fix: modify downsampling condition

This pr modifies the downsamling condition:
old logic: the downsampling function will throws error and kills when it is set to true and the size of boundary points to be downsampled is less than 2.
new logic: the downsampling process will be skipped and just throw warning when it is set to true and the size of boundary points to be downsampled is less than 2.

RoadLogicSuite/Internal/MapConversion/mantle_map_converter.cpp

@@ -108,7 +108,18 @@ map_api::Lane::Polyline MantleMapConverter::CreateCenterLineGeometry(
 
     if (config_.downsampling)
     {
-        center_line = DecimatePolyline(center_line.begin(), center_line.end(), config_.downsampling_epsilon.value());
+        if (center_line.size() < 2)
+        {
+            std::cout << "[RoadLogicSuite] WARN: The size of center line points in road " << road.id
+                      << " section start " << section.s_start << " lane " << lane_id << " is less than 2,"
+                      << " downsampling is skipped, "
+                      << "please check corresponding center line in map file!" << std::endl;
+        }
+        else
+        {
+            center_line =
+                DecimatePolyline(center_line.begin(), center_line.end(), config_.downsampling_epsilon.value());
+        }
     }
 
     return center_line;
@@ -279,19 +290,26 @@ std::unique_ptr<map_api::LaneBoundary> MantleMapConverter::CreateBoundary(const
         }
     }
 
-    if (s_end == section.s_end)
+    if (auto boundary_point =
+            utils::CreateBoundaryPointAt(converter, s_end, t_offset, road.id, road_mark, section, lane_id))
     {
-        if (auto boundary_point =
-                utils::CreateBoundaryPointAt(converter, s_end, t_offset, road.id, road_mark, section, lane_id))
-        {
-            boundary_points.push_back(boundary_point.value());
-        }
+        boundary_points.push_back(boundary_point.value());
     }
 
     if (config_.downsampling)
     {
-        boundary_points =
-            DecimatePolyline(boundary_points.begin(), boundary_points.end(), config_.downsampling_epsilon.value());
+        if (boundary_points.size() < 2)
+        {
+            std::cout << "[RoadLogicSuite] WARN: The size of boundary points in road " << road.id << " section start "
+                      << section.s_start << " lane " << lane_id << " is less than 2,"
+                      << " downsampling is skipped, "
+                      << "please check corresponding roadmarks in map file!" << std::endl;
+        }
+        else
+        {
+            boundary_points =
+                DecimatePolyline(boundary_points.begin(), boundary_points.end(), config_.downsampling_epsilon.value());
+        }
     }
     if (lane_id > 0)
     {