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test: add simple unit test for rendering map
Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
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‎tests/sample/map/lanelet2_map.osm‎

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<?xml version="1.0" encoding="UTF-8"?>
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<osm version="0.6" generator="Manual">
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<!-- Simple road intersection with borders for testing RerunViewer map rendering -->
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<!-- Nodes defining the road intersection -->
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<!-- Main road running East-West -->
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<node id="1" lat="35.681236" lon="139.767125" ele="10.0">
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<tag k="local_x" v="0.0"/>
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<tag k="local_y" v="0.0"/>
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<tag k="ele" v="10.0"/>
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</node>
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<node id="2" lat="35.681236" lon="139.768125" ele="10.2">
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<tag k="local_x" v="100.0"/>
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<tag k="local_y" v="0.0"/>
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<tag k="ele" v="10.2"/>
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</node>
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<node id="3" lat="35.681236" lon="139.769125" ele="10.4">
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<tag k="local_x" v="200.0"/>
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<tag k="local_y" v="0.0"/>
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<tag k="ele" v="10.4"/>
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</node>
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<!-- Secondary road running North-South -->
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<node id="4" lat="35.680236" lon="139.768125" ele="10.1">
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<tag k="local_x" v="100.0"/>
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<tag k="local_y" v="-100.0"/>
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<tag k="ele" v="10.1"/>
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</node>
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<node id="5" lat="35.682236" lon="139.768125" ele="10.3">
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<tag k="local_x" v="100.0"/>
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<tag k="local_y" v="100.0"/>
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<tag k="ele" v="10.3"/>
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</node>
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<!-- Road border nodes for main road (north side) -->
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<node id="10" lat="35.681336" lon="139.767125" ele="10.5">
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<tag k="local_x" v="0.0"/>
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<tag k="local_y" v="10.0"/>
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<tag k="ele" v="10.5"/>
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</node>
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<node id="11" lat="35.681336" lon="139.768125" ele="10.7">
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<tag k="local_x" v="100.0"/>
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<tag k="local_y" v="10.0"/>
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<tag k="ele" v="10.7"/>
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</node>
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<node id="12" lat="35.681336" lon="139.769125" ele="10.9">
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<tag k="local_x" v="200.0"/>
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<tag k="local_y" v="10.0"/>
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<tag k="ele" v="10.9"/>
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</node>
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<!-- Road border nodes for main road (south side) -->
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<node id="20" lat="35.681136" lon="139.767125" ele="10.5">
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<tag k="local_x" v="0.0"/>
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<tag k="local_y" v="-10.0"/>
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<tag k="ele" v="10.5"/>
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</node>
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<node id="21" lat="35.681136" lon="139.768125" ele="10.7">
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<tag k="local_x" v="100.0"/>
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<tag k="local_y" v="-10.0"/>
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<tag k="ele" v="10.7"/>
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</node>
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<node id="22" lat="35.681136" lon="139.769125" ele="10.9">
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<tag k="local_x" v="200.0"/>
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<tag k="local_y" v="-10.0"/>
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<tag k="ele" v="10.9"/>
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</node>
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<!-- Road border nodes for secondary road (east side) -->
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<node id="30" lat="35.680236" lon="139.768225" ele="10.6">
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<tag k="local_x" v="110.0"/>
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<tag k="local_y" v="-100.0"/>
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<tag k="ele" v="10.6"/>
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</node>
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<node id="31" lat="35.682236" lon="139.768225" ele="10.8">
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<tag k="local_x" v="110.0"/>
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<tag k="local_y" v="100.0"/>
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<tag k="ele" v="10.8"/>
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</node>
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<!-- Road border nodes for secondary road (west side) -->
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<node id="40" lat="35.680236" lon="139.768025" ele="10.6">
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<tag k="local_x" v="90.0"/>
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<tag k="local_y" v="-100.0"/>
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<tag k="ele" v="10.6"/>
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</node>
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<node id="41" lat="35.682236" lon="139.768025" ele="10.8">
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<tag k="local_x" v="90.0"/>
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<tag k="local_y" v="100.0"/>
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<tag k="ele" v="10.8"/>
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</node>
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<!-- Curb nodes around intersection -->
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<node id="50" lat="35.681286" lon="139.768075" ele="11.0">
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<tag k="local_x" v="90.0"/>
