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added more flexibility in encoding georeference inside map.osm #99

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May 8, 2020
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added more flexibility in encoding georeference inside map.osm #99

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4 changes: 3 additions & 1 deletion common/lanelet2_extension/include/lanelet2_extension/io/autoware_osm_parser.h
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,9 @@ class AutowareOsmParser : public OsmParser

/**
* [parseMapParams parses GeoReference (i.e. map parameters) info from osm file and loads default ECEF proj strings]
* NOTE: projector_type = 0 is currently not supported by CARMA
* NOTE: geoReference is expected to be encoded inside bracket:<geoReference>string</geoReference>, or as "v" or "value"
* attributes: <geoReference v="string"/> or <geoReference value="string"/>
* projector_type = 0 is currently not supported by CARMA
* +geoidgrids is also currently not a supported georeference field by the parser
* @param filename [path to osm file]
* @param projector_type [parsed information about map projector_type: Currently it supposes 0 as Autoware default MGRSProjector and 1 as CARMA LocalFrameProjector]
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35 changes: 26 additions & 9 deletions common/lanelet2_extension/lib/autoware_osm_parser.cpp
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Expand Up @@ -110,10 +110,33 @@ void AutowareOsmParser::parseMapParams (const std::string& filename, int* projec

auto osmNode = doc.child("osm");
auto geoRef = osmNode.child("geoReference");

if (geoRef && std::string(geoRef.child_value()) != "")
std::string raw_geo_ref = "";

if (geoRef)
{
// check common ways the geoReference might have been encoded in the map
if (std::string(geoRef.child_value()) != "")
{
raw_geo_ref = geoRef.child_value();
}
else if(geoRef.attribute("v"))
{
raw_geo_ref = geoRef.attribute("v").value();
}
else if (geoRef.attribute("value"))
{
raw_geo_ref = geoRef.attribute("value").value();
}
}
// parser was not able to find a valid geoReference from the map
if (raw_geo_ref == "")
{
throw lanelet::ParseError(std::string("In function ") + __FUNCTION__ +
std::string(":\nWhile parsing .osm file, geoReference was not found! Please check geoReference syntax in vector_map.osm"));
return;
}
else
{
std::string raw_geo_ref = geoRef.child_value();
// Filter unnecessary part out of georeference.
std::vector<std::string> buffer;
boost::split(buffer, raw_geo_ref, boost::is_any_of(" "));
Expand All @@ -127,12 +150,6 @@ void AutowareOsmParser::parseMapParams (const std::string& filename, int* projec
}
}
}
else
{
throw lanelet::ParseError(std::string("In function ") + __FUNCTION__ +
std::string(":\nWhile parsing .osm file, geoReference was not found! Please check geoReference syntax in vector_map.osm"));
return;
}

// Default values
*projector_type = 1; // default value for autoware.ai projector type for CARMA purposes
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1 change: 1 addition & 0 deletions common/lanelet2_extension/test/resources/test_map.osm
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@@ -1,5 +1,6 @@
<?xml version="1.0"?>
<osm version="0.6" generator="lanelet2">
<geoReference>+proj=tmerc +lat_0=39.46636844371259 +lon_0=-76.16919523566943 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +geoidgrids=egm96_15.gtx +vunits=m +no_defs</geoReference>
<node id="1339" visible="true" version="1" lat="0.00000898315" lon="0" />
<node id="1340" visible="true" version="1" lat="0.00001796631" lon="0" />
<node id="1342" visible="true" version="1" lat="0.00000898315" lon="0.00000898315" />
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88 changes: 88 additions & 0 deletions common/lanelet2_extension/test/resources/test_map_nogeoreference.osm
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@@ -0,0 +1,88 @@
<?xml version="1.0"?>
<osm version="0.6" generator="lanelet2">
<!-- Same map as test_map, but geoReference is missing. This is to test parseMapParams-->
<node id="1339" visible="true" version="1" lat="0.00000898315" lon="0" />
<node id="1340" visible="true" version="1" lat="0.00001796631" lon="0" />
<node id="1342" visible="true" version="1" lat="0.00000898315" lon="0.00000898315" />
<node id="1343" visible="true" version="1" lat="0.00001796631" lon="0.00000898315" />

