commonroad op• 数据种类:any → table
• 调用: import fullseye as fs; fs.ledger.cr_read(source) -> 'dict'(要直接调用实现,import drivecommonroad; drivecommonroad.cr_read(source) -> 'dict';从台账取用则 opsdrive.get("cr_read"))
读取 CommonRoad 2020a XML(字符串或路径)。
> 以下的详细说明为原文 —— 摘要与标题已翻译。
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。
• 示例数据目录(下载 URL / 许可证) —— 2-D 用 skimage.data(BSD/公有领域)加合成图,3-D 给出真实数据源(Stanford/PDS 等)的下载 URL。
• 算子来历与参考文献 —— 该算子族所依据的研究/方法出处。
• 算法的正典(作者、年份)与用途见上面的族使用指南。
• poc_driving_commonroad — py -3.11 examples/poc_driving_commonroad.py
table 作为输入)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 算子登记表。本条目由 tools/opdocs.py md 自动生成(请勿手工编辑)。*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.