opendrive格式完全解析

在carla仿真環(huán)境中提供了很多的示例的xodr文件，如圖所示

在目錄: carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive
下面
有如下的xodr文件

OpenDriveMap.xodr Town01.xodr Town02.xodr Town03.xodr Town04.xodr Town05.xodr Town06.xodr Town07.xodr Town10HD.xodr Town01_Opt.xodr Town02_Opt.xodr Town03_Opt.xodr Town04_Opt.xodr Town05_Opt.xodr Town06_Opt.xodr Town07_Opt.xodr Town10HD_Opt.xodr

下面就詳細(xì) 看一下這里面到底有什么，也便于后面生成xodr做準(zhǔn)備.

準(zhǔn)備工作

都知道 xodr是用xml來寫的，但是xml 是個(gè)樹狀結(jié)構(gòu)，看上去比較麻煩，這里我用的是json進(jìn)行解析的，因此用到一個(gè)包 xmltodict

使用python3的話，可以在ubuntu上直接用

sudo apt install python3-xmltodict

進(jìn)行安裝.

然后可以通過這種方式來把xodr轉(zhuǎn)成dict類型的

讀文件并轉(zhuǎn)成dict

啟動(dòng)ipython3

In [1]: import xmltodictIn [2]: data = xmltodict.parse(open("./Town01.xodr").read())In [3]:In [3]: type(data) Out[3]: collections.OrderedDictIn [4]: data.keys() Out[4]: odict_keys(['OpenDRIVE'])In [5]: opendrive = data["OpenDRIVE"] In [6]: type(opendrive) Out[6]: collections.OrderedDictIn [7]: opendrive.keys() Out[7]: odict_keys(['header', 'road', 'controller', 'junction'])In [8]: o_header = opendrive["header"]In [9]: o_header Out[9]: OrderedDict([('@revMajor', '1'),('@revMinor', '4'),('@name', ''),('@version', '1'),('@date', '2020-07-29T12:17:19'),('@north', '2.8349990637833574e+1'),('@south', '-3.5690998535156251e+2'),('@east', '4.2268105762411665e+2'),('@west', '-2.8359911988457576e+1'),('@vendor', 'VectorZero'),('geoReference','+proj=tmerc +lat_0=0 +lon_0=0 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +geoidgrids=egm96_15.gtx +vunits=m +no_defs'),('userData',OrderedDict([('vectorScene',OrderedDict([('@program', 'RoadRunner'),('@version','2019.2.12 (build 5161c1572)')]))]))])

會(huì)發(fā)現(xiàn) header里面存儲(chǔ)的是一些基本的信息.

road

繼續(xù)探索road.

In [10]: o_read = opendrive["road"]In [11]: type(o_read) Out[11]: listIn [12]: o_read1 = o_read[0]In [13]: type(o_read1) Out[13]: collections.OrderedDictIn [14]: o_read1.keys() Out[14]: odict_keys(['@name', '@length', '@id', '@junction', 'link', 'type', 'planView', 'elevationProfile', 'lateralProfile', 'lanes', 'objects', 'signals'])In [16]: o_read1["@name"] Out[16]: 'Road 0'In [18]: o_read1["@length"] Out[18]: '3.6360000000000007e+1'In [19]: o_read1["@id"] Out[19]: '0'In [20]: o_read1["@junction"] Out[20]: '-1'In [22]: o_read1["link"] Out[22]: OrderedDict([('predecessor',OrderedDict([('@elementType', 'road'),('@elementId', '11'),('@contactPoint', 'start')])),('successor',OrderedDict([('@elementType', 'junction'),('@elementId', '26')]))])In [23]: o_read1["type"] Out[23]: OrderedDict([('@s', '0.0000000000000000e+0'),('@type', 'town'),('speed', OrderedDict([('@max', '25'), ('@unit', 'mph')]))])In [24]: o_read1["planView"] Out[24]: OrderedDict([('geometry',OrderedDict([('@s', '0.0000000000000000e+0'),('@x', '3.8458999633789063e+2'),('@y', '-1.9999999552965164e-2'),('@hdg', '3.1410614169049995e+0'),('@length', '3.6360000000000007e+1'),('line', None)]))])In [25]: o_read1["elevationProfile"] Out[25]: OrderedDict([('elevation',OrderedDict([('@s', '0.0000000000000000e+0'),('@a', '0.0000000000000000e+0'),('@b', '0.0000000000000000e+0'),('@c', '0.0000000000000000e+0'),('@d', '0.0000000000000000e+0')]))])In [27]: o_read1["lateralProfile"] Out[27]: OrderedDict([('superelevation',OrderedDict([('@s', '0.0000000000000000e+0'),('@a', '0.0000000000000000e+0'),('@b', '0.0000000000000000e+0'),('@c', '0.0000000000000000e+0'),('@d', '0.0000000000000000e+0')]))])

