- OpenDRIVE 1.6 standard definition
- See the project website of Providentia++
- See the overview repository for general information about my Guided Research
- See the Static Calibration project that uses the parser
- See the website for information and evaluation results of the project
This serves as an OpenDRIVE parser for my Guided Research at the Providentia++ project. The parser extracts the world positions of landmarks from the OpenDRIVE HD maps that are used within the project.
Before running any code, you have to download an OpenDRIVE standard. We then generate C++ data bindings for the XSD files.
For instructions and convenience scripts see:
- OpenDRIVE 1.4:
extern/opendrive_1_4/bootstrap.sh - OpenDRIVE 1.6:
extern/opendrive_1_6/bootstrap.sh
I try to be as close as possible to the naming of the classes and attributes specified in
the OpenDRIVE 1.6 standard
.
If there are any inconsistencies in the comments or unclear code, please refer to
the OpenDRIVE 1.6 standard
.
The corresponding parts of
the OpenDRIVE 1.6 standard
to the implemented class is always linked at the top of the class definition.
mkdir build && cd build
cmake ..
cmake --build . -j8# Default is OFF for all options
-DWITH_TESTS=ON/OFF # Build with tests.
-DOPENDRIVE_1_4=ON/OFF # Build with support for the OpenDRIVE 1.4 standard.
-DOPENDRIVE_1_6=ON/OFF # Build with support for the OpenDRIVE 1.6 standard../app/Converter -h # Prints the help message.
# See it for the required input data and further usage.ctest --verbose| Dependency | Usage | Installation | Required |
|---|---|---|---|
| Xerces-context++ | C++ XML Parser | sudo apt install libxerces-c-dev |
Yes |
| Code Synthesis | XML Data Binding for C++ | sudo apt install xsdcxx |
Yes |
| PROJ | Coordinate transformations and projections | sudo apt-get install proj-bin |
Yes |
These dependencies are pulled by CMake when the project is built. You do not have to install them manually.
| Dependency | Usage | Required |
|---|---|---|
| YAML-CPP | YAML parser | Yes |
| TinyXML-2 | XML parser | Yes |
| GoogleTest | Google unit testing framework | -DWITH_TESTS=ON |
OpenDRIVE 1.4: The parser may fail if the xmlns attribute is set.
OpenDRIVE 1.6: The parser may fail if the xmlns attribute is not exactly set.
OpenDRIVE 1.4: Change <OpenDRIVE xmlns="http://www.opendrive.org"> to <OpenDRIVE>.
OpenDRIVE 1.6: The xmlns attribute must be xmlns="http://code.asam.net/simulation/standard/opendrive_schema".
Problem
terminate called after throwing an instance of 'xsd::cxx::tree::unexpected_enumerator<char>'
what(): unexpected enumerator encountered
Solution:
Sometimes there are invalid objects that have the type set to portal. This type is not valid in the standard.
Change all type="portal" to type="none".