def osm_to_commonroad(args, output_name: str):
"""Convert from OSM to CommonRoad.
Args:
args: Object containing parsed arguments.
output_name: Name of file where result should be written to.
"""
with open(f"{args.input_file}", "r") as file_in:
parser = OSMParser(etree.parse(file_in).getroot())
osm = parser.parse()
osm2l = OSM2LConverter(proj_string=args.proj)
scenario = osm2l(osm,
detect_adjacencies=args.adjacencies,
left_driving_system=args.left_driving)
if scenario:
writer = CommonRoadFileWriter(
scenario=scenario,
planning_problem_set=None,
author="",
affiliation="",
source="OSM 2 CommonRoad Converter",
tags="",
)
with open(f"{output_name}", "w") as file_out:
writer.write_scenario_to_file_io(file_out)
else:
print("Could not convert from OSM to CommonRoad format!")
def test_opendrive_scenario(self):
"""Test if the scenario is equal to the loaded xml file.
Disregard the different dates.
"""
with open(
os.path.dirname(os.path.realpath(__file__)) +
f"/xodr_xml_test_files/{self.xml_output_name}.xml",
"r",
) as fh:
parser = etree.XMLParser(remove_blank_text=True)
tree_import = etree.parse(fh, parser=parser).getroot()
string_io = StringIO()
writer = CommonRoadFileWriter(
scenario=self.scenario,
planning_problem_set=None,
author="",
affiliation="",
source="OpenDRIVE 2 Lanelet Converter",
tags="",
)
writer.write_scenario_to_file_io(string_io)
tree_generated = etree.fromstring(string_io.getvalue(),
parser=parser)
# set same date so this won't change the comparison
tree_import.set("date", "2018-10-26")
tree_generated.set("date", "2018-10-26")
# compare both element trees
trees_are_equal = elements_equal(tree_import, tree_generated)
self.assertTrue(trees_are_equal)
def convert_scenario(input_folder, output_folder):
if not os.path.isdir(output_folder):
os.makedirs(output_folder)
file_names = os.listdir(input_folder)
for file_name in tqdm(file_names):
label_path = input_folder + file_name
label = load_label(label_path)
# Use the result of moving object classifier to set corresponding the dynamic constraints
if os.path.exists(args.dyna_obj_folder + file_name):
file_path = args.init_scenario_folder + dyna_init_scenario
else:
file_path = args.init_scenario_folder + static_init_scenario
scenario, planning_problem_set = CommonRoadFileReader(file_path).open()
for i in range(len(label)):
if label[i][0] != 'Car' and label[i][0] != 'Van' and label[i][
0] != 'Truck' and label[i][0] != 'Misc':
continue
# regulate orientation to [-pi, pi]
orient = label[i][7]
while orient < -np.pi:
orient += 2 * np.pi
while orient > np.pi:
orient -= 2 * np.pi
static_obstacle_id = scenario.generate_object_id()
static_obstacle_type = ObstacleType.PARKED_VEHICLE
static_obstacle_shape = Rectangle(width=label[i][5][1],
length=label[i][5][2])
static_obstacle_initial_state = State(
position=np.array([label[i][6][2], -label[i][6][0]]),
orientation=-(orient - 0.5 * np.pi),
time_step=0)
static_obstacle = StaticObstacle(static_obstacle_id,
static_obstacle_type,
static_obstacle_shape,
static_obstacle_initial_state)
scenario.add_objects(static_obstacle)
author = 'Jindi Zhang'
affiliation = 'City University of Hong Kong'
source = ''
tags = {Tag.CRITICAL, Tag.INTERSTATE}
fw = CommonRoadFileWriter(scenario, planning_problem_set, author,
affiliation, source, tags)
output_file_name = output_folder + '/' + file_name.split(
'.')[0] + '.xml'
fw.write_to_file(output_file_name, OverwriteExistingFile.ALWAYS)
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 exportAsCommonRoad(self):
""" """
if not self.loadedRoadNetwork:
return
path, _ = QFileDialog.getSaveFileName(
self,
"QFileDialog.getSaveFileName()",
"",
"CommonRoad files *.xml (*.xml)",
options=QFileDialog.Options(),
)
if not path:
return
try:
with open(path, "w") as fh:
writer = CommonRoadFileWriter(
scenario=self.loadedRoadNetwork.export_commonroad_scenario(
),
planning_problem_set=None,
author="",
affiliation="",
source="OpenDRIVE 2 Lanelet Converter",
tags="",
)
writer.write_scenario_to_file_io(fh)
except (IOError) as e:
QMessageBox.critical(
self,
"CommonRoad file not created!",
"The CommonRoad file was not exported due to an error.\n\n{}".
format(e),
QMessageBox.Ok,
)
return
QMessageBox.information(
self,
"CommonRoad file created!",
"The CommonRoad file was successfully exported.",
QMessageBox.Ok,
)