A very simple OpenDRIVE parser
There are several self-driven parser for OpenDRIVE. The problem with that is, that features are missing or missinterpreted. I used a script to parse the scheme file available on the OpenDRIVE website and auto-generate code from that scheme. The output is a very simple header file.
What it is: It's a parser (a XML file content to data structure in memory converter) for the OpenDRIVE specification 1.5 Revision M.
What it isn't: It's not a OpenDRIVE interpreter: It does not link IDs with it associated objects. It is also not an OpenDRIVE generator (currently you cannot save the content to an XML file.). It is also not a parser for any other version of OpenDRIVE (note that OpenDRIVE 1.6 became an official standard by ASAM e.V.)
ODR header file: include/odr/odr1_5_structure.h.
Just add_subdirectory it in cmake if you want to use the library in your project:
// CmakeLists.txt
...
add_subdirectory(<path to library root>)
...
You don't need to set any options. If the BUILD_TESTS option is set, you should unset it before adding the subdirectory. The odrparser target is a static library.
To create and run the tests, use cmake in the terminal:
> cd <source folder>
> mkdir build && cd build
> cmake -DBUILD_TESTS=ON ..
> make
> make test
...
To create the tests set -DBUILD_TESTS=ON. Googletest need to be installed on your system. If you don't have googletest clone googletest (https://github.com/google/googletest.git) into the root folder of the project and set the option -DBUILD_GTESTS=ON.
To access the content of the data structure, you can use the function odr::loadFile(<filename>, <container>). The function will load the ODR content from the file into the container, which shall be an instance of the class odr::OpenDRIVEFile. Of course you can derive your own class, instantiate it and use it as the container.
Sample code:
// create container instance
odr::OpenDRIVEFile odrData;
// load xml file content to container (replace <...> by the file name)
odr::loadFile(<filename.xml>, odrData);
// pointer to the ODR data
odr1_5::OpenDRIVE *odrr = odrFile.OpenDRIVE1_5.get();
// access the header
const auto header = odrr->sub_header.get();
std::cout << *header->_date << std::endl; // e.g. "Thu Feb 8 14:24:06 2007"
// access the roads vector
const auto &roads = odrr->sub_road;
std::cout << roads.size() << std::endl; // e.g. 36
// access a single road content
const auto &rd = odrr->sub_road.front();
std::cout << rd.sub_lanes->sub_laneSection.size() << std::endl; // e.g. 1
To learn more about the OpenDRIVE structure read this.
- TinyXML2 - TinyXML2 is a simple, small, efficient, C++ XML parser that can be easily integrated into other programs. (https://github.com/leethomason/tinyxml2, )
- Googletest - Google Testing and Mocking Framework (https://github.com/google/googletest.git)