def load_opendriveFile(self, path):
"""
Args:
path:
Returns:
"""
filename = os.path.basename(path)
self.inputOpenDriveFile.setText(filename)
# Load road network and print some statistics
try:
fh = open(path, "r")
openDriveXml = parse_opendrive(etree.parse(fh).getroot())
fh.close()
except (etree.XMLSyntaxError) as e:
errorMsg = "XML Syntax Error: {}".format(e)
QMessageBox.warning(
self,
"OpenDRIVE error",
"There was an error during the loading of the selected OpenDRIVE file.\n\n{}"
.format(errorMsg),
QMessageBox.Ok,
)
return
except (TypeError, AttributeError, ValueError) as e:
errorMsg = "Value Error: {}".format(e)
QMessageBox.warning(
self,
"OpenDRIVE error",
"There was an error during the loading of the selected OpenDRIVE file.\n\n{}"
.format(errorMsg),
QMessageBox.Ok,
)
return
self.loadedRoadNetwork = Network()
self.loadedRoadNetwork.load_opendrive(openDriveXml)
self.statsText.setText(
"""Name: {}<br>Version: {}<br>Date: {}<br><br>OpenDRIVE
Version {}.{}<br><br>Number of roads: {}<br>Total length
of road network: {:.2f} meters""".format(
openDriveXml.header.name
if openDriveXml.header.name else "<i>unset</i>",
openDriveXml.header.version,
openDriveXml.header.date,
openDriveXml.header.revMajor,
openDriveXml.header.revMinor,
len(openDriveXml.roads),
sum([road.length for road in openDriveXml.roads]),
))
self.exportCommonRoadButton.setDisabled(False)
self.viewOutputButton.setDisabled(False)
def open_drive_loader(self, fn):
fi = open(fn.format(os.path.dirname(os.path.realpath(__file__))), "r")
tree = etree.parse(fi)
root = tree.getroot()
geoReference = root[0][0].text
open_drive = parse_opendrive(root)
road_network = Network()
road_network.load_opendrive(open_drive)
return road_network.export_commonroad_scenario(), geoReference
def setUp(self):
"""Load the xodr file and create the scenario.
"""
if not self.xml_output_name:
self.xml_output_name = self.xodr_file_name
with open(
os.path.dirname(os.path.realpath(__file__)) +
f"/xodr_xml_test_files/{self.xodr_file_name}.xodr",
"r",
) as fh:
opendrive = parse_opendrive(etree.parse(fh).getroot())
self.scenario = convert_opendrive(opendrive)
def main():
"""Helper function to convert an xodr to a lanelet file
"""
args = parse_arguments()
if args.output_name:
output_name = args.output_name
else:
output_name = args.xodr_file.rpartition(".")[0]
output_name = (
f"{output_name}.osm" if args.osm else f"{output_name}.xml"
) # only name of file
if os.path.isfile(output_name) and not args.force_overwrite:
print(
"Not converting because file exists and option 'force-overwrite' not active",
file=sys.stderr,
)
sys.exit(-1)
with open("{}".format(args.xodr_file), "r") as file_in:
opendrive = parse_opendrive(etree.parse(file_in).getroot())
scenario = convert_opendrive(opendrive)
if not args.osm:
writer = CommonRoadFileWriter(
scenario=scenario,
planning_problem_set=None,
author="",
affiliation="",
source="OpenDRIVE 2 Lanelet Converter",
tags="",
)
with open(f"{output_name}", "w") as file_out:
writer.write_scenario_to_file_io(file_out)
else:
l2osm = L2OSMConverter(args.osm)
osm = l2osm(scenario)
with open(f"{output_name}", "wb") as file_out:
file_out.write(
etree.tostring(osm,
xml_declaration=True,
encoding="UTF-8",
pretty_print=True))
def convert(self, output_file_path):
# Open File
file_in = open(self.input_file_path.format(os.path.dirname(os.path.realpath(__file__))), "r")
# Parse XML
tree = etree.parse(file_in)
root = tree.getroot()
open_drive = parse_opendrive(root)
# Access
header = root.find('header')
geoReference = header.find('geoReference').text
# Build CommonRoad Lanelet1 network
road_network = Network()
road_network.load_opendrive(open_drive)
simple_geoReference = geoReference
print('Found geoReference: ' + simple_geoReference)
if '+geoidgrids=' in simple_geoReference:
print('Ignoring +geoidgrids in projection as it is not currently supported')
geoidgrids_tag = re.search('.*?(\+geoidgrids\=.*?\ +).*$', simple_geoReference).group(1)
simple_geoReference = simple_geoReference.replace(geoidgrids_tag, '')
print('Used conversion projection is ' + simple_geoReference)
file_in.close()
# Convert to Lanelet2 OSM
osm_converter = L2OSMConverter(simple_geoReference)
osm_map = osm_converter(road_network.export_commonroad_scenario())
# Add georeference back to osm
geo_tag = etree.Element('geoReference')
geo_tag.text = geoReference
osm_map.insert(0, geo_tag)
with open(output_file_path, "wb") as file_out:
file_out.write(
etree.tostring(
osm_map, xml_declaration=True, encoding="UTF-8", pretty_print=True
)
)
def main():
"""Helper function to convert an xodr to a lanelet file
script uses sys.argv[1] as file to be converted
"""
args = parse_arguments()
if args.output_name:
output_name = args.output_name
else:
output_name = args.xodr_file.rpartition(".")[0]
output_name = f"{output_name}.xml" # only name of file
if os.path.isfile(output_name) and not args.force_overwrite:
print(
"Not converting because file exists and option 'force-overwrite' not active",
file=sys.stderr,
)
sys.exit(-1)
with open("{}".format(args.xodr_file), "r") as file_in:
opendrive = parse_opendrive(etree.parse(file_in).getroot())
scenario = convert_opendrive(opendrive)
if not args.osm:
writer = ExtendedCommonRoadFileWriter(
scenario, source="OpenDRIVE 2 Lanelet Converter")
with open(f"{output_name}", "w") as file_out:
writer.write_scenario_to_file_io(file_out)
else:
l2osm = OSMConverter(args.osm)
osm = l2osm(scenario)
with open(f"{output_name}", "w") as file_out:
file_out.write(
etree.tostring(osm, encoding="unicode", pretty_print=True))