<!-- Lanlet Bounds -->
<!-- Left -->
<way id="1347" visible="true" version="1">
<nd ref="1339" />
<nd ref="1340" />
<tag k="subtype" v="solid_solid" />
<tag k="type" v="line_thin" />
</way>
<!-- Right -->
<way id="1348" visible="true" version="1">
<nd ref="1342" />
<nd ref="1343" />
<tag k="subtype" v="solid" />
<tag k="type" v="line_thin" />
</way>

<!-- Lanelet -->
<relation id="1349" visible="true" version="1">
<member type="way" ref="1347" role="left" />
<member type="way" ref="1348" role="right" />
<tag k="dynamic" v="no" />
<tag k="location" v="urban" />
<tag k="one_way" v="yes" />
<tag k="subtype" v="road" />
<tag k="type" v="lanelet" />

<!-- Speed Limit -->
<member type='relation' ref='45218' role='regulatory_element' />
<!-- Access Rule -->
<member type='relation' ref='45219' role='regulatory_element' />
<!-- Direction Of Travel -->
<member type='relation' ref='45220' role='regulatory_element' />
<!-- Control Line Left -->
<member type='relation' ref='45221' role='regulatory_element' />
<!-- Control Line Right -->
<member type='relation' ref='45222' role='regulatory_element' />
</relation>

<!-- Regulatory speed limit -->
<relation id='45218' visible='true' version='1'>
<member type='lanelet' ref='1349' role='refers' />
<tag k='limit' v='5 mph' /> <!-- Speed limit value must have units one of the following m/s, mps, km/h, kmh, m/h, mph -->
<tag k='subtype' v='digital_speed_limit' />
<tag k='type' v='regulatory_element' />
<tag k='participant:vehicle' v='yes' />
</relation>

<!-- Regulatory Region Access Rule -->
<relation id='45219' visible='true' version='1'>
<member type='lanelet' ref='1349' role='refers' />
<tag k='subtype' v='region_access_rule' />
<tag k='type' v='regulatory_element' />
<tag k='participant:vehicle:car' v='yes' /> <!-- Allow cars but not trucks -->
</relation>

<!-- Regulatory Direction Of Travel -->
<relation id='45220' visible='true' version='1'>
<member type='lanelet' ref='1349' role='refers' />
<tag k='subtype' v='direction_of_travel' />
<tag k='type' v='regulatory_element' />
<tag k='direction' v='one_way' /> <!-- One Way -->
<tag k='participant:vehicle' v='yes' />
</relation>

<!-- Regulatory Control Line Left -->
<relation id='45221' visible='true' version='1'>
<member type="way" ref="1347" role="ref_line" />
<tag k='subtype' v='passing_control_line' />
<tag k='type' v='regulatory_element' />
<tag k='participant:vehicle' v='from_both' /> <!-- Both ways -->
</relation>

<!-- Regulatory Control Line Right -->
<relation id='45222' visible='true' version='1'>
<member type="way" ref="1348" role="ref_line" />
<tag k='subtype' v='passing_control_line' />
<tag k='type' v='regulatory_element' />
<!-- No crossing -->
</relation>
</osm>
88 changes: 88 additions & 0 deletions common/lanelet2_extension/test/resources/test_map_v.osm
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@@ -0,0 +1,88 @@
<?xml version="1.0"?>
<osm version="0.6" generator="lanelet2">
<geoReference v= "+proj=tmerc +lat_0=39.46636844371259 +lon_0=-76.16919523566943 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +geoidgrids=egm96_15.gtx +vunits=m +no_defs"/>
<node id="1339" visible="true" version="1" lat="0.00000898315" lon="0" />
<node id="1340" visible="true" version="1" lat="0.00001796631" lon="0" />
<node id="1342" visible="true" version="1" lat="0.00000898315" lon="0.00000898315" />
<node id="1343" visible="true" version="1" lat="0.00001796631" lon="0.00000898315" />

<!-- Lanlet Bounds -->
<!-- Left -->
<way id="1347" visible="true" version="1">
<nd ref="1339" />
<nd ref="1340" />
<tag k="subtype" v="solid_solid" />
<tag k="type" v="line_thin" />
</way>
<!-- Right -->
<way id="1348" visible="true" version="1">
<nd ref="1342" />
<nd ref="1343" />
<tag k="subtype" v="solid" />
<tag k="type" v="line_thin" />
</way>

