commonroad op• 資料種類:any → table
• 呼叫: import fullseye as fs; fs.ledger.cr_read(source) -> 'dict'(要直接呼叫實作,import drivecommonroad; drivecommonroad.cr_read(source) -> 'dict';從台帳取用則 opsdrive.get("cr_read"))
讀取 CommonRoad 2020a XML(字串或路徑)。
> 以下的詳細說明為原文 —— 摘要與標題已翻譯。
返り値: {"kind": "commonroad_scene", "id", "dt", "version", "lanelets": {id: {"center" (n,2), "left", "right", "polygon", "successors", "predecessors", "adj_left", "adj_right", "speed_limit_mps" | None, "stop_line" (2,2) | None, "traffic_sign_ids", "traffic_light_ids", "length"}}, "obstacles": [{"id", "type", "static", "shape", "states" (T,5) [time_step, x, y, orientation, velocity]}], "planning_problems": [{"id", "initial": {time_step, x, y, orientation, velocity}, "goal": [{"time_step": (lo, hi), "position_lanelets" | None, "position_polygon" (k,2) | None, "velocity": (lo, hi) | None, "orientation": (lo, hi) | None}]}], "traffic_signs": {id: {"element_ids", "additional", "position"}}, "traffic_lights": {id: {"position", "cycle": [(color, duration)], "time_offset", "active", "direction"}}}。
中心線は左右境界の平均(頂点数が揃っていることを要求)。標識 274 の additional_value[0] は m/s → float。
Raises ValueError: 壊れた XML、ルートが commonRoad でない、commonRoadVersion ≠ 2020a、必須要素の欠落、矩形以外の障害物。
• 範例資料目錄(下載 URL / 授權) —— 2-D 用 skimage.data(BSD/公有領域)加合成圖,3-D 給出真實資料源(Stanford/PDS 等)的下載 URL。
• 運算子來歷與參考文獻 —— 該運算子族所依據的研究/方法出處。
• 演算法的正典(作者、年份)與用途見上面的族使用指南。
• poc_driving_commonroad — py -3.11 examples/poc_driving_commonroad.py
table 作為輸入)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
commonroad)cr_synthetic · cr_route · ks_step · cr_drive · cr_drive_sweep · cr_feasible · cr_collision · cr_solution_xml
*Provenance: drivecommonroad.py — DRIVE 運算子登記表。本條目由 tools/opdocs.py md 自動產生(請勿手動編輯)。*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.