Skip to content

Commit

Permalink
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Create test for autoware_validator_osm_parser.
Browse files Browse the repository at this point in the history 
Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
@TaikiYamada4
TaikiYamada4 committed Jan 24, 2025
1 parent 517b947 commit 63cde1d
Showing 5 changed files with 516 additions and 0 deletions.
105 changes: 105 additions & 0 deletions map/autoware_lanelet2_map_validator/test/data/map/lane/single_lanelet.osm
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,105 @@
<?xml version="1.0" encoding="UTF-8"?>
<osm generator="VMB">
<MetaInfo format_version="1" map_version="2"/>
<node id="8" lat="35.90312398544" lon="139.93324675646">
<tag k="local_x" v="3736.8634"/>
<tag k="local_y" v="73729.1154"/>
<tag k="ele" v="19.3488"/>
</node>
<node id="9" lat="35.90313706429" lon="139.93327698894">
<tag k="local_x" v="3739.6075"/>
<tag k="local_y" v="73730.5363"/>
<tag k="ele" v="19.3413"/>
</node>
<node id="11" lat="35.90314993972" lon="139.93330675322">
<tag k="local_x" v="3742.3091"/>
<tag k="local_y" v="73731.9351"/>
<tag k="ele" v="19.3397"/>
</node>
<node id="12" lat="35.90316376045" lon="139.93333870223">
<tag k="local_x" v="3745.209"/>
<tag k="local_y" v="73733.4366"/>
<tag k="ele" v="19.3724"/>
</node>
<node id="13" lat="35.90317715959" lon="139.9333696751">
<tag k="local_x" v="3748.0203"/>
<tag k="local_y" v="73734.8923"/>
<tag k="ele" v="19.3259"/>
</node>
<node id="14" lat="35.90319132639" lon="139.93340242399">
<tag k="local_x" v="3750.9928"/>
<tag k="local_y" v="73736.4314"/>
<tag k="ele" v="19.3117"/>
</node>
<node id="15" lat="35.90320867521" lon="139.93344252692">
<tag k="local_x" v="3754.6328"/>
<tag k="local_y" v="73738.3162"/>
<tag k="ele" v="19.2979"/>
</node>
<node id="16" lat="35.90310010653" lon="139.93326236239">
<tag k="local_x" v="3738.2428"/>
<tag k="local_y" v="73726.4514"/>
<tag k="ele" v="19.3488"/>
</node>
<node id="17" lat="35.90311318447" lon="139.93329259488">
<tag k="local_x" v="3740.9869"/>
<tag k="local_y" v="73727.8722"/>
<tag k="ele" v="19.3413"/>
</node>
<node id="19" lat="35.9031260608" lon="139.93332235914">
<tag k="local_x" v="3743.6885"/>
<tag k="local_y" v="73729.2711"/>
<tag k="ele" v="19.3397"/>
</node>
<node id="20" lat="35.90313988152" lon="139.93335430814">
<tag k="local_x" v="3746.5884"/>
<tag k="local_y" v="73730.7726"/>
<tag k="ele" v="19.3724"/>
</node>
<node id="21" lat="35.90315328156" lon="139.933385281">
<tag k="local_x" v="3749.3997"/>
<tag k="local_y" v="73732.2284"/>
<tag k="ele" v="19.3259"/>
</node>
<node id="22" lat="35.90316744746" lon="139.93341802989">
<tag k="local_x" v="3752.3722"/>
<tag k="local_y" v="73733.7674"/>
<tag k="ele" v="19.3117"/>
</node>
<node id="23" lat="35.90318479537" lon="139.93345813282">
<tag k="local_x" v="3756.0122"/>
<tag k="local_y" v="73735.6521"/>
<tag k="ele" v="19.2979"/>
</node>
<way id="10">
<nd ref="8"/>
<nd ref="9"/>
<nd ref="11"/>
<nd ref="12"/>
<nd ref="13"/>
<nd ref="14"/>
<nd ref="15"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="18">
<nd ref="16"/>
<nd ref="17"/>
<nd ref="19"/>
<nd ref="20"/>
<nd ref="21"/>
<nd ref="22"/>
<nd ref="23"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<relation id="24">
<member type="way" role="left" ref="10"/>
<member type="way" role="right" ref="18"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="road"/>
<tag k="speed_limit" v="10"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="yes"/>
</relation>
</osm>
105 changes: 105 additions & 0 deletions ...nelet2_map_validator/test/data/map/lane/single_lanelet_one_point_having_non_value_ele.osm
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,105 @@
<?xml version="1.0" encoding="UTF-8"?>
<osm generator="VMB">
<MetaInfo format_version="1" map_version="2"/>
<node id="8" lat="35.90312398544" lon="139.93324675646">
<tag k="local_x" v="3736.8634"/>
<tag k="local_y" v="73729.1154"/>
<tag k="ele" v="19.3488"/>
</node>
<node id="9" lat="35.90313706429" lon="139.93327698894">
<tag k="local_x" v="3739.6075"/>
<tag k="local_y" v="73730.5363"/>
<tag k="ele" v="19.3413"/>
</node>
<node id="11" lat="35.90314993972" lon="139.93330675322">
<tag k="local_x" v="3742.3091"/>
<tag k="local_y" v="73731.9351"/>