road:lanes

看一下每一條road的lanes

In [38]: o_read1.keys() Out[38]: odict_keys(['@name', '@length', '@id', '@junction', 'link', 'type', 'planView', 'elevationProfile', 'lateralProfile', 'lanes', 'objects', 'signals'])In [39]: lanes1 = o_read1["lanes"]In [40]: lanes1.keys() Out[40]: odict_keys(['laneOffset', 'laneSection'])In [41]: lanes1["laneOffset"] Out[41]: OrderedDict([('@s', '0.0000000000000000e+0'),('@a', '0.0000000000000000e+0'),('@b', '0.0000000000000000e+0'),('@c', '0.0000000000000000e+0'),('@d', '0.0000000000000000e+0')])In [42]: lanes1["laneSection"].keys() Out[42]: odict_keys(['@s', 'left', 'center', 'right']) In [44]: lanes1["laneSection"]["left"] Out[44]: OrderedDict([('lane',[OrderedDict([('@id', '3'),('@type', 'sidewalk'),('@level', 'false'),('link',OrderedDict([('predecessor',OrderedDict([('@id', '-3')]))])),('width',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@a', '4.0000000000000009e+0'),('@b', '0.0000000000000000e+0'),('@c', '0.0000000000000000e+0'),('@d', '0.0000000000000000e+0')])),('roadMark',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@type', 'none'),('@material', 'standard'),('@color', 'white'),('@laneChange', 'none')])),('userData',OrderedDict([('vectorLane',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@laneId','{c5563b95-8ec9-4e36-a1f4-1f0366f5ad74}'),('@travelDir','undirected')]))]))]),OrderedDict([('@id', '2'),('@type', 'shoulder'),('@level', 'false'),('link',OrderedDict([('predecessor',OrderedDict([('@id', '-2')]))])),('width',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@a', '2.9999999999999982e-1'),('@b', '0.0000000000000000e+0'),('@c', '0.0000000000000000e+0'),('@d', '0.0000000000000000e+0')])),('roadMark',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@type', 'curb'),('@material', 'standard'),('@width', '1.5239999999999998e-1'),('@laneChange', 'none')])),('userData',OrderedDict([('vectorLane',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@laneId','{a029c15c-ebff-48c6-853c-c4c473510068}'),('@travelDir','undirected')]))]))]),OrderedDict([('@id', '1'),('@type', 'driving'),('@level', 'false'),('link',OrderedDict([('predecessor',OrderedDict([('@id', '-1')]))])),('width',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@a', '4.0000000000000000e+0'),('@b', '0.0000000000000000e+0'),('@c', '0.0000000000000000e+0'),('@d', '0.0000000000000000e+0')])),('roadMark',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@type', 'none'),('@material', 'standard'),('@color', 'white'),('@laneChange', 'none')])),('userData',OrderedDict([('vectorLane',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@laneId','{408913da-91fa-4211-83b1-cdbc8eceb9e8}'),('@travelDir','backward')]))]))])])]) In [46]: lanes1["laneSection"]["right"] Out[46]: OrderedDict([('lane',[OrderedDict([('@id', '-1'),('@type', 'driving'),('@level', 'false'),('link',OrderedDict([('predecessor',OrderedDict([('@id', '1')]))])),('width',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@a', '4.0000000000000000e+0'),('@b', '0.0000000000000000e+0'),('@c', '0.0000000000000000e+0'),('@d', '0.0000000000000000e+0')])),('roadMark',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@type', 'none'),('@material', 'standard'),('@color', 'white'),('@laneChange', 'none')])),('userData',OrderedDict([('vectorLane',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@laneId','{7487e32f-7117-4384-a240-4169022e6340}'),('@travelDir','forward')]))]))]),OrderedDict([('@id', '-2'),('@type', 'shoulder'),('@level', 'false'),('link',OrderedDict([('predecessor',OrderedDict([('@id', '2')]))])),('width',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@a', '2.9999999999999982e-1'),('@b', '0.0000000000000000e+0'),('@c', '0.0000000000000000e+0'),('@d', '0.0000000000000000e+0')])),('roadMark',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@type', 'curb'),('@material', 'standard'),('@width', '1.5239999999999998e-1'),('@laneChange', 'none')])),('userData',OrderedDict([('vectorLane',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@laneId','{e944bf6a-ea69-40a4-b4fd-0d9cdf40b613}'),('@travelDir','undirected')]))]))]),OrderedDict([('@id', '-3'),('@type', 'sidewalk'),('@level', 'false'),('link',OrderedDict([('predecessor',OrderedDict([('@id', '3')]))])),('width',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@a', '4.0000000000000009e+0'),('@b', '0.0000000000000000e+0'),('@c', '0.0000000000000000e+0'),('@d', '0.0000000000000000e+0')])),('roadMark',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@type', 'none'),('@material', 'standard'),('@color', 'white'),('@laneChange', 'none')])),('userData',OrderedDict([('vectorLane',OrderedDict([('@sOffset','0.0000000000000000e+0'),('@laneId','{303aa2f9-929e-43d1-935d-c181d3456f6f}'),('@travelDir','undirected')]))]))])])]) In [47]: lanes1["laneSection"]["center"] Out[47]: OrderedDict([('lane',OrderedDict([('@id', '0'),('@type', 'none'),('@level', 'false'),('roadMark',OrderedDict([('@sOffset', '0.0000000000000000e+0'),('@type', 'broken'),('@material', 'standard'),('@color', 'yellow'),('@width', '1.2500000000000000e-1'),('@laneChange', 'none')])),('userData', None)]))])

