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. 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("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.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);

// 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;

Build

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

The build also provides an executable to test the library:

./build/test-xodr test.xodr

Viewer

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.}