<tag k="ele" v="19.3397"/>
</node>
<node id="12" lat="35.90316376045" lon="139.93333870223">
<tag k="local_x" v="3745.209"/>
<tag k="local_y" v="73733.4366"/>
<tag k="ele" v="19.3724"/>
</node>
<node id="13" lat="35.90317715959" lon="139.9333696751">
<tag k="local_x" v="3748.0203"/>
<tag k="local_y" v="73734.8923"/>
<tag k="ele"/>
</node>
<node id="14" lat="35.90319132639" lon="139.93340242399">
<tag k="local_x" v="3750.9928"/>
<tag k="local_y" v="73736.4314"/>
<tag k="ele" v="19.3117"/>
</node>
<node id="15" lat="35.90320867521" lon="139.93344252692">
<tag k="local_x" v="3754.6328"/>
<tag k="local_y" v="73738.3162"/>
<tag k="ele" v="19.2979"/>
</node>
<node id="16" lat="35.90310010653" lon="139.93326236239">
<tag k="local_x" v="3738.2428"/>
<tag k="local_y" v="73726.4514"/>
<tag k="ele" v="19.3488"/>
</node>
<node id="17" lat="35.90311318447" lon="139.93329259488">
<tag k="local_x" v="3740.9869"/>
<tag k="local_y" v="73727.8722"/>
<tag k="ele" v="19.3413"/>
</node>
<node id="19" lat="35.9031260608" lon="139.93332235914">
<tag k="local_x" v="3743.6885"/>
<tag k="local_y" v="73729.2711"/>
<tag k="ele" v="19.3397"/>
</node>
<node id="20" lat="35.90313988152" lon="139.93335430814">
<tag k="local_x" v="3746.5884"/>
<tag k="local_y" v="73730.7726"/>
<tag k="ele" v="19.3724"/>
</node>
<node id="21" lat="35.90315328156" lon="139.933385281">
<tag k="local_x" v="3749.3997"/>
<tag k="local_y" v="73732.2284"/>
<tag k="ele" v="19.3259"/>
</node>
<node id="22" lat="35.90316744746" lon="139.93341802989">
<tag k="local_x" v="3752.3722"/>
<tag k="local_y" v="73733.7674"/>
<tag k="ele" v="19.3117"/>
</node>
<node id="23" lat="35.90318479537" lon="139.93345813282">
<tag k="local_x" v="3756.0122"/>
<tag k="local_y" v="73735.6521"/>
<tag k="ele" v="19.2979"/>
</node>
<way id="10">
<nd ref="8"/>
<nd ref="9"/>
<nd ref="11"/>
<nd ref="12"/>
<nd ref="13"/>
<nd ref="14"/>
<nd ref="15"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="18">
<nd ref="16"/>
<nd ref="17"/>
<nd ref="19"/>
<nd ref="20"/>
<nd ref="21"/>
<nd ref="22"/>
<nd ref="23"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<relation id="24">
<member type="way" role="left" ref="10"/>
<member type="way" role="right" ref="18"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="road"/>
<tag k="speed_limit" v="10"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="yes"/>
</relation>
</osm>
104 changes: 104 additions & 0 deletions ...toware_lanelet2_map_validator/test/data/map/lane/single_lanelet_one_point_missing_ele.osm
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,104 @@
<?xml version="1.0" encoding="UTF-8"?>
<osm generator="VMB">
<MetaInfo format_version="1" map_version="2"/>
<node id="8" lat="35.90312398544" lon="139.93324675646">
<tag k="local_x" v="3736.8634"/>
<tag k="local_y" v="73729.1154"/>
<tag k="ele" v="19.3488"/>
</node>
<node id="9" lat="35.90313706429" lon="139.93327698894">
<tag k="local_x" v="3739.6075"/>
<tag k="local_y" v="73730.5363"/>
<tag k="ele" v="19.3413"/>
</node>
<node id="11" lat="35.90314993972" lon="139.93330675322">
<tag k="local_x" v="3742.3091"/>
<tag k="local_y" v="73731.9351"/>
<tag k="ele" v="19.3397"/>
</node>
<node id="12" lat="35.90316376045" lon="139.93333870223">
<tag k="local_x" v="3745.209"/>
<tag k="local_y" v="73733.4366"/>
<tag k="ele" v="19.3724"/>
</node>
<node id="13" lat="35.90317715959" lon="139.9333696751">
<tag k="local_x" v="3748.0203"/>
<tag k="local_y" v="73734.8923"/>
</node>
<node id="14" lat="35.90319132639" lon="139.93340242399">
<tag k="local_x" v="3750.9928"/>
<tag k="local_y" v="73736.4314"/>
<tag k="ele" v="19.3117"/>
</node>
<node id="15" lat="35.90320867521" lon="139.93344252692">
<tag k="local_x" v="3754.6328"/>
<tag k="local_y" v="73738.3162"/>
<tag k="ele" v="19.2979"/>
</node>
<node id="16" lat="35.90310010653" lon="139.93326236239">
<tag k="local_x" v="3738.2428"/>
<tag k="local_y" v="73726.4514"/>
<tag k="ele" v="19.3488"/>
</node>
<node id="17" lat="35.90311318447" lon="139.93329259488">
<tag k="local_x" v="3740.9869"/>
<tag k="local_y" v="73727.8722"/>
<tag k="ele" v="19.3413"/>
</node>
<node id="19" lat="35.9031260608" lon="139.93332235914">
<tag k="local_x" v="3743.6885"/>
<tag k="local_y" v="73729.2711"/>
<tag k="ele" v="19.3397"/>
</node>