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<tag k="local_y" v="5.0"/>
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<tag k="ele" v="11.0"/>
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</node>
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<node id="51" lat="35.681286" lon="139.768175" ele="11.0">
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<tag k="local_x" v="110.0"/>
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<tag k="local_y" v="5.0"/>
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<tag k="ele" v="11.0"/>
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</node>
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<node id="52" lat="35.681186" lon="139.768175" ele="11.0">
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<tag k="local_x" v="110.0"/>
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<tag k="local_y" v="-5.0"/>
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<tag k="ele" v="11.0"/>
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</node>
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<node id="53" lat="35.681186" lon="139.768075" ele="11.0">
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<tag k="local_x" v="90.0"/>
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<tag k="local_y" v="-5.0"/>
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<tag k="ele" v="11.0"/>
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</node>
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<!-- Ways defining road borders -->
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<!-- Main road north border -->
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<way id="100">
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<nd ref="10"/>
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<nd ref="11"/>
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<nd ref="12"/>
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<tag k="type" v="road_border"/>
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<tag k="subtype" v="solid"/>
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<tag k="side" v="north"/>
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</way>
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<!-- Main road south border -->
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<way id="101">
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<nd ref="20"/>
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<nd ref="21"/>
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<nd ref="22"/>
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<tag k="type" v="road_border"/>
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<tag k="subtype" v="solid"/>
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<tag k="side" v="south"/>
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</way>
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<!-- Secondary road east border -->
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<way id="102">
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<nd ref="30"/>
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<nd ref="31"/>
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<tag k="type" v="road_border"/>
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<tag k="subtype" v="solid"/>
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<tag k="side" v="east"/>
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</way>
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<!-- Secondary road west border -->
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<way id="103">
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<nd ref="40"/>
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<nd ref="41"/>
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<tag k="type" v="road_border"/>
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<tag k="subtype" v="solid"/>
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<tag k="side" v="west"/>
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</way>
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<!-- Curbstone around intersection -->
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<way id="200">
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<nd ref="50"/>
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<nd ref="51"/>
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<nd ref="52"/>
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<nd ref="53"/>
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<nd ref="50"/>
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<tag k="type" v="curbstone"/>
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<tag k="subtype" v="high"/>
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<tag k="location" v="intersection"/>
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</way>
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<!-- Example fence along main road -->
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<way id="300">
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<nd ref="10"/>
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<nd ref="11"/>
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<tag k="type" v="fence"/>
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<tag k="subtype" v="solid"/>
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<tag k="material" v="metal"/>
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</way>
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<!-- Lanelet relation for main road -->
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<relation id="1000">
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<member type="way" ref="100" role="left"/>
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<member type="way" ref="101" role="right"/>
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<tag k="type" v="lanelet"/>
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<tag k="subtype" v="road"/>
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<tag k="location" v="urban"/>
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<tag k="speed_limit" v="50"/>
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</relation>
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<!-- Lanelet relation for secondary road -->
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<relation id="1001">
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<member type="way" ref="102" role="left"/>
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<member type="way" ref="103" role="right"/>
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<tag k="type" v="lanelet"/>
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<tag k="subtype" v="road"/>
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<tag k="location" v="urban"/>
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<tag k="speed_limit" v="40"/>
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</relation>
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</osm>

‎tests/viewer/test_viewer.py‎

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camera_distortion=[0, 0, 0, 0, 0],
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)
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dummy_viewer.render_calibration(sensor, calibration)
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def test_render_map(dummy_viewer) -> None:
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"""Test rendering map with `RerunViewer`."""
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lanelet_path = "tests/sample/map/lanelet2_map.osm"
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dummy_viewer.render_map(lanelet_path)

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