asam-qc-opendrive

This project implements the ASAM OpenDrive Checker Bundle.

• asam-qc-opendrive
  • Installation and usage
    • Installation using pip
      • To use as a library
      • To use as an application
    • Installation from source
    • Example output
  • Register Checker Bundle to ASAM Quality Checker Framework
    • Linux Manifest Template
    • Windows Manifest Template
    • Example Configuration File
  • Tests
    • Execute tests
  • Contributing

Installation and usage

asam-qc-opendrive can be installed using pip or from source.

Installation using pip

asam-qc-opendrive can be installed using pip, so that it can be used as a library or as an application.

pip install asam-qc-opendrive@git+https://github.com/asam-ev/qc-opendrive@main

Note: The above command will install asam-qc-opendrive from the main branch. If you want to install asam-qc-opendrive from another branch or tag, replace @main with the desired branch or tag. It is also possible to install from a local directory.

pip install /home/user/qc-opendrive

To use as a library

After installation, the usage is similar to the one expressed in the main.py script:

from qc_opendrive.base import utils, models

To use as an application

qc_opendrive --help

usage: QC OpenDrive Checker [-h] (-d | -c CONFIG_PATH)

This is a collection of scripts for checking validity of OpenDrive (.xodr) files.

options:
  -h, --help            show this help message and exit
  -d, --default_config
  -c CONFIG_PATH, --config_path CONFIG_PATH

The following commands are equivalent:

qc_opendrive --help
python qc_opendrive/main.py --help
python -m qc_opendrive.main --help

Installation from source

The project can be installed from source using Poetry.

poetry install

After installing from source, the usage are similar to above.

qc_opendrive --help
python qc_opendrive/main.py --help
python -m qc_opendrive.main --help

It is also possible to execute the qc_opendrive application using Poetry.

poetry run qc_opendrive --help

usage: QC OpenDrive Checker [-h] (-d | -c CONFIG_PATH)

This is a collection of scripts for checking validity of OpenDrive (.xodr) files.

options:
  -h, --help            show this help message and exit
  -d, --default_config
  -c CONFIG_PATH, --config_path CONFIG_PATH

Example output

• No issues found

$ python qc_opendrive/main.py -c example_config/config.xml

2024-06-05 18:29:23,551 - Initializing checks
2024-06-05 18:29:23,551 - Executing semantic checks
2024-06-05 18:29:23,552 - Executing road.lane.access.no_mix_of_deny_or_allow check
2024-06-05 18:29:23,552 - Issues found - 0
2024-06-05 18:29:23,552 - Done

• Issues found

python qc_opendrive/main.py -c example_config/config.xml

2024-06-05 18:29:53,950 - Initializing checks
2024-06-05 18:29:53,950 - Executing semantic checks
2024-06-05 18:29:53,951 - Executing road.lane.access.no_mix_of_deny_or_allow check
2024-06-05 18:29:53,951 - Issues found - 1
2024-06-05 18:29:53,951 - Done

Register Checker Bundle to ASAM Quality Checker Framework

Manifest file templates are provided in the manifest_templates folder to register the ASAM OpenDrive Checker Bundle with the ASAM Quality Checker Framework.

Linux Manifest Template

To register this Checker Bundle in Linux, use the linux_xodr_manifest.json template file.

If the asam-qc-opendrive is installed in a virtual environment, the exec_command needs to be adjusted as follows:

"exec_command": "source <venv>/bin/activate && cd $ASAM_QC_FRAMEWORK_WORKING_DIR && qc_opendrive -c $ASAM_QC_FRAMEWORK_CONFIG_FILE"

Replace <venv>/bin/activate by the path to your virtual environment.

Windows Manifest Template

To register this Checker Bundle in Windows, use the windows_xodr_manifest.json template file.

If the asam-qc-opendrive is installed in a virtual environment, the exec_command needs to be adjusted as follows:

"exec_command": "C:\\> <venv>\\Scripts\\activate.bat && cd %ASAM_QC_FRAMEWORK_WORKING_DIR% && qc_opendrive -c %ASAM_QC_FRAMEWORK_CONFIG_FILE%"

Replace C:\\> <venv>\\Scripts\\activate.bat by the path to your virtual environment.

Example Configuration File

An example configuration file for using this Checker Bundle within the ASAM Quality Checker Framework is as follows.

<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<Config>

    <Param name="InputFile" value="test.xodr" />

    <CheckerBundle application="xodrBundle">
        <Param name="resultFile" value="xodr_bundle_report.xqar" />
        <Checker checkerId="check_asam_xodr_xml_valid_xml_document" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_xml_root_tag_is_opendrive" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_xml_fileheader_is_present" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_xml_version_is_defined" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_xml_valid_schema" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_road_lane_level_true_one_side" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_road_lane_access_no_mix_of_deny_or_allow" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_road_lane_link_lanes_across_lane_sections" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_road_linkage_is_junction_needed" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_road_lane_link_zero_width_at_start" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_road_lane_link_zero_width_at_end" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_road_lane_link_new_lane_appear" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_junctions_connection_connect_road_no_incoming_road" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_junctions_connection_one_connection_element" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_junctions_connection_one_link_to_incoming" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_junctions_connection_start_along_linkage" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_junctions_connection_end_opposite_linkage" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_road_geometry_parampoly3_length_match" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_road_lane_border_overlap_with_inner_lanes" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_road_geometry_parampoly3_arclength_range" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_road_geometry_parampoly3_normalized_range" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_performance_avoid_redundant_info" maxLevel="1" minLevel="3" />
        <Checker checkerId="check_asam_xodr_lane_smoothness_contact_point_no_horizontal_gaps" maxLevel="1" minLevel="3" />
    </CheckerBundle>

    <ReportModule application="TextReport">
        <Param name="strInputFile" value="Result.xqar" />
        <Param name="strReportFile" value="Report.txt" />
    </ReportModule>

</Config>

Tests

To run the tests, you need to install the extra test dependency.

poetry install --with dev

Execute tests

python -m pytest -vv

or

poetry run pytest -vv

They should output something similar to:

===================== test session starts =====================
platform linux -- Python 3.11.9, pytest-8.2.2, pluggy-1.5.0 -- /home/tripel/asam/qc-opendrive/.venv/bin/python
cachedir: .pytest_cache
rootdir: /home/tripel/asam/qc-opendrive
configfile: pytest.ini
collected 4 items

tests/test_semantic_checks.py::test_road_lane_access_no_mix_of_deny_or_allow[17_invalid] PASSED                                                                                     [ 25%]
tests/test_semantic_checks.py::test_road_lane_access_no_mix_of_deny_or_allow[17_valid] PASSED                                                                                       [ 50%]
tests/test_semantic_checks.py::test_road_lane_access_no_mix_of_deny_or_allow[18_invalid] PASSED                                                                                     [ 75%]
tests/test_semantic_checks.py::test_road_lane_access_no_mix_of_deny_or_allow[18_valid] PASSED                                                                                       [100%]
...
===================== 4 passed in 0.24s =====================

You can check more options for pytest at its own documentation.

Contributing

For contributing, you need to install the development requirements. For that run:

poetry install --with dev

You need to have pre-commit installed and install the hooks:

pre-commit install

This folder contains the valid and invalid sample OpenDrive files of the rules that need to be implemented in the future. It can be used as a reference for anyone who wants to contribute to the implementation of the rules.

Contributions of valid and invalid OpenDrive sample files are also welcome. New sample files can be added to the same folder.