Add crosswalks to the test (#9121)

* Add crosswalks to the test

* Added checks for crosslwaks

* Update check_map.py

* Update test_map.py

* Update test_map.py

* Remove checks in maps without crosswalks

* Checksubstrings instead of equal name

Author: Blyron

LibCarla/source/carla/opendrive/parser/ObjectParser.cpp

@@ -10,6 +10,7 @@
 #include "carla/road/element/RoadInfoCrosswalk.h"
 #include "carla/road/Road.h"
 
+
 #include <pugixml/pugixml.hpp>
 
 namespace carla {
@@ -21,7 +22,6 @@ namespace parser {
       carla::road::MapBuilder &map_builder) {
 
     std::vector<road::element::CrosswalkPoint> points;
-
     for (pugi::xml_node node_road : xml.child("OpenDRIVE").children("road")) {
 
       // parse all objects
@@ -33,8 +33,11 @@ namespace parser {
           // type Crosswalk
           std::string type = node_object.attribute("type").as_string();
           std::string name = node_object.attribute("name").as_string();
-          if (type == "crosswalk") {
-
+          std::string name_lower = name;
+          std::transform(name_lower.begin(), name_lower.end(), name_lower.begin(),
+                [](unsigned char c){ return std::tolower(c); });
+          bool bIsCrosswalk = (type == "crosswalk" || (name_lower.find("crosswalk") != std::string::npos));
+          if (bIsCrosswalk) {
               // read all points
               pugi::xml_node node_outline = node_object.child("outline");
               if (node_outline) {
@@ -119,6 +122,8 @@ namespace parser {
         }
       }
     }
+
+
   }
 } // namespace parser
 } // namespace opendrive

LibCarla/source/carla/road/Map.cpp

@@ -509,6 +509,7 @@ namespace road {
         }
       }
     }
+
     return result;
   }
 

PythonAPI/test/smoke/test_map.py

@@ -48,3 +48,12 @@ def _check_map(self, m):
                 waypoint = random.choice(next_waypoints)
         _ = m.transform_to_geolocation(carla.Location())
         self.assertTrue(str(m.to_opendrive()))
+
+        maps_withoutcrosswalks = ['Town01', 'Town01_Opt', 'Town02', 'Town02_Opt']
+        if not any(map_name in m.name for map_name in maps_withoutcrosswalks):
+            # --- Check for crosswalks using get_crosswalks() ---
+            crosswalks = m.get_crosswalks()
+            self.assertGreater(
+                len(crosswalks), 0,
+                msg=f"Map {m.name} has no crosswalks."
+            )

PythonAPI/util/check_map.py

@@ -0,0 +1,46 @@
+#!/usr/bin/env python
+
+# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Barcelona (UAB).
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
+"""
+
+Quick check script to get map stuff
+"""
+
+import glob
+import os
+import sys
+import numpy as np
+from queue import Queue
+from queue import Empty
+
+try:
+    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
+        sys.version_info.major,
+        sys.version_info.minor,
+        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
+except IndexError:
+    pass
+
+import carla
+
+
+def main():
+    # We start creating the client
+    client = carla.Client('localhost', 2000)
+    client.set_timeout(30.0)
+    world = client.get_world()
+    crosswalks = world.get_map().get_crosswalks()
+    print(f"Crosswalks found: {len(crosswalks)}")
+    for crosswalk in crosswalks:
+        world.debug.draw_point(crosswalk, size=0.5, color=carla.Color(255, 0, 0), life_time=5000.0)
+
+if __name__ == "__main__":
+    try:
+        main()
+    except KeyboardInterrupt:
+        print(' - Exited by user.')