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map/autoware_lanelet2_map_validator/src/common/map_loader.cpp
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| // 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. | ||
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| #include "lanelet2_map_validator/map_loader.hpp" | ||
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| #include <autoware_lanelet2_extension/projection/mgrs_projector.hpp> | ||
| #include <autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp> | ||
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| namespace lanelet::autoware::validation | ||
| { | ||
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| namespace | ||
| { | ||
| namespace projector_names | ||
| { | ||
| constexpr const char * mgrs = "mgrs"; | ||
| constexpr const char * transverse_mercator = "transverse_mercator"; | ||
| constexpr const char * utm = "utm"; | ||
| } // namespace projector_names | ||
| } // namespace | ||
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| std::unique_ptr<lanelet::Projector> getProjector( | ||
| const std::string & projector_type, const lanelet::GPSPoint & origin) | ||
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| { | ||
| if (projector_type == projector_names::mgrs) { | ||
| return std::make_unique<lanelet::projection::MGRSProjector>(); | ||
| } | ||
| if (projector_type == projector_names::transverse_mercator) { | ||
| return std::make_unique<lanelet::projection::TransverseMercatorProjector>( | ||
| lanelet::Origin{origin}); | ||
| } | ||
| if (projector_type == projector_names::utm) { | ||
| return std::make_unique<lanelet::projection::UtmProjector>(lanelet::Origin{origin}); | ||
| } | ||
| return nullptr; | ||
| } | ||
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| std::pair<lanelet::LaneletMapPtr, std::vector<lanelet::validation::DetectedIssues>> | ||
| loadAndValidateMap( | ||
| const std::string & projector_type, const std::string & map_file, | ||
| const lanelet::validation::ValidationConfig & val_config) | ||
| { | ||
| std::vector<lanelet::validation::DetectedIssues> issues; | ||
| lanelet::LaneletMapPtr map{nullptr}; | ||
| lanelet::validation::Strings errors; | ||
| try { | ||
| const auto projector = getProjector(projector_type, val_config.origin); | ||
| if (!projector) { | ||
| errors.push_back("No valid map projection type specified!"); | ||
| } else { | ||
| map = lanelet::load(map_file, *projector, &errors); | ||
| } | ||
| if (!map) { | ||
| errors.push_back("Failed to load map!"); | ||
| } | ||
| issues.emplace_back("general", utils::transform(errors, [](auto & error) { | ||
| return lanelet::validation::Issue( | ||
| lanelet::validation::Severity::Error, error); | ||
| })); | ||
| } catch (lanelet::LaneletError & err) { | ||
| issues.emplace_back("general", utils::transform(errors, [](auto & error) { | ||
| return lanelet::validation::Issue( | ||
| lanelet::validation::Severity::Error, error); | ||
| })); | ||
| } | ||
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| return {map, issues}; | ||
| } | ||
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| } // namespace lanelet::autoware::validation |
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37
map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/map_loader.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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. | ||
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| #ifndef LANELET2_MAP_VALIDATOR__MAP_LOADER_HPP_ // NOLINT | ||
| #define LANELET2_MAP_VALIDATOR__MAP_LOADER_HPP_ // NOLINT | ||
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| #include <lanelet2_io/Io.h> | ||
| #include <lanelet2_projection/UTM.h> | ||
| #include <lanelet2_validation/Validation.h> | ||
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| #include <memory> | ||
| #include <string> | ||
| #include <utility> | ||
| #include <vector> | ||
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| namespace lanelet::autoware::validation | ||
| { | ||
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| std::pair<lanelet::LaneletMapPtr, std::vector<lanelet::validation::DetectedIssues>> | ||
| loadAndValidateMap( | ||
| const std::string & projector_type, const std::string & map_file, | ||
| const lanelet::validation::ValidationConfig & val_config); | ||
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| } // namespace lanelet::autoware::validation | ||
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| #endif // LANELET2_MAP_VALIDATOR__MAP_LOADER_HPP_ |
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