icolwell-as / opendrive2lanelet

Automatic Conversion of Road Networks from OpenDRIVE to Lanelets

This repository is a forked from the https://gitlab.lrz.de/tum-cps/opendrive2lanelet/tree/master/opendrive2lanelet.

opendrive2lanelet2convertor usage

docker build -t opendrive2lanelet2convertor .
docker run --rm -it -v [$ path to the folder containing xodr maps]:/root/opendrive2lanelet/map opendrive2lanelet2convertor

After the process exit the .osm file with the same name should apear in the folder containing xodr maps.

Important notices

• Speed limit unit is hard coded as mph

OpenDRIVE 2 Lanelet - Converter

We provide the code for an OpenDRIVE (www.opendrive.org) to lanelets (www.mrt.kit.edu/software/liblanelet) converter, which has been introduced in our paper: M. Althoff, S. Urban, and M. Koschi, "Automatic Conversion of Road Networks from OpenDRIVE to Lanelets," in Proc. of the IEEE International Conference on Service Operations and Logistics, and Informatics, 2018.

Installation

Installing from source

git clone https://gitlab.lrz.de/cps/opendrive2lanelet.git
cd opendrive2lanelet
python setup.py install

Public source (only released versions): https://gitlab.lrz.de/tum-cps/opendrive2lanelet.git

Using pip:

pip install opendrive2lanelet

Optionally, for using the gui packages:

pip install opendrive2lanelet[GUI]

Example OpenDRIVE Files

Download example files from: http://opendrive.org/download.html

Usage

Using our provided GUI

Start the GUI with opendrive2lanelet-gui

Converting a file with the command line

Execute opendrive2lanelet-convert input_file.xodr -o output_file.xml

If you want to visualize the Commonroad file, use the opendrive2lanelet-visualize command.

Using the library in your own scripts

from lxml import etree
from opendrive2lanelet.opendriveparser.parser import parse_opendrive
from opendrive2lanelet.network import Network
from from commonroad.common.file_writer import CommonRoadFileWriter

# Import, parse and convert OpenDRIVE file
with open("{}/opendrive-1.xodr".format(os.path.dirname(os.path.realpath(__file__))), "r") as fi:
	open_drive = parse_opendrive(etree.parse(fi).getroot())

road_network = Network()
road_network.load_opendrive(open_drive)

scenario = road_network.export_commonroad_scenario()
# Write CommonRoad scenario to file
from commonroad.common.file_writer import CommonRoadFileWriter
commonroad_writer = CommonRoadFileWriter(
            scenario=scenario,
            planning_problem_set=None,
            author="",
            affiliation="",
            source="OpenDRIVE 2 Lanelet Converter",
            tags="",
        )
with open("{}/opendrive-1.xml".format(os.path.dirname(os.path.realpath(__file__))), "w") as fh:
	commonroad_writer.write_scenario_to_file_io(file_io=fh)

Just parsing the OpenDrive .xodr file

from lxml import etree
from opendrive2lanelet.opendriveparser.parser import parse_opendrive

with open("input_opendrive.xodr", 'r') as fh:
	open_drive = parse_opendrive(etree.parse(fh).getroot())

# Now do stuff with the data
for road in open_drive.roads:
	print("Road ID: {}".format(road.id))

Documentation

The documentation is published on Read the Docs.

To generate the documentation from source, first install the necessary dependencies with pip:

pip install -r docs_requirements.txt

Then you can run

cd docs && make html

for example.

Known Problems

• When trying to use the gui.py under Wayland, the following error occurs:

  This application failed to start because it could not find or load the Qt platform plugin "wayland" in "".
  Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.
  Reinstalling the application may fix this problem.
  

  Set the platform to xcb using this command: export QT_QPA_PLATFORM="xcb"

Authors

Sebastian Maierhofer (current maintainer)
Benjamin Orthen
Stefan Urban