change odtolanelet.

src/map/odtolanelet/odtolanelet.cpp

@@ -9,5 +9,114 @@ odtolanelet::odtolanelet(std::string strxodrfile)
 int odtolanelet::ConvertToLanelet(std::string strlanelet2file)
 {
 
+
+    OpenDrive * pxodr = new OpenDrive();  //because add to xodr,so don't delete
+    OpenDriveXmlParser x(pxodr);
+    if(!x.ReadFile(strlanelet2file))
+    {
+        std::cout<<"Can't  load xodr file."<<std::endl;
+        return -1;
+    }
+
+    unsigned int nroadnum = pxodr->GetRoadCount();
+    unsigned int i;
+    for(i=0;i<nroadnum;i++)
+    {
+        Road * pRoad = pxodr->GetRoad(i);
+        lanelet::Lanelet let;
+        if(Road2Lanelet(pRoad,let) == 0)
+        {
+
+        }
+
+    }
+
+    return 0;
+}
+
+int odtolanelet::Road2Lanelet(Road * pRoad,lanelet::Lanelet & LaneLet)
+{
+    if(pRoad == NULL)
+    {
+        std::cout<<"odtolanelet::Road2Lanelet Road is NULL. "<<std::endl;
+        return -1;
+    }
+
+    std::vector<lanelet::LineString3d> xvectorlinestring;
+    std::vector<std::string> xvectortype;
+    std::vector<std::string> xvectorsubtype;
+
+    unsigned int nLSCount = pRoad->GetLaneSectionCount();
+    unsigned int i;
+
+    unsigned nleftcount = 0;
+    unsigned nrightcount = 0;
+
+    double fS = 0;
+    const double fstep = 0.1;
+
+    for(i=0;i<nLSCount;i++)
+    {
+        LaneSection * pLS = pRoad->GetLaneSection(i);
+
+        if(i == 0)
+        {
+            nleftcount = pLS->GetLeftLaneCount();
+            nrightcount = pLS->GetRightLaneCount();
+            unsigned int nline = pLS->GetLeftLaneCount() + pLS->GetRightLaneCount() + 1;
+            unsigned int j;
+
+            for(j=0;j<nline;j++)
+            {
+                lanelet::LineString3d xline;
+                xline.setId(mid);mid++;
+                xvectorlinestring.push_back(xline);
+                xvectortype.clear();
+                xvectorsubtype.clear();
+            }
+
+        }
+        else
+        {
+            bool bNeedNewLine = false;
+            if((pLS->GetLeftLaneCount() != pRoad->GetLaneSection(i-1)->GetLeftLaneCount())||(pLS->GetRightLaneCount() != pRoad->GetLaneSection(i-1)->GetRightLaneCount()))
+            {
+                bNeedNewLine = true;
+            }
+
+            if(bNeedNewLine)
+            {
+                //Create LaneLet
+
+                nleftcount = pLS->GetLeftLaneCount();
+                nrightcount = pLS->GetRightLaneCount();
+                unsigned int nline = pLS->GetLeftLaneCount() + pLS->GetRightLaneCount() + 1;
+                unsigned int j;
+
+                for(j=0;j<nline;j++)
+                {
+                    lanelet::LineString3d xline;
+                    xline.setId(mid);mid++;
+                    xvectorlinestring.push_back(xline);
+                }
+            }
+
+        }
+
+        fS = pLS->GetS();
+
+    //    pLS->GetLane(0)->GetRoadMarkValue(s);
+
+        while(fS<pLS->GetS2())
+        {
+
+            fS = fS + fstep;
+        }
+
+
+
+    }
+
+
     return 0;
 }

src/map/odtolanelet/odtolanelet.h

@@ -2,8 +2,12 @@
 #define ODTOLANELET_H
 
 #include "OpenDrive/OpenDrive.h"
+#include "OpenDrive/OpenDriveXmlParser.h"
+
+#include "lanelet2_io/Io.h"
 
 #include <string>
+#include <iostream>
 
 class odtolanelet
 {
@@ -14,6 +18,11 @@ public:
 
 private:
     std::string mstrxodrfile;
+
+    lanelet::Id mid = 1;
+
+private:
+    int Road2Lanelet(Road * pRoad,lanelet::Lanelet & LaneLet);
 };
 
 #endif // ODTOLANELET_H

src/map/odtolanelet/odtolanelet.pro

@@ -1,6 +1,6 @@
 QT -= gui
 
-CONFIG += c++11 console
+CONFIG += c++14 console
 CONFIG -= app_bundle
 
 # The following define makes your compiler emit warnings if you use
@@ -36,3 +36,12 @@ HEADERS += \
 INCLUDEPATH += $$PWD/../../common/common/xodr
 
 INCLUDEPATH += $$PWD/../../common/common/xodr/odaux
+
+INCLUDEPATH += $$PWD/../../map/lanelet2/include
+
+LIBS += -L$$PWD/../../map/lanelet2/bin -llanelet2_core -llanelet2_io
+
+LIBS += -lboost_system -lboost_serialization  -lboost_filesystem -lpugixml
+
+unix:INCLUDEPATH += /usr/include/eigen3
+win32:INCLUDEPATH += D:\File\soft\eigen