# libOpenDRIVE

**Repository Path**: luo-zhiii/libOpenDRIVE

## Basic Information

- **Project Name**: libOpenDRIVE
- **Description**: c++ opendrive parser
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 4
- **Created**: 2023-05-10
- **Last Updated**: 2023-05-10

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 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 complete example refer to [test.cpp](test.cpp).

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

// iterate roads
for (std::shared_ptr<odr::Road> road : odr_map.get_roads())
    printf("road: %s, length: %.2f\n", road->id.c_str(), road->length);

// get xyz point for road coordinates
std::shared_ptr<odr::Road> odr_road = odr_map.roads.at("515");
odr::Vec3D pt_xyz = odr_road->get_xyz(0.1 /*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;

// get routing graph
odr::RoutingGraph routing_graph = odr_map.get_routing_graph();
```


## 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](https://sebastian-pagel.net/odrviewer/). 

Also check out the viewer at [odrviewer.io](https://odrviewer.io) which uses this library.


## Build
To build the library simply run:
```bash
mkdir build && cd build
cmake ..
make
```

This also builds an executable to test the library:
```bash
./build/test-xodr Viewer/data.xodr
```


## WebAssembly
Install [emsdk](https://github.com/emscripten-core/emsdk) and run the following commands to build the WebAssembly library:

```bash
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.
```bash
cp ModuleOpenDrive.* ../Viewer
```

### Javascript Example
Refer to the code in [main.js](Viewer/main.js) for a full example.

```js
odr_map = new Module.OpenDriveMap("./data.xodr", odr_map_config);
const odr_road = odr_map.roads.get("515");
const lane_type = odr_road.s_to_lanesection.get(0.0).id_to_lane.get(-1).type;
```