dacuotecuo / libopendrive

Small, lightweight C++ library for handling OpenDRIVE files

libOpenDRIVE

libOpenDRIVE is a lightweight, dependency-free, fast C++ library providing OpenDRIVE file parsing and 3D model generation.

It's small and can be easily integrated in other projects. It can be compiled to a WebAssembly library and includes JavaScript bindings. A core function is the parsing of OpenDRIVE files and the generation of 3D models. The library targets OpenDRIVE version 1.4.

Example

Here's an example of how code using libOpenDRIVE looks. For a more complete example refer to test.cpp.

// load map
odr::OpenDriveMap odr_map("data.xodr");

// iterate roads
for (odr::Road road : odr_map.get_roads())
    std::cout << "road: " << road.id << " length: " << road.length << std::endl;

// get xyz point for road coordinates
odr::Road odr_road = odr_map.id_to_road.at("508");
odr::Vec3D pt_xyz = odr_road.get_xyz(2.1 /*s*/, 1.0 /*t*/, 0.0 /*h*/);

// access road network attributes
std::string lane_type = odr_road.get_lanesection(0.0).id_to_lane.at(-1).type;

// use routing graph
odr::RoutingGraph routing_graph = odr_map.get_routing_graph();
odr::LaneKey from("516" /*road id*/, 0.0 /*lane section s0*/, 1 /*lane id*/);
odr::LaneKey to("501", 0.0, -1);
std::vector<odr::LaneKey> path = routing_graph.shortest_path(from, to);

Viewer

To use the included viewer first build the WebAssembly library and then run a webserver in the Viewer/ directory (e.g. python3 -m http.server). Or you can test the viewer online.

Also check out the viewer at odrviewer.io which uses this library.

Build

To build the library simply run:

mkdir build && cd build
cmake ..
make

This also builds an executable to test the library:

./build/test-xodr Viewer/data.xodr

WebAssembly

Install emsdk and run the following commands to build the WebAssembly library:

mkdir build && cd build
emcmake cmake ..
emmake make

This will create the files ModuleOpenDrive.js/.wasm. To run the viewer copy them to the Viewer/ directory.

cp ModuleOpenDrive.* ../Viewer

Javascript Example

Refer to the code in main.js for an example.

odr_map = new Module.OpenDriveMap("./data.xodr", odr_map_config);