所以每條road的lanes里面有自己的信息，也有它的左，右兩邊的lane的信息

road:objects

看一下road[“objects”] 是什么

In [48]: o_read1.keys() Out[48]: odict_keys(['@name', '@length', '@id', '@junction', 'link', 'type', 'planView', 'elevationProfile', 'lateralProfile', 'lanes', 'objects', 'signals'])In [49]: objects1 = o_read1["objects"]In [51]: type(objects1) Out[51]: collections.OrderedDictIn [52]: objects1.keys() Out[52]: odict_keys(['object'])In [53]: obj = objects1["object"]In [54]: type(obj) Out[54]: collections.OrderedDictIn [55]: obj.keys() Out[55]: odict_keys(['@id', '@name', '@s', '@t', '@zOffset', '@hdg', '@roll', '@pitch', '@orientation', '@type', '@height', '@width', '@length'])In [56]: obj Out[56]: OrderedDict([('@id', '435'),('@name', 'Speed_30'),('@s', '1.7472293596265814e+1'),('@t', '-4.3197185908605400e+0'),('@zOffset', '1.5096607804298401e-1'),('@hdg', '5.3128035506233573e-4'),('@roll', '0.0000000000000000e+0'),('@pitch', '0.0000000000000000e+0'),('@orientation', '-'),('@type', '-1'),('@height', '0.0000000000000000e+0'),('@width', '0.0000000000000000e+0'),('@length', '0.0000000000000000e+0')])

