OSM(OpenStreetMap)使用简述

Bertha 。 2023-01-15 08:06 254阅读 0赞

# 0.背景 #

基于开源的地图制作工具osm以及开源的仿真引擎CARLA完成交通场景仿真场景的搭建。

# 1.构建OSM场景 #

[https://www.openstreetmap.org/\#map=16/31.2808/121.1690][https_www.openstreetmap.org_map_16_31.2808_121.1690]

## 1.1.搜索关键字 ##

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxODU0Mjkx_size_16_color_FFFFFF_t_70][]

## 1.2. 手动选择不同的区域 ##

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxODU0Mjkx_size_16_color_FFFFFF_t_70 1][]

##  1.3.导出 ##

导出为osm文件

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxODU0Mjkx_size_16_color_FFFFFF_t_70 2][]

# 2.osm->xodr #

OpenStreetMap 格式文件后缀为.osm

OpenDERIVRE 格式文件后缀为.xodr

CARLA提供了转换方法：[详情][Link 1]

OpenStreetMap is an open license map of the world developed by contributors. Sections of these map can be exported to a `.osm` file, the OpenSreetMap format, which is essentially an XML. CARLA can convert this file to OpenDRIVE format and ingest it as any other OpenDRIVE map using the [OpenDRIVE Standalone Mode][]. The process is quite straightforward.

## 2.1.install python3.7 & CALRA Python API ##

python3.7

[python api][]

## 2.2.Osm2Odr.convert ##

import glob
    import os
    import sys
    
    try:
        sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
            sys.version_info.major,
            sys.version_info.minor,
            'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
    except IndexError:
        pass
    
    import carla
    
    vertex_distance = 1.0
    max_road_length = 50.0
    wall_height = 0.1
    extra_width = 0.1
    
    if __name__ == '__main__':
        f = open("../map/boyuanRoad.osm",'r',encoding='utf-8')
        osm_data = f.read()
        settings = carla.Osm2OdrSettings()
        xodr_data = carla.Osm2Odr.convert(osm_data,settings)
        f=open("../map/boyuanRoad.xodr",'w',encoding='utf-8')
        f.write(xodr_data)
        f.close()

## 2.3.效果图 ##

创新港.osm->创新港.xodr，效果不佳

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxODU0Mjkx_size_16_color_FFFFFF_t_70 3][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxODU0Mjkx_size_16_color_FFFFFF_t_70 4][]

[https_www.openstreetmap.org_map_16_31.2808_121.1690]: https://www.openstreetmap.org/#map=16/31.2808/121.1690
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxODU0Mjkx_size_16_color_FFFFFF_t_70]: /images/20221022/836e7f3f719b424585da8120f169c9cb.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxODU0Mjkx_size_16_color_FFFFFF_t_70 1]: /images/20221022/380e8849b5014d69ad72266947f502f7.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxODU0Mjkx_size_16_color_FFFFFF_t_70 2]: /images/20221022/8634679c27364c40bf4f334af28c9414.png
[Link 1]: https://carla.readthedocs.io/en/0.9.11/tuto_G_openstreetmap/
[OpenDRIVE Standalone Mode]: https://carla.readthedocs.io/en/0.9.11/tuto_G_openstreetmap/#adv_opendrive.md
[python api]: https://github.com/zolty-lionheart/carla
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxODU0Mjkx_size_16_color_FFFFFF_t_70 3]: /images/20221022/4257e0cf70644c02ba21dfed1635b67d.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxODU0Mjkx_size_16_color_FFFFFF_t_70 4]: /images/20221022/2b8cbf691a5c42ffb91a1c08194c95cf.png