<!-- Lanelet -->
<relation id="1349" visible="true" version="1">
<member type="way" ref="1347" role="left" />
<member type="way" ref="1348" role="right" />
<tag k="dynamic" v="no" />
<tag k="location" v="urban" />
<tag k="one_way" v="yes" />
<tag k="subtype" v="road" />
<tag k="type" v="lanelet" />

<!-- Speed Limit -->
<member type='relation' ref='45218' role='regulatory_element' />
<!-- Access Rule -->
<member type='relation' ref='45219' role='regulatory_element' />
<!-- Direction Of Travel -->
<member type='relation' ref='45220' role='regulatory_element' />
<!-- Control Line Left -->
<member type='relation' ref='45221' role='regulatory_element' />
<!-- Control Line Right -->
<member type='relation' ref='45222' role='regulatory_element' />
</relation>

<!-- Regulatory speed limit -->
<relation id='45218' visible='true' version='1'>
<member type='lanelet' ref='1349' role='refers' />
<tag k='limit' v='5 mph' /> <!-- Speed limit value must have units one of the following m/s, mps, km/h, kmh, m/h, mph -->
<tag k='subtype' v='digital_speed_limit' />
<tag k='type' v='regulatory_element' />
<tag k='participant:vehicle' v='yes' />
</relation>

<!-- Regulatory Region Access Rule -->
<relation id='45219' visible='true' version='1'>
<member type='lanelet' ref='1349' role='refers' />
<tag k='subtype' v='region_access_rule' />
<tag k='type' v='regulatory_element' />
<tag k='participant:vehicle:car' v='yes' /> <!-- Allow cars but not trucks -->
</relation>

<!-- Regulatory Direction Of Travel -->
<relation id='45220' visible='true' version='1'>
<member type='lanelet' ref='1349' role='refers' />
<tag k='subtype' v='direction_of_travel' />
<tag k='type' v='regulatory_element' />
<tag k='direction' v='one_way' /> <!-- One Way -->
<tag k='participant:vehicle' v='yes' />
</relation>

<!-- Regulatory Control Line Left -->
<relation id='45221' visible='true' version='1'>
<member type="way" ref="1347" role="ref_line" />
<tag k='subtype' v='passing_control_line' />
<tag k='type' v='regulatory_element' />
<tag k='participant:vehicle' v='from_both' /> <!-- Both ways -->
</relation>

<!-- Regulatory Control Line Right -->
<relation id='45222' visible='true' version='1'>
<member type="way" ref="1348" role="ref_line" />
<tag k='subtype' v='passing_control_line' />
<tag k='type' v='regulatory_element' />
<!-- No crossing -->
</relation>
</osm>
89 changes: 89 additions & 0 deletions common/lanelet2_extension/test/resources/test_map_value.osm
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@@ -0,0 +1,89 @@
<?xml version="1.0"?>
<osm version="0.6" generator="lanelet2">
<!-- Same map as test_map, but geoReference is encoded in a different way. This is to test parseMapParams-->
<geoReference value= "+proj=tmerc +lat_0=39.46636844371259 +lon_0=-76.16919523566943 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +geoidgrids=egm96_15.gtx +vunits=m +no_defs"/>
<node id="1339" visible="true" version="1" lat="0.00000898315" lon="0" />
<node id="1340" visible="true" version="1" lat="0.00001796631" lon="0" />
<node id="1342" visible="true" version="1" lat="0.00000898315" lon="0.00000898315" />
<node id="1343" visible="true" version="1" lat="0.00001796631" lon="0.00000898315" />

<!-- Lanlet Bounds -->
<!-- Left -->
<way id="1347" visible="true" version="1">
<nd ref="1339" />
<nd ref="1340" />
<tag k="subtype" v="solid_solid" />
<tag k="type" v="line_thin" />
</way>
<!-- Right -->
<way id="1348" visible="true" version="1">
<nd ref="1342" />
<nd ref="1343" />
<tag k="subtype" v="solid" />
<tag k="type" v="line_thin" />
</way>

<!-- Lanelet -->
<relation id="1349" visible="true" version="1">
<member type="way" ref="1347" role="left" />
<member type="way" ref="1348" role="right" />
<tag k="dynamic" v="no" />
<tag k="location" v="urban" />
<tag k="one_way" v="yes" />
<tag k="subtype" v="road" />
<tag k="type" v="lanelet" />