上面這個(gè)估計(jì)是一個(gè)限速標(biāo)志, 根據(jù)名字 Speed_30 猜測(cè)的.

road:signals

標(biāo)志

In [57]: o_read1.keys() Out[57]: odict_keys(['@name', '@length', '@id', '@junction', 'link', 'type', 'planView', 'elevationProfile', 'lateralProfile', 'lanes', 'objects', 'signals'])In [58]: sigs = o_read1["signals"]In [59]: type(sigs) Out[59]: collections.OrderedDictIn [60]: sigs.keys() Out[60]: odict_keys(['signal'])In [61]: sigs Out[61]: OrderedDict([('signal',OrderedDict([('@name', 'Signal_3Light_Post01'),('@id', '362'),('@s', '3.5840466582261428e+1'),('@t', '-4.4797897637266599e+0'),('@zOffset', '-6.9904327392578125e-1'),('@hOffset', '-3.5448458390874293e-8'),('@roll', '0.0000000000000000e+0'),('@pitch', '0.0000000000000000e+0'),('@orientation', '-'),('@dynamic', 'yes'),('@country', 'OpenDRIVE'),('@type', '1000001'),('@subtype', '-1'),('@value', '-1.0000000000000000e+0'),('@text', ''),('@height', '1.1595988571643829e+0'),('@width', '5.2492320205637566e-1'),('validity',OrderedDict([('@fromLane', '0'),('@toLane', '0')])),('userData',OrderedDict([('vectorSignal',OrderedDict([('@signalId','{630a1ee4-4a24-4263-aaf7-df023be1ff6e}')]))]))]))])

這個(gè)估計(jì)是一個(gè)信號(hào)燈(紅綠燈)

問題: opendrive中objects包括什么,signals包括什么?

controller

從其他地方查到，controller指的是紅綠燈的控制器，這里面controller可以指定signal的id,意味著它可以控制的紅綠燈的id,而且它可以指定多個(gè)，從而實(shí)現(xiàn)對(duì)多個(gè)紅綠燈的同步控制。

In [62]: opendrive.keys() Out[62]: odict_keys(['header', 'road', 'controller', 'junction'])In [63]: contr = opendrive["controller"]In [64]: type(contr) Out[64]: listIn [65]: len(contr) Out[65]: 36In [66]: contr1 = contr[0]In [67]: type(contr1) Out[67]: collections.OrderedDictIn [68]: contr1.keys() Out[68]: odict_keys(['@name', '@id', '@sequence', 'control'])In [70]: contr1["@name"] Out[70]: 'ctrl396'In [71]: contr1["@id"] Out[71]: '396'In [72]: contr1["@sequence"] Out[72]: '0'In [73]: contr1["control"] Out[73]: [OrderedDict([('@signalId', '361'), ('@type', '')]),OrderedDict([('@signalId', '361'), ('@type', '')])]

