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. A core function is the parsing of OpenDRIVE files and the generation of 3D models. The library targets OpenDRIVE version 1.4.

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

// load map
odr::OpenDriveMap odr_map("tests/test.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.get_road("17");
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).get_lane(-1).type;

// use routing graph
odr::RoutingGraph routing_graph = odr_map.get_routing_graph();
odr::LaneKey from("17" /*road id*/, 0.0 /*lane section s0*/, 1 /*lane id*/);
odr::LaneKey to("41", 0.0, -1);
std::vector<odr::LaneKey> path = routing_graph.shortest_path(from, to);

// get road network mesh
odr::RoadNetworkMesh road_network_mesh = odr_map.get_road_network_mesh(0.1 /*eps*/);
std::cout << road_network_mesh.get_mesh().get_obj() << std::endl;

To build a static library by default, simply run:

mkdir build
cd build
cmake ..
make

If requiring a shared library, use:

cmake -DBUILD_SHARED_LIBS=ON ..

To build the Python bindings using pybind11 and enable installation via pip in editable mode (pip install -e .), follow these steps:

1. Create and enter the build directory:

   mkdir build
   cd build
   

2. Configure the build with Python bindings enabled, specifying your Python interpreter:

   cmake -DBUILD_SHARED_LIBS=ON -DBUILD_PYTHON_BINDINGS=ON -DPython3_EXECUTABLE=$(which python) ..
   

3. Build the project:

   make
   

4. Install the Python package in editable mode: From the root directory of the repository (not inside build), run:

   pip install -e .
   

   This command uses the generated Python bindings and sets up the package in your environment so that changes to the source code reflect immediately without reinstalling.

5. Import and use the package in Python: After installation, you can import the opendrive module in Python:

import opendrive

# Example: List available attributes
print(dir(opendrive))

This verifies the bindings are available and provides an overview of the exposed classes and functions.

Check out the viewer at odrviewer.io which uses this library. Use the odrviewer project to post issues and feature requests for odrviewer.io.

_{Info: The Viewer and WebAssembly bindings are no longer part of this project. This is to focus more on the library functionality and avoid having to keep the bindings up-to-date. Use v0.3.0 to get the last version that still includes Viewer and WebAssembly bindings.}