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fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation #8995

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merged 9 commits into from
Nov 11, 2024
Merged

fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation #8995

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3e35f7c
fixed self-intersecting issue and empty inners
mraditya01 Oct 1, 2024
5960d28
fixed empty inners and add some unit test cases
mraditya01 Oct 1, 2024
4449916
style(pre-commit): autofix
pre-commit-ci[bot] Oct 1, 2024
b93d4bd
minor fix on test description
mraditya01 Oct 1, 2024
e141914
move area calculation to test
mraditya01 Oct 3, 2024
e6dfc0a
make sure polygon is_valid
mraditya01 Oct 7, 2024
af68b95
fixed different size issue
mraditya01 Oct 15, 2024
c955d72
Merge branch 'main' into fix_concave
maxime-clem Nov 7, 2024
61a9fe4
change vector to list and use optional
mraditya01 Nov 11, 2024
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3 changes: 3 additions & 0 deletions common/autoware_universe_utils/src/geometry/alt_geometry.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2023-2024 TIER IV, Inc.

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ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 4.50 to 4.57, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -68,6 +68,9 @@
std::vector<PointList2d> inners;
for (const auto & inner : polygon.inners()) {
PointList2d _inner;
if (inner.empty()) {
continue;
}
for (const auto & point : inner) {
_inner.push_back(Point2d(point));
}
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7 changes: 3 additions & 4 deletions common/autoware_universe_utils/src/geometry/ear_clipping.cpp
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// Copyright 2024 TIER IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 5.59 to 5.63, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -420,6 +420,9 @@
std::vector<std::size_t> queue;

for (const auto & ring : inners) {
if (ring.empty()) {
continue;

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common/autoware_universe_utils/src/geometry/ear_clipping.cpp#L424 

Added line #L424 was not covered by tests
}
auto inner_index = linked_list(ring, false, vertices, points);

if (points[inner_index].next_index.value() == inner_index) {
Expand Down Expand Up @@ -617,10 +620,6 @@
std::vector<Polygon2d> triangulate(const Polygon2d & poly)
{
const auto alt_poly = alt::Polygon2d::create(poly);
if (!alt_poly.has_value()) {
return {};
}

const auto alt_triangles = triangulate(alt_poly.value());
std::vector<Polygon2d> triangles;
for (const auto & alt_triangle : alt_triangles) {
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18 changes: 6 additions & 12 deletions common/autoware_universe_utils/src/geometry/random_concave_polygon.cpp
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// Copyright 2024 TIER IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 4.73 to 4.80, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand All @@ -19,6 +19,7 @@
#include <boost/geometry/algorithms/convex_hull.hpp>
#include <boost/geometry/algorithms/correct.hpp>
#include <boost/geometry/algorithms/intersects.hpp>
#include <boost/geometry/algorithms/is_valid.hpp>
#include <boost/geometry/strategies/agnostic/hull_graham_andrew.hpp>

#include <random>
Expand Down Expand Up @@ -140,24 +141,17 @@
/// @brief checks if an edge is valid for a given polygon and set of points
bool is_valid(const Edge & e, const Polygon2d & P, const std::vector<Point2d> & Q)
{
bool valid = false;
size_t i = 0;

while (!valid && i < Q.size()) {
const Point2d & q = Q[i];
for (const Point2d & q : Q) {
Edge e1 = {e.first, q};
Edge e2 = {q, e.second};
bool intersects_e1 = intersecting(e1, P);
bool intersects_e2 = intersecting(e2, P);

if (!intersects_e1 && !intersects_e2) {
valid = true;
if (intersects_e1 || intersects_e2) {
return false;
}

++i;
}

return valid;
return true;
}

/// @brief finds the nearest node from a set of points to an edge
Expand Down Expand Up @@ -376,7 +370,7 @@
// apply inward denting algorithm
poly = inward_denting(points);
// check for convexity
if (!is_convex(poly)) {
if (!is_convex(poly) && boost::geometry::is_valid(poly) && poly.outer().size() != vertices) {

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ℹ Getting worse: Complex Method 

random_concave_polygon increases in cyclomatic complexity from 11 to 13, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

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❌ New issue: Complex Conditional 

random_concave_polygon has 1 complex conditionals with 2 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.
is_non_convex = true;
}
LinearRing2d poly_outer = poly.outer();
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99 changes: 99 additions & 0 deletions common/autoware_universe_utils/test/src/geometry/test_geometry.cpp
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// Copyright 2020-2024 Tier IV, Inc.

