OpenDRIVE

• 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

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Overview

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.

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Setup

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

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Get Help

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.

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Running in Standalone Mode

See below for the necessary dependencies.

Compiling

mkdir build && cd build
cmake ..
cmake --build . -j8

CMake Configure Options

# 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.

Running

./app/Converter -h  # Prints the help message.
                    # See it for the required input data and further usage.

Testing

ctest --verbose

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Dependencies

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

Internal Dependencies

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

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Known Issues

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XMLNS Attribute

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.

Workaround

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".

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OpenDRIVE 1.6:

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".