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 convert_opendrive(opendrive: OpenDrive) -> Scenario:
"""Convert an existing OpenDrive object to a CommonRoad Scenario.
Args:
opendrive: Parsed in OpenDrive map.
Returns:
A commonroad scenario with the map represented by lanelets.
"""
road_network = Network()
road_network.load_opendrive(opendrive)
return road_network.export_commonroad_scenario()
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
)
)
class MainWindow(QWidget):
""" """
def __init__(self, argv):
super().__init__()
self.loadedRoadNetwork = None
self._initUserInterface()
self.show()
if len(argv) >= 2:
self.load_opendriveFile(argv[1])
self.viewLaneletNetwork()
def _initUserInterface(self):
""" """
self.setWindowTitle("OpenDRIVE 2 Lanelets Converter")
self.setFixedSize(560, 345)
self.loadButton = QPushButton("Load OpenDRIVE", self)
self.loadButton.setToolTip(
"Load a OpenDRIVE scenario within a *.xodr file")
self.loadButton.move(10, 10)
self.loadButton.resize(130, 35)
self.loadButton.clicked.connect(self.openOpenDriveFileDialog)
self.inputOpenDriveFile = QLineEdit(self)
self.inputOpenDriveFile.move(150, 10)
self.inputOpenDriveFile.resize(400, 35)
self.inputOpenDriveFile.setReadOnly(True)
self.statsText = QLabel(self)
self.statsText.move(10, 55)
self.statsText.resize(540, 235)
self.statsText.setAlignment(Qt.AlignLeft | Qt.AlignTop)
self.statsText.setTextFormat(Qt.RichText)
self.exportCommonRoadButton = QPushButton("Export as CommonRoad", self)
self.exportCommonRoadButton.move(10, 300)
self.exportCommonRoadButton.resize(170, 35)
self.exportCommonRoadButton.setDisabled(True)
self.exportCommonRoadButton.clicked.connect(self.exportAsCommonRoad)
self.viewOutputButton = QPushButton("View Road Network", self)
self.viewOutputButton.move(190, 300)
self.viewOutputButton.resize(170, 35)
self.viewOutputButton.setDisabled(True)
self.viewOutputButton.clicked.connect(self.viewLaneletNetwork)
def resetOutputElements(self):
""" """
self.exportCommonRoadButton.setDisabled(True)
self.viewOutputButton.setDisabled(True)
def openOpenDriveFileDialog(self):
""" """
self.resetOutputElements()
path, _ = QFileDialog.getOpenFileName(
self,
"QFileDialog.getOpenFileName()",
"",
"OpenDRIVE files *.xodr (*.xodr)",
options=QFileDialog.Options(),
)
if not path:
return
self.load_opendriveFile(path)
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 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,
)
def viewLaneletNetwork(self):
""" """
class ViewerWindow(QMainWindow):
""" """
def __init__(self, parent=None):
super(ViewerWindow, self).__init__(parent)
self.viewer = ViewerWidget(self)
self.setCentralWidget(self.viewer)
viewer = ViewerWindow(self)
viewer.viewer.openScenario(
self.loadedRoadNetwork.export_commonroad_scenario())
viewer.show()