<node id="20" lat="35.90313988152" lon="139.93335430814">
<tag k="local_x" v="3746.5884"/>
<tag k="local_y" v="73730.7726"/>
<tag k="ele" v="19.3724"/>
</node>
<node id="21" lat="35.90315328156" lon="139.933385281">
<tag k="local_x" v="3749.3997"/>
<tag k="local_y" v="73732.2284"/>
<tag k="ele" v="19.3259"/>
</node>
<node id="22" lat="35.90316744746" lon="139.93341802989">
<tag k="local_x" v="3752.3722"/>
<tag k="local_y" v="73733.7674"/>
<tag k="ele" v="19.3117"/>
</node>
<node id="23" lat="35.90318479537" lon="139.93345813282">
<tag k="local_x" v="3756.0122"/>
<tag k="local_y" v="73735.6521"/>
<tag k="ele" v="19.2979"/>
</node>
<way id="10">
<nd ref="8"/>
<nd ref="9"/>
<nd ref="11"/>
<nd ref="12"/>
<nd ref="13"/>
<nd ref="14"/>
<nd ref="15"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="18">
<nd ref="16"/>
<nd ref="17"/>
<nd ref="19"/>
<nd ref="20"/>
<nd ref="21"/>
<nd ref="22"/>
<nd ref="23"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<relation id="24">
<member type="way" role="left" ref="10"/>
<member type="way" role="right" ref="18"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="road"/>
<tag k="speed_limit" v="10"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="yes"/>
</relation>
</osm>
91 changes: 91 additions & 0 deletions map/autoware_lanelet2_map_validator/test/data/map/lane/single_lanelet_without_ele.osm
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,91 @@
<?xml version="1.0" encoding="UTF-8"?>
<osm generator="VMB">
<MetaInfo format_version="1" map_version="2"/>
<node id="8" lat="35.90312398544" lon="139.93324675646">
<tag k="local_x" v="3736.8634"/>
<tag k="local_y" v="73729.1154"/>
</node>
<node id="9" lat="35.90313706429" lon="139.93327698894">
<tag k="local_x" v="3739.6075"/>
<tag k="local_y" v="73730.5363"/>
</node>
<node id="11" lat="35.90314993972" lon="139.93330675322">
<tag k="local_x" v="3742.3091"/>
<tag k="local_y" v="73731.9351"/>
</node>
<node id="12" lat="35.90316376045" lon="139.93333870223">
<tag k="local_x" v="3745.209"/>
<tag k="local_y" v="73733.4366"/>
</node>
<node id="13" lat="35.90317715959" lon="139.9333696751">
<tag k="local_x" v="3748.0203"/>
<tag k="local_y" v="73734.8923"/>
</node>
<node id="14" lat="35.90319132639" lon="139.93340242399">
<tag k="local_x" v="3750.9928"/>
<tag k="local_y" v="73736.4314"/>
</node>
<node id="15" lat="35.90320867521" lon="139.93344252692">
<tag k="local_x" v="3754.6328"/>
<tag k="local_y" v="73738.3162"/>
</node>
<node id="16" lat="35.90310010653" lon="139.93326236239">
<tag k="local_x" v="3738.2428"/>
<tag k="local_y" v="73726.4514"/>
</node>
<node id="17" lat="35.90311318447" lon="139.93329259488">
<tag k="local_x" v="3740.9869"/>
<tag k="local_y" v="73727.8722"/>
</node>
<node id="19" lat="35.9031260608" lon="139.93332235914">
<tag k="local_x" v="3743.6885"/>
<tag k="local_y" v="73729.2711"/>
</node>
<node id="20" lat="35.90313988152" lon="139.93335430814">
<tag k="local_x" v="3746.5884"/>
<tag k="local_y" v="73730.7726"/>
</node>
<node id="21" lat="35.90315328156" lon="139.933385281">
<tag k="local_x" v="3749.3997"/>
<tag k="local_y" v="73732.2284"/>
</node>
<node id="22" lat="35.90316744746" lon="139.93341802989">
<tag k="local_x" v="3752.3722"/>
<tag k="local_y" v="73733.7674"/>
</node>
<node id="23" lat="35.90318479537" lon="139.93345813282">
<tag k="local_x" v="3756.0122"/>
<tag k="local_y" v="73735.6521"/>
</node>
<way id="10">
<nd ref="8"/>
<nd ref="9"/>
<nd ref="11"/>
<nd ref="12"/>
<nd ref="13"/>
<nd ref="14"/>
<nd ref="15"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="18">
<nd ref="16"/>
<nd ref="17"/>
<nd ref="19"/>
<nd ref="20"/>
<nd ref="21"/>
<nd ref="22"/>
<nd ref="23"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<relation id="24">
<member type="way" role="left" ref="10"/>
<member type="way" role="right" ref="18"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="road"/>
<tag k="speed_limit" v="10"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="yes"/>
</relation>
</osm>
111 changes: 111 additions & 0 deletions map/autoware_lanelet2_map_validator/test/src/lane/test_missing_point_elevation.cpp
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,111 @@
// 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 "map_validation_tester.hpp"