junction

In [75]: juns = opendrive["junction"]In [76]: type(juns) Out[76]: listIn [77]: jun1 = juns[0]In [78]: type(jun1) Out[78]: collections.OrderedDictIn [79]: jun1.keys() Out[79]: odict_keys(['@id', '@name', 'connection', 'controller', 'userData']) In [80]: jun1 Out[80]: OrderedDict([('@id', '26'),('@name', 'junction26'),('connection',[OrderedDict([('@id', '0'),('@incomingRoad', '1'),('@connectingRoad', '27'),('@contactPoint', 'end'),('laneLink',OrderedDict([('@from', '1'), ('@to', '1')]))]),OrderedDict([('@id', '1'),('@incomingRoad', '1'),('@connectingRoad', '28'),('@contactPoint', 'start'),('laneLink',[OrderedDict([('@from', '2'), ('@to', '2')]),OrderedDict([('@from', '3'), ('@to', '1')])])]),OrderedDict([('@id', '2'),('@incomingRoad', '16'),('@connectingRoad', '33'),('@contactPoint', 'end'),('laneLink',OrderedDict([('@from', '1'), ('@to', '1')]))]),OrderedDict([('@id', '3'),('@incomingRoad', '0'),('@connectingRoad', '40'),('@contactPoint', 'start'),('laneLink',[OrderedDict([('@from', '-1'), ('@to', '-1')]),OrderedDict([('@from', '-2'), ('@to', '-2')]),OrderedDict([('@from', '-3'),('@to', '-3')])])]),OrderedDict([('@id', '4'),('@incomingRoad', '1'),('@connectingRoad', '41'),('@contactPoint', 'end'),('laneLink',OrderedDict([('@from', '1'), ('@to', '1')]))]),OrderedDict([('@id', '5'),('@incomingRoad', '0'),('@connectingRoad', '46'),('@contactPoint', 'start'),('laneLink',OrderedDict([('@from', '-1'), ('@to', '-1')]))]),OrderedDict([('@id', '6'),('@incomingRoad', '16'),('@connectingRoad', '48'),('@contactPoint', 'start'),('laneLink',[OrderedDict([('@from', '2'), ('@to', '2')]),OrderedDict([('@from', '3'), ('@to', '1')])])]),OrderedDict([('@id', '7'),('@incomingRoad', '16'),('@connectingRoad', '52'),('@contactPoint', 'end'),('laneLink',OrderedDict([('@from', '1'), ('@to', '1')]))])]),('controller',[OrderedDict([('@id', '396'),('@type', '0'),('@sequence', '0')]),OrderedDict([('@id', '397'),('@type', '0'),('@sequence', '1')]),OrderedDict([('@id', '398'),('@type', '0'),('@sequence', '2')])]),('userData',OrderedDict([('vectorJunction',OrderedDict([('@junctionId','{1bd52301-8d2c-42be-8b0b-2bae938cd581}')]))]))])

查看了calra 里面這些xodr文件里面，都是主要有 controller, header, junction,road 來組成的.

------------------------------ /data/carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive/Town05_Opt.xodr {'controller', 'header', 'junction', 'road'} ------------------------------ /data/carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive/Town10HD.xodr {'controller', 'header', 'junction', 'road'} ------------------------------ /data/carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive/Town02_Opt.xodr {'controller', 'header', 'junction', 'road'} ------------------------------ /data/carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive/Town02.xodr {'controller', 'header', 'junction', 'road'} ------------------------------ /data/carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive/Town01.xodr {'controller', 'header', 'junction', 'road'} ------------------------------ /data/carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive/Town04.xodr {'controller', 'header', 'junction', 'road'} ------------------------------ /data/carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive/Town04_Opt.xodr {'controller', 'header', 'junction', 'road'} ------------------------------ /data/carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive/Town05.xodr {'controller', 'header', 'junction', 'road'} ------------------------------ /data/carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive/Town10HD_Opt.xodr {'controller', 'header', 'junction', 'road'} ------------------------------ /data/carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive/Town03.xodr {'controller', 'header', 'junction', 'road'} ------------------------------ /data/carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive/Town03_Opt.xodr {'controller', 'header', 'junction', 'road'} ------------------------------ /data/carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive/Town01_Opt.xodr {'controller', 'header', 'junction', 'road'} ------------------------------ /data/carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive/Town07.xodr {'controller', 'header', 'junction', 'road'} ------------------------------ /data/carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive/Town06.xodr {'controller', 'header', 'junction', 'road'} ------------------------------ /data/carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive/Town06_Opt.xodr {'controller', 'header', 'junction', 'road'} ------------------------------ /data/carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive/Town07_Opt.xodr {'controller', 'header', 'junction', 'road'} ------------------------------ /data/carla-0.9.12/CarlaUE4/Content/Carla/Maps/OpenDrive/OpenDriveMap.xodr {'controller', 'header', 'junction', 'road'}

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