<!-- Speed Limit -->
<member type='relation' ref='45218' role='regulatory_element' />
<!-- Access Rule -->
<member type='relation' ref='45219' role='regulatory_element' />
<!-- Direction Of Travel -->
<member type='relation' ref='45220' role='regulatory_element' />
<!-- Control Line Left -->
<member type='relation' ref='45221' role='regulatory_element' />
<!-- Control Line Right -->
<member type='relation' ref='45222' role='regulatory_element' />
</relation>

<!-- Regulatory speed limit -->
<relation id='45218' visible='true' version='1'>
<member type='lanelet' ref='1349' role='refers' />
<tag k='limit' v='5 mph' /> <!-- Speed limit value must have units one of the following m/s, mps, km/h, kmh, m/h, mph -->
<tag k='subtype' v='digital_speed_limit' />
<tag k='type' v='regulatory_element' />
<tag k='participant:vehicle' v='yes' />
</relation>

<!-- Regulatory Region Access Rule -->
<relation id='45219' visible='true' version='1'>
<member type='lanelet' ref='1349' role='refers' />
<tag k='subtype' v='region_access_rule' />
<tag k='type' v='regulatory_element' />
<tag k='participant:vehicle:car' v='yes' /> <!-- Allow cars but not trucks -->
</relation>

<!-- Regulatory Direction Of Travel -->
<relation id='45220' visible='true' version='1'>
<member type='lanelet' ref='1349' role='refers' />
<tag k='subtype' v='direction_of_travel' />
<tag k='type' v='regulatory_element' />
<tag k='direction' v='one_way' /> <!-- One Way -->
<tag k='participant:vehicle' v='yes' />
</relation>

<!-- Regulatory Control Line Left -->
<relation id='45221' visible='true' version='1'>
<member type="way" ref="1347" role="ref_line" />
<tag k='subtype' v='passing_control_line' />
<tag k='type' v='regulatory_element' />
<tag k='participant:vehicle' v='from_both' /> <!-- Both ways -->
</relation>

<!-- Regulatory Control Line Right -->
<relation id='45222' visible='true' version='1'>
<member type="way" ref="1348" role="ref_line" />
<tag k='subtype' v='passing_control_line' />
<tag k='type' v='regulatory_element' />
<!-- No crossing -->
</relation>
</osm>
27 changes: 27 additions & 0 deletions common/lanelet2_extension/test/src/MapLoadingTest.cpp
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Expand Up @@ -19,6 +19,7 @@
#include <lanelet2_io/Io.h>
#include <lanelet2_io/io_handlers/Factory.h>
#include <lanelet2_io/io_handlers/Writer.h>
#include <lanelet2_extension/io/autoware_osm_parser.h>

#include <lanelet2_extension/regulatory_elements/RegionAccessRule.h>
#include <lanelet2_extension/regulatory_elements/DigitalSpeedLimit.h>
Expand All @@ -41,6 +42,32 @@ using ::testing::ReturnArg;
namespace lanelet
{
using namespace lanelet::units::literals;
TEST(MapLoadingTest, parseMapParams)
{
int projector_type = 1; // default value
std::string target_frame, lanelet2_filename;
std::string correct_georeference = "+proj=tmerc +lat_0=39.46636844371259 +lon_0=-76.16919523566943 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +vunits=m +no_defs ";
// Test regular way
lanelet2_filename = "resources/test_map.osm";
lanelet::io_handlers::AutowareOsmParser::parseMapParams(lanelet2_filename, &projector_type, &target_frame);
EXPECT_EQ(correct_georeference, target_frame);
// Test v="string" way
target_frame = "";
lanelet2_filename = "resources/test_map_v.osm";
lanelet::io_handlers::AutowareOsmParser::parseMapParams(lanelet2_filename, &projector_type, &target_frame);
EXPECT_EQ(correct_georeference, target_frame);
// Test v="string" way
target_frame = "";
lanelet2_filename = "resources/test_map_value.osm";
lanelet::io_handlers::AutowareOsmParser::parseMapParams(lanelet2_filename, &projector_type, &target_frame);
EXPECT_EQ(correct_georeference, target_frame);
// Test unsupported way
target_frame = "";
lanelet2_filename = "resources/test_map_nogeoreference.osm";
EXPECT_THROW(lanelet::io_handlers::AutowareOsmParser::parseMapParams(lanelet2_filename, &projector_type, &target_frame), lanelet::ParseError);
}



TEST(MapLoadingTest, mapLoadingTest)
{
Expand Down