Opendrive Conversion of map1.xodr from CARLA

[ramdort]

I want to convert the Carla sample maps from opendrive to lanelets. By running this command crdesigner --input-file Town01.xodr --output-file Town01.osm odrlanelet2 i get this error.
CRSError: Invalid projection: +lat_0=4.9000000000000000e+1 +lon_0=8.0000000000000000e+0 +type=crs: (Internal Proj Error: proj_create: unrecognized format / unknown
name)
The map file can be found here
Could elaborate on that how to deal with ?
I have used other maps , I get always some warnings also related to projections from lanelet Default origin should not be used when writing into a format that uses georeferenced lat/lon coordinates. Will continue to write the map, but the data will be dislocated and deformed

[smaierhofer]

If you use the Python script, setting
open_drive_config.proj_string_odr = None
should solve the problem.

It is currently not possible to do this from the command line.

[ramdort]

I am trying to do it in a script

from crdesigner.common.config import opendrive_config 
config = opendrive_config
config.proj_string_odr = None;

note there are difference between your and what is available to me in the script however when I run it I got an error

Thanks again in advance

[smaierhofer]

Are you using the function opendrive_to_commonroad in your script?
If not, please use this function.
Also provide as odr_conf argument the config object.

config = open_drive_config
config.proj_string_odr = None

scenario = opendrive_to_commonroad(input_path, odr_conf=config)

[ramdort]

I do, see the figure

[smaierhofer]

Which version of the scenario-designer do you have installed?

[ramdort]

See pictures, I have reported a bug earlier and have been recommend to get the debugged version of commonroad-scenario-designer from the develop branch

[ramdort]

I have edited the opendrive map and change the coordinates to other values as the following 2 lines

<geoReference><![CDATA[+proj=tmerc +lat_0=5.1000000000000000e+1 +lon_0=1.0000000000000000e+1 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +no_defs]]></geoReference>
<geoReference><![CDATA[+proj=utm +zone=32 +datum=WGS84 +units=m +no_defs]]></geoReference>

[smaierhofer]

I also just tried the develop branch again and for me the following code snippet works.
Maybe the Python environment is corrupted and somehow and older version of the scenario-designer is used.

import os
from pathlib import Path

from commonroad.planning.planning_problem import PlanningProblemSet
from commonroad.scenario.scenario import Tag

from crdesigner.common.config.opendrive_config import open_drive_config
from crdesigner.common.file_writer import CRDesignerFileWriter, OverwriteExistingFile
from crdesigner.map_conversion.map_conversion_interface import opendrive_to_commonroad

input_path = Path("/path/to/file/Town01.xodr")
output_path = Path("/path/to/file/Town01.xml")

config = open_drive_config
config.proj_string_odr = None

# load OpenDRIVE file, parse it, and convert it to a CommonRoad scenario
scenario = opendrive_to_commonroad(input_path, odr_conf=config)

# store converted file as CommonRoad scenario
writer = CRDesignerFileWriter(
    scenario=scenario,
    planning_problem_set=PlanningProblemSet(),
    author="Sebastian Maierhofer",
    affiliation="Technical University of Munich",
    source="CommonRoad Scenario Designer",
    tags={Tag.URBAN},
)

writer.write_to_file(str(output_path), OverwriteExistingFile.ALWAYS)

Updating, the geo-reference might lead to wrong results.
From my experience, removing it completely is the better option (corresponds to setting the config.proj_string_odr = None in our code).

[ramdort]

It works fine but another problem appeard the file is no longer readable by JOSM.
josm Town02.osm Using /usr/lib/jvm/java-21-openjdk-amd64/bin/java to execute josm. 2024-11-13 12:21:43.004 INFO: Log level is at INFO (INFO, 800) 2024-11-13 12:21:43.452 INFO: Detected usable IPv6 network, preferring IPv6 over IPv4. 2024-11-13 12:21:44.949 INFO: Obtained 168 Tag2Link rules from resource://META-INF/resources/webjars/tag2link/2024.10.21/index.json 2024-11-13 12:21:46.121 SEVERE: Failed to locate image 'presets/vehicle/firebrigade.svg' 2024-11-13 12:21:46.122 WARNING: Emergency lane: Could not get presets icon presets/vehicle/firebrigade.svg 2024-11-13 12:21:46.126 SEVERE: Failed to locate image 'road_border.png' 2024-11-13 12:21:46.127 WARNING: Road border: Could not get presets icon road_border.png 2024-11-13 12:21:46.127 SEVERE: Failed to locate image '101.png' 2024-11-13 12:21:46.127 WARNING: Generic traffic sign: Could not get presets icon 101.png 2024-11-13 12:21:46.128 SEVERE: Failed to locate image 'pf-g.png' 2024-11-13 12:21:46.128 WARNING: Arrow: Could not get presets icon pf-g.png 2024-11-13 12:21:46.258 INFO: Could not load tool definition splitway 2024-11-13 12:21:46.263 WARNING: Cannot lock cache directory. Will not use disk cache 2024-11-13 12:21:46.384 INFO: Changeset updater active (checks every 60 minutes if open changesets have been closed) 2024-11-13 12:21:46.434 INFO: Open file: /path/to/Town02.osm (2376461 bytes) 2024-11-13 12:21:46.437 INFO: Undefined element 'commonRoad' found in input stream. Skipping. 2024-11-13 12:21:46.921 INFO: Open file: /home/ /path/to/Town02.osm (2376461 bytes) completed in 488 ms

[smaierhofer]

I just converted Town02 to Lanelet2 and for me loading the map in JOSM works.

[ramdort]

I want to add a point. I have converted the maps using the following command
crdesigner --input-file Town01.xodr --output-file Town01new.osm odrlanelet2
when I want to use some lanelet2 functionalities regrading distances I got a wrong high value. specifically findNearest function. In lanelet the points are projected to x,y before calling findNearest and I think that some wrong conversion from crdesigner please have on this issue
thanks