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//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -2021,6 +2021,105 @@
}
}

double calculate_total_polygon_area(
const std::vector<autoware::universe_utils::Polygon2d> & polygons)
{
double totalArea = 0.0;
for (const auto & polygon : polygons) {
totalArea += boost::geometry::area(polygon);
}
return totalArea;
}

TEST(geometry, PolygonTriangulation)
{
using autoware::universe_utils::Polygon2d;
using autoware::universe_utils::triangulate;

{ // concave polygon
Polygon2d poly;

poly.outer().emplace_back(0.0, 0.0);
poly.outer().emplace_back(4.0, 0.0);
poly.outer().emplace_back(4.0, 4.0);
poly.outer().emplace_back(2.0, 2.0);
poly.outer().emplace_back(0.0, 4.0);
boost::geometry::correct(poly);

const auto triangles = triangulate(poly);

const auto triangle_area = calculate_total_polygon_area(triangles);
const auto poly_area = boost::geometry::area(poly);
EXPECT_NEAR(triangle_area, poly_area, epsilon);
}

{ // concave polygon with empty inners
Polygon2d poly;

poly.outer().emplace_back(0.0, 0.0);
poly.outer().emplace_back(4.0, 0.0);
poly.outer().emplace_back(4.0, 4.0);
poly.outer().emplace_back(2.0, 2.0);
poly.outer().emplace_back(0.0, 4.0);
boost::geometry::correct(poly);

poly.inners().emplace_back();

const auto triangles = triangulate(poly);

const auto triangle_area = calculate_total_polygon_area(triangles);
const auto poly_area = boost::geometry::area(poly);
EXPECT_NEAR(triangle_area, poly_area, epsilon);
}

{ // concave polygon with hole
Polygon2d poly;

poly.outer().emplace_back(0.0, 0.0);
poly.outer().emplace_back(4.0, 0.0);
poly.outer().emplace_back(4.0, 4.0);
poly.outer().emplace_back(2.0, 2.0);
poly.outer().emplace_back(0.0, 4.0);

poly.inners().emplace_back();
poly.inners().back().emplace_back(1.0, 1.0);
poly.inners().back().emplace_back(1.5, 1.0);
poly.inners().back().emplace_back(1.5, 1.5);
poly.inners().back().emplace_back(1.0, 1.5);
boost::geometry::correct(poly);

const auto triangles = triangulate(poly);

const auto triangle_area = calculate_total_polygon_area(triangles);
const auto poly_area = boost::geometry::area(poly);
EXPECT_NEAR(triangle_area, poly_area, epsilon);
}

{ // concave polygon with one empty inner followed by one hole
Polygon2d poly;

poly.outer().emplace_back(0.0, 0.0);
poly.outer().emplace_back(4.0, 0.0);
poly.outer().emplace_back(4.0, 4.0);
poly.outer().emplace_back(2.0, 2.0);
poly.outer().emplace_back(0.0, 4.0);

poly.inners().emplace_back();
poly.inners().emplace_back();
poly.inners().back().emplace_back(1.0, 1.0);
poly.inners().back().emplace_back(1.5, 1.0);
poly.inners().back().emplace_back(1.5, 1.5);
poly.inners().back().emplace_back(1.0, 1.5);
boost::geometry::correct(poly);

const auto triangles = triangulate(poly);

const auto triangle_area = calculate_total_polygon_area(triangles);
const auto poly_area = boost::geometry::area(poly);
EXPECT_NEAR(triangle_area, poly_area, epsilon);
}
}

TEST(geometry, intersectPolygonWithHoles)
{
using autoware::universe_utils::Polygon2d;
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