#include <gtest/gtest.h>
#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_validation/ValidatorFactory.h>

#include <string>

class TestMissingPointElevation : public MapValidationTester
{
private:
};

TEST_F(TestMissingPointElevation, CompleteLanelet) // NOLINT for gtest
{
load_target_map("lane/single_lanelet.osm");

EXPECT_EQ(loading_issues_[0].issues.size(), 0);
}

TEST_F(TestMissingPointElevation, PartiallyMissingLanelet) // NOLINT for gtest
{
load_target_map("lane/single_lanelet_one_point_missing_ele.osm");

bool found_identical_issue = false;
const int target_primitive_id = 13;

const lanelet::validation::Severity target_severity = lanelet::validation::Severity::Error;
const lanelet::validation::Primitive target_primitive = lanelet::validation::Primitive::Primitive;
const lanelet::Id target_issue_id = lanelet::InvalId;
const std::string target_message = "Error reading primitive with id " +
std::to_string(target_primitive_id) +
" from file: Elevation tag is not defined for the given node.";

for (const auto & issue : loading_issues_[0].issues) {
if (
issue.severity == target_severity && issue.primitive == target_primitive &&
issue.id == target_issue_id && issue.message == target_message) {
found_identical_issue = true;
}
}

EXPECT_TRUE(found_identical_issue);
}

TEST_F(TestMissingPointElevation, PartiallyUndefinedLanelet) // NOLINT for gtest
{
load_target_map("lane/single_lanelet_one_point_having_non_value_ele.osm");

bool found_identical_issue = false;
const int target_primitive_id = 13;

const lanelet::validation::Severity target_severity = lanelet::validation::Severity::Error;
const lanelet::validation::Primitive target_primitive = lanelet::validation::Primitive::Primitive;
const lanelet::Id target_issue_id = lanelet::InvalId;
const std::string target_message = "Error reading primitive with id " +
std::to_string(target_primitive_id) +
" from file: Elevation tag exists but does not have a value.";

for (const auto & issue : loading_issues_[0].issues) {
if (
issue.severity == target_severity && issue.primitive == target_primitive &&
issue.id == target_issue_id && issue.message == target_message) {
found_identical_issue = true;
}
}

EXPECT_TRUE(found_identical_issue);
}

TEST_F(TestMissingPointElevation, EntirelyMissingLanelet) // NOLINT for gtest
{
load_target_map("lane/single_lanelet_without_ele.osm");

int ele_issue_count = 0;

lanelet::validation::Severity target_severity = lanelet::validation::Severity::Error;
lanelet::validation::Primitive target_primitive = lanelet::validation::Primitive::Primitive;
lanelet::Id target_issue_id = lanelet::InvalId;
std::string target_partial_message = "Elevation tag is not defined for the given node.";

for (const auto & issue : loading_issues_[0].issues) {
if (
issue.severity == target_severity && issue.primitive == target_primitive &&
issue.id == target_issue_id &&
issue.message.find(target_partial_message) != std::string::npos) {
ele_issue_count++;
}
}

EXPECT_EQ(ele_issue_count, 14); // All fourteen points
}

TEST_F(TestMissingPointElevation, SampleMap) // NOLINT for gtest
{
load_target_map("sample_map.osm");
}

0 comments on commit 63cde1d

Please sign in to comment.