Missing input length checks at imap.imap.lib.convertor.Opendrive2Apollo.add_lane_boundary

[xqgex]

Version

$ python3 -m pip show imap_box | grep Version
Version: 0.1.6

Traceback

...
    segment.start_position.x = lane.left_boundary[0].x
IndexError: list index out of range

...
    segment.start_position.x = lane.center_line[0].x
IndexError: list index out of range

...
    segment.start_position.x = lane.right_boundary[0].x
IndexError: list index out of range

Fix

imap/imap/lib/convertor.py

Lines 205 to 223 in e4afa8f

	# 1. left boundary
	segment = pb_lane.left_boundary.curve.segment.add()
	for point3d in lane.left_boundary:
	point = segment.line_segment.point.add()
	# lhd 2022/12/03 for 3D view
	if global_var.get_element_value("enable_z_axis"):
	point.x, point.y, point.z = point3d.x, point3d.y, point3d.z
	else:
	point.x, point.y = point3d.x, point3d.y
	segment.s = 0
	segment.start_position.x = lane.left_boundary[0].x
	segment.start_position.y = lane.left_boundary[0].y
	segment.start_position.z = lane.left_boundary[0].z
	segment.length = pb_lane.length
	pb_lane.left_boundary.length = pb_lane.length
	pb_boundary_type = to_pb_boundary_type(lane.left_boundary_type)
	boundary_type = pb_lane.left_boundary.boundary_type.add()
	boundary_type.s = 0
	boundary_type.types.append(pb_boundary_type)

imap/imap/lib/convertor.py

Lines 225 to 238 in e4afa8f

	# 2. center line
	segment = pb_lane.central_curve.segment.add()
	for point3d in lane.center_line:
	point = segment.line_segment.point.add()
	# lhd 2022/12/03 for 3D view
	if global_var.get_element_value("enable_z_axis"):
	point.x, point.y, point.z = point3d.x, point3d.y, point3d.z
	else:
	point.x, point.y = point3d.x, point3d.y
	segment.s = 0
	segment.start_position.x = lane.center_line[0].x
	segment.start_position.y = lane.center_line[0].y
	segment.start_position.z = lane.center_line[0].z
	segment.length = pb_lane.length

imap/imap/lib/convertor.py

Lines 240 to 258 in e4afa8f

	# 3. right boundary
	segment = pb_lane.right_boundary.curve.segment.add()
	for point3d in lane.right_boundary:
	point = segment.line_segment.point.add()
	# lhd 2022/12/03 for 3D view
	if global_var.get_element_value("enable_z_axis"):
	point.x, point.y, point.z = point3d.x, point3d.y, point3d.z
	else:
	point.x, point.y = point3d.x, point3d.y
	segment.s = 0
	segment.start_position.x = lane.right_boundary[0].x
	segment.start_position.y = lane.right_boundary[0].y
	segment.start_position.z = lane.right_boundary[0].z
	segment.length = pb_lane.length
	pb_lane.right_boundary.length = pb_lane.length
	pb_boundary_type = to_pb_boundary_type(lane.right_boundary_type)
	boundary_type = pb_lane.right_boundary.boundary_type.add()
	boundary_type.s = 0
	boundary_type.types.append(pb_boundary_type)

Check if the list is empty.

Suggested fix

    # 1. left boundary
    if lane.left_boundary:
      segment = pb_lane.left_boundary.curve.segment.add()
      for point3d in lane.left_boundary:
        ...
      ...
      boundary_type.s = 0
      boundary_type.types.append(pb_boundary_type)

    # 2. center line
    if lane.center_line:
      segment = pb_lane.central_curve.segment.add()
      for point3d in lane.center_line:
        ...
      ...
      segment.length = pb_lane.length

    # 3. right boundary
    if lane.right_boundary:
      segment = pb_lane.right_boundary.curve.segment.add()
      for point3d in lane.right_boundary:
        ...
      ...
      boundary_type.s = 0
      boundary_type.types.append(pb_boundary_type)

[daohu527]

This scenario is too extreme, will there be a lane without a left_boundary?