# OpenDrivePraser

**Repository Path**: maidoucoding/OpenDrivePraser

## Basic Information

- **Project Name**: OpenDrivePraser
- **Description**: 解析OpenDrive高精度地图；生成参考线车道线中心线等；生成带语义信息全局路径点
- **Primary Language**: C++
- **License**: MulanPSL-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 16
- **Created**: 2020-08-24
- **Last Updated**: 2022-03-28

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# OpenDrivePraser

#### Description
解析OpenDrive高精度地图；生成参考线车道线中心线等；生成带语义信息全局路径点；支持换道功能的全局规划；解析和规划结果保存到`\OpenDrive\files\output`中

#### Use
```cpp
#include "elements/OpenDRIVE.h"
using namespace std;
int main() {
	
	std::string filename = "files/OpenDrive/map1105light.xodr";
	OpenDrive::OpenDrive opendrive(filename);
	vector<OpenDrive::keyPoint> keyPoints = { {-90.53,20.23},{ 89.22,-8.676},{530,177},{763, 3.7},{500,-92},{304,-208}, {9.48,19.61} };
	for (int i = 0, n = keyPoints.size(); i < n-1; ++i) {
		bool append = true, trunRound = false;
		if (0 == i)	append = false;
		opendrive.findPath(keyPoints[i], keyPoints[i + 1], append, trunRound );
	}
	return 0;
}
```
#### Result
**江苏常熟市九宫格地图**\
![九宫格全局规划](https://images.gitee.com/uploads/images/2020/0629/214204_630d33dc_5313156.png "九宫格.png")\
**江苏常熟九宫格放大1**\
![九宫格放大1](https://images.gitee.com/uploads/images/2020/0629/214236_8fba6603_5313156.png "九宫格放大1.png")\
**常熟九宫格放大2**\
![九宫格放大2](https://images.gitee.com/uploads/images/2020/0629/214249_138f9082_5313156.png "九宫格放大.png")\
**常熟九宫格任务点全局规划**\
![九宫格任务点全局规划](https://images.gitee.com/uploads/images/2020/0715/205958_6dce9191_5313156.png "九宫格任务点全局规划.png")\
**九宫格换道放大**\
![九宫格换道放大](https://images.gitee.com/uploads/images/2020/0715/210132_f672c9b1_5313156.png "九宫格换道放大.png")\
**交大校园地图**\
![交大](https://images.gitee.com/uploads/images/2020/0715/210223_82a623f2_5313156.png "交大.png")\
**交大校园地图放大**\
![交大局部](https://images.gitee.com/uploads/images/2020/0715/210239_7ad74c2e_5313156.png "交大局部.png")\
**Carla Town10**\
![Carla Town10](https://images.gitee.com/uploads/images/2020/0722/094322_1a6c5756_5313156.png "carlaTown10.png")\
**Carla Town10 局部放大**\
![Carla Town10 局部放大](https://images.gitee.com/uploads/images/2020/0722/094405_945dbfa9_5313156.png "carlaTown10放大.png")