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Parser and converter from OpenDRIVE to lanelets

Project description

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. Additionally, we provide a converter from CommonRoad lanelets to OSM lanelets and vice versa.

Documentation Status PyPI version Supported python versions License

Installation

Installing from source

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

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

Using pip:

pip install opendrive2lanelet

Example OpenDRIVE Files

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

Usage

Using our provided GUI

Opening OpenDRIVE to CommonRoad converter GUI from the command line:

opendrive2lanelet-gui

GUI screenshot

Converting files using the command line

Converting a file from OpenDRIVE to CommonRoad with the command line:

opendrive2lanelet-convert input_file.xodr -o output_file.xml

Converting a file from OSM lanelets to CommonRoad lanelets with the command line (for description of input parameters see documentation):

osm-convert inputfile.xml --reverse -o outputfile.osm --adjencies --proj "+proj=etmerc +lat_0=38 +lon_0=125 +ellps=bessel"

For the conversion of CommonRoad lanelets to OSM lanelets change the input and output file accordingly. Visualizing the results of the conversion to CommonRoad:

opendrive2lanelet-visualize input-file.xml

Documentation

The documentation is published on the CommonRoad homepage.

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

Project details


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