67 @@
+// Copyright 2024 Autoware Foundation
+//
+// 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 LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__INTERSECTION_AREA_SEGMENT_TYPE_HPP_  // NOLINT
+#define LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__INTERSECTION_AREA_SEGMENT_TYPE_HPP_  // NOLINT
+
+#include <lanelet2_validation/Validation.h>
+#include <lanelet2_validation/ValidatorFactory.h>
+
+#include <string>
+#include <utility>
+
+namespace lanelet::autoware::validation
+{
+class IntersectionAreaSegmentTypeValidator : public lanelet::validation::MapValidator
+{
+public:
+  constexpr static const char * name()
+  {
+    return "mapping.intersection.intersection_area_segment_type";
+  }
+
+  lanelet::validation::Issues operator()(const lanelet::LaneletMap & map) override;
+
+private:
+  /**
+   * @brief The main validation process
+   *
+   * @param map
+   * @return lanelet::validation::Issues
+   */
+  lanelet::validation::Issues check_intersection_area_segment_type(const lanelet::LaneletMap & map);
+
+  /**
+   * @brief Create a submap consisting of road_border linestrings and lanelet edges only.
+   *
+   * @param map
+   * @param intersection_area
+   * @return lanelet::LaneletSubmapUPtr
+   */
+  lanelet::LaneletSubmapUPtr create_nearby_borders_submap(
+    const lanelet::LaneletMap & map, const lanelet::ConstPolygon3d & intersection_area);
+
+  /**
+   * @brief Create a list-up-string from Ids=vector<Id>
+   *
+   * @param ids
+   * @return std::string
+   */
+  std::string ids_to_string(const lanelet::Ids ids);
+};
+}  // namespace lanelet::autoware::validation
+
+// clang-format off
+#endif  // LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__INTERSECTION_AREA_SEGMENT_TYPE_HPP_  // NOLINT
+// clang-format on
diff --git a/...src/include/lanelet2_map_validator/validators/intersection/intersection_area_validity.hpp b/...src/include/lanelet2_map_validator/validators/intersection/intersection_area_validity.hpp
@@ -0,0 +1,37 @@
+// Copyright 2024 Autoware Foundation
+//
+// 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 LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__INTERSECTION_AREA_VALIDITY_HPP_  // NOLINT
+#define LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__INTERSECTION_AREA_VALIDITY_HPP_  // NOLINT
+
+#include <lanelet2_validation/Validation.h>
+#include <lanelet2_validation/ValidatorFactory.h>
+
+namespace lanelet::autoware::validation
+{
+class IntersectionAreaValidityValidator : public lanelet::validation::MapValidator
+{
+public:
+  constexpr static const char * name() { return "mapping.intersection.intersection_area_validity"; }
+
+  lanelet::validation::Issues operator()(const lanelet::LaneletMap & map) override;
+
+private:
+  lanelet::validation::Issues check_intersection_area_validity(const lanelet::LaneletMap & map);
+};
+}  // namespace lanelet::autoware::validation
+
+// clang-format off
+#endif  // LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__INTERSECTION_AREA_VALIDITY_HPP_  // NOLINT
+// clang-format on
diff --git a/...are_lanelet2_map_validator/src/validators/intersection/intersection_area_segment_type.cpp b/...are_lanelet2_map_validator/src/validators/intersection/intersection_area_segment_type.cpp
@@ -0,0 +1,152 @@
+// Copyright 2024 Autoware Foundation
+//
+// 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 "lanelet2_map_validator/validators/intersection/intersection_area_segment_type.hpp"
+
+#include "lanelet2_map_validator/utils.hpp"
+
+#include <boost/geometry/algorithms/is_valid.hpp>
+
+#include <lanelet2_core/LaneletMap.h>
+#include <lanelet2_core/geometry/Polygon.h>
+#include <lanelet2_core/primitives/Polygon.h>
+
+#include <limits>
+
+namespace lanelet::autoware::validation
+{
+namespace
+{
+lanelet::validation::RegisterMapValidator<IntersectionAreaSegmentTypeValidator> reg;
+}
+
+lanelet::validation::Issues IntersectionAreaSegmentTypeValidator::operator()(
+  const lanelet::LaneletMap & map)
+{
+  lanelet::validation::Issues issues;
+
+  lanelet::autoware::validation::appendIssues(issues, check_intersection_area_segment_type(map));
+
