[applications] xodr_to_obj

BUILD.bazel

@@ -233,6 +233,24 @@ cc_binary(
     ],
 )
 
+cc_binary(
+    name = "xodr_to_obj",
+    srcs = ["src/applications/xodr_to_obj.cc"],
+    copts = COPTS,
+    visibility = ["//visibility:public"],
+    deps = [
+        ":log_level_flag",
+        ":builder",
+        ":common",
+        ":loader",
+        ":xodr",
+        "@gflags//:gflags",
+        "@maliput//:common",
+        "@maliput//:utility",
+        "@tinyxml2//:tinyxml2"
+    ],
+)
+
 cc_binary(
     name = "xodr_validate",
     srcs = ["src/applications/xodr_validate.cc"],

MODULE.bazel

@@ -16,4 +16,3 @@ bazel_dep(name = "maliput", version = "1.2.0")
 bazel_dep(name = "tinyxml2", version = "9.0.0")
 
 bazel_dep(name = "googletest", version = "1.14.0", dev_dependency = True)
-

src/applications/CMakeLists.txt

@@ -67,3 +67,25 @@ install(
   DESTINATION
     ${CMAKE_INSTALL_BINDIR}/${PROJECT_NAME}/applications
 )
+
+add_executable(xodr_to_obj xodr_to_obj.cc)
+target_link_libraries(
+  xodr_to_obj
+  PRIVATE
+    gflags
+    maliput::common
+    maliput::utility
+    maliput_malidrive::builder
+    maliput_malidrive::common
+    maliput_malidrive::loader
+    maliput_malidrive::xodr
+    tinyxml2
+  INTERFACE
+    log_level_flag
+)
+install(
+  TARGETS
+     xodr_to_obj
+  DESTINATION
+    ${CMAKE_INSTALL_BINDIR}/${PROJECT_NAME}/applications
+)

src/applications/xodr_extract.cc

@@ -118,7 +118,7 @@ int Main(int argc, char** argv) {
   output_xodr_doc.SaveFile(FLAGS_output_file_path.c_str());
   maliput::log()->info("XODR file created: ", FLAGS_output_file_path);
 
-  return 1;
+  return 0;
 }
 
 }  // namespace

src/applications/xodr_query.cc

@@ -383,7 +383,7 @@ int Main(int argc, char** argv) {
     query.GetGeometries(RoadHeaderIdFromCli(&(argv[3])));
   }
 
-  return 1;
+  return 0;
 }
 
 }  // namespace

src/applications/xodr_to_obj.cc

@@ -0,0 +1,103 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2023, Woven Planet. All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice, this
+//   list of conditions and the following disclaimer.
+//
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+//
+// * Neither the name of the copyright holder nor the names of its
+//   contributors may be used to endorse or promote products derived from
+//   this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+// Generates an OBJ from an XODR map.
+#include <iostream>
+#include <memory>
+#include <optional>
+#include <stdexcept>
+#include <string>
+
+#include <gflags/gflags.h>
+#include <maliput/common/filesystem.h>
+#include <maliput/common/logger.h>
+#include <maliput/utility/generate_obj.h>
+
+#include "applications/log_level_flag.h"
+#include "maliput_malidrive/builder/road_network_builder.h"
+#include "maliput_malidrive/loader/loader.h"
+
+namespace malidrive {
+namespace applications {
+namespace xodr {
+namespace {
+
+// @return A string with the usage message.
+std::string GetUsageMessage() {
+  std::stringstream ss;
+  ss << "CLI for XODR to OBJ conversion:" << std::endl << std::endl;
+  ss << "  xodr_to_obj --xodr_file=<path> --out-dir=<path> --tolerance=<float> [--allow-schema-errors] "
+        "[--allow-semantic-errors]"
+     << std::endl;
+  return ss.str();
+}
+
+// @{ CLI Arguments
+DEFINE_string(xodr_file, "", "XODR input file defining a Malidrive road geometry");
+DEFINE_string(out_dir, ".", "Directory to save the OBJ to");
+DEFINE_double(tolerance, 1e-3, "Tolerance to validate continuity in piecewise defined geometries.");
+DEFINE_bool(allow_schema_errors, false, "If true, the XODR parser will attempt to work around XODR schema violations.");
+DEFINE_bool(allow_semantic_errors, false,
+            "If true, the XODR parser will attempt to work around XODR semantic violations.");
+MALIPUT_MALIDRIVE_APPLICATION_DEFINE_LOG_LEVEL_FLAG();
+// @}
+
+int Main(int argc, char** argv) {
+  // Handles CLI arguments.
+  gflags::SetUsageMessage(GetUsageMessage());
+  gflags::ParseCommandLineFlags(&argc, &argv, true);
+  maliput::common::set_log_level(FLAGS_log_level);
+  if (FLAGS_xodr_file.empty()) {
+    maliput::log()->error("No input file specified.");
+    return 1;
+  }
+  maliput::log()->info("Parser: Allow schema errors: ", (FLAGS_allow_schema_errors ? "enabled" : "disabled"));
+  maliput::log()->info("Parser: Allow semantic errors: ", (FLAGS_allow_semantic_errors ? "enabled" : "disabled"));
+
+  // Load the road network
+  std::map<std::string, std::string> road_network_configuration;
+  road_network_configuration.emplace("opendrive_file", FLAGS_xodr_file);
+  auto road_network = malidrive::loader::Load<malidrive::builder::RoadNetworkBuilder>(road_network_configuration);
+
+  std::string name = FLAGS_xodr_file;
+  name.erase(name.begin(), name.begin() + name.rfind("/") + 1);
+  name.erase(name.begin() + name.rfind("."), name.end());
+
+  maliput::utility::ObjFeatures features;
+  features.min_grid_resolution = 5.0;
+  maliput::utility::GenerateObjFile(road_network->road_geometry(), FLAGS_out_dir, name, features);
+  return 0;
+}
+
+}  // namespace
+}  // namespace xodr
+}  // namespace applications
+}  // namespace malidrive
+
+int main(int argc, char** argv) { return malidrive::applications::xodr::Main(argc, argv); }

src/applications/xodr_validate.cc

@@ -84,7 +84,7 @@ int Main(int argc, char** argv) {
     std::cerr << e.what() << std::endl;
     std::cerr << "The map could not be loaded." << std::endl;
   }
-  return 1;
+  return 0;
 }
 
 }  // namespace