+  return issues;
+}
+
+lanelet::validation::Issues
+IntersectionAreaSegmentTypeValidator::check_intersection_area_segment_type(
+  const lanelet::LaneletMap & map)
+{
+  lanelet::validation::Issues issues;
+
+  for (const lanelet::ConstPolygon3d & polygon3d : map.polygonLayer) {
+    if (
+      !polygon3d.hasAttribute(lanelet::AttributeName::Type) ||
+      polygon3d.attribute(lanelet::AttributeName::Type).value() != "intersection_area") {
+      continue;
+    }
+
+    const auto borders_submap = create_nearby_borders_submap(map, polygon3d);
+    lanelet::Ids invalid_point_ids = {};
+    for (const lanelet::ConstPoint3d & point : polygon3d) {
+      lanelet::LineStrings3d search_results = borders_submap->lineStringLayer.findUsages(point);
+      if (search_results.empty()) {
+        invalid_point_ids.push_back(point.id());
+      }
+    }
+    if (!invalid_point_ids.empty()) {
+      issues.emplace_back(
+        lanelet::validation::Severity::Error, lanelet::validation::Primitive::Polygon,
+        polygon3d.id(),
+        append_issue_code_prefix(
+          this->name(), 1,
+          "This intersection area is not made by points from road_border linestrings or lanelet "
+          "edges. (Point ID: " +
+            ids_to_string(invalid_point_ids) + ")"));
+    }
+  }
+
+  return issues;
+}
+
+lanelet::LaneletSubmapUPtr IntersectionAreaSegmentTypeValidator::create_nearby_borders_submap(
+  const lanelet::LaneletMap & map, const lanelet::ConstPolygon3d & intersection_area)
+{
+  lanelet::BoundingBox2d bbox2d =
+    lanelet::geometry::boundingBox2d(lanelet::traits::toBasicPolygon2d(intersection_area));
+
+  lanelet::ConstLanelets nearby_lanelets = map.laneletLayer.search(bbox2d);
+  lanelet::ConstLineStrings3d nearby_linestrings = map.lineStringLayer.search(bbox2d);
+
+  lanelet::LineStrings3d nearby_borders;
+
+  // Collect lanelet edges intersecting the intersection area
+  for (const auto & lanelet : nearby_lanelets) {
+    if (
+      !lanelet.hasAttribute(lanelet::AttributeName::Subtype) ||
+      lanelet.attribute(lanelet::AttributeName::Subtype).value() !=
+        lanelet::AttributeValueString::Road) {
+      continue;
+    }
+
+    if (bbox2d.contains(lanelet.leftBound2d().front().basicPoint2d())) {
+      lanelet::Point3d left_point(lanelet.leftBound().front());
+      lanelet::Point3d right_point(lanelet.rightBound().front());
+
+      lanelet::AttributeMap attribute;
+      attribute["type"] = "lanelet_edge";  // An instant linestring type for this code
+
+      lanelet::LineString3d lanelet_front_edge(
+        lanelet::utils::getId(), {left_point, right_point}, attribute);
+      nearby_borders.push_back(lanelet_front_edge);
+    }
+
+    if (bbox2d.contains(lanelet.leftBound2d().back().basicPoint2d())) {
+      lanelet::Point3d left_point(lanelet.leftBound().back());
+      lanelet::Point3d right_point(lanelet.rightBound().back());
+
+      lanelet::AttributeMap attribute;
+      attribute["type"] = "lanelet_edge";  // An instant linestring type for this code
+
+      lanelet::LineString3d lanelet_back_edge(
+        lanelet::utils::getId(), {left_point, right_point}, attribute);
+      nearby_borders.push_back(lanelet_back_edge);
+    }
+  }
+
+  // Collect road_border subtype linestrings
+  for (const auto & linestring : nearby_linestrings) {
+    if (
+      linestring.hasAttribute(lanelet::AttributeName::Type) &&
+      linestring.attribute(lanelet::AttributeName::Type).value() ==
+        lanelet::AttributeValueString::RoadBorder) {
+      auto data = std::const_pointer_cast<LineStringData>(linestring.constData());
+      nearby_borders.push_back(lanelet::LineString3d(data, linestring.inverted()));
+    }
+  }
+
+  return lanelet::utils::createSubmap(nearby_borders);
+}
+
+std::string IntersectionAreaSegmentTypeValidator::ids_to_string(const lanelet::Ids ids)
+{
+  std::string result = "(";
+  for (size_t i = 0; i < ids.size(); i++) {
+    result += std::to_string(ids[i]);
+    if (i < ids.size() - 1) {
+      result += ", ";
+    }
+  }
+  result += ")";
+  return result;
+}
+
+}  // namespace lanelet::autoware::validation