pyopendrive

pyopendrive is a Python package for reading, inspecting, and converting OpenDRIVE .xodr networks. Converted from libopendrive (C++) to Python with multiple additions.

Features

• Parse OpenDRIVE files into an object model with roads, lanes, junctions, objects, and signals.
• Query geometry, lane sections, road marks, routing graphs, and derived meshes.
• Save loaded maps back to .xodr.
• Convert OpenDRIVE maps to SUMO networks and convert SUMO networks back to OpenDRIVE.
• Use the bundled browser viewer for exploring .xodr files locally.

Note

This file is adapted from libopendrive (C++) with additional modifications

Modifications:

• Converted from C++ to Python. Licensed: Apache 2
• Refactored APIs for Python package usage.
• Integrated web viewer. Licensed: Apache 2
• OpenDrive coordination conversion: LonLat2XY, XY2LonLat
• OpenDrive to SUMO: xodr_to_net_xml, xodr_from_net_xml
• Create OpenDrive Network, edit, inspecting ect...

Installation

Install from the repository root:

pip install -e .

The package depends on sumolib for SUMO conversion support. To use the SUMO conversion helpers, you also need the SUMO netconvert executable available on PATH.

Tutorial

Click to expand/collapse Quick Start

Load an OpenDRIVE map (.xodr) and inspect its contents

import pyopendrive as odr

Map = odr.readXodr("datasets/chatt.xodr")
# Map = odr.OpenDriveMap()
# Map = Map.loadXodr("datasets/chatt.xodr")

print(len(Map.getRoads()))
print(len(Map.getJunctions()))
print(Map.getRoad("1").name)

Convert the network to LonLat and vice verse

import pyopendrive as odr

x = 1377.14000000
y = 221.29000000

# Convert to WGS1984
lon, lat = Map.convertXY2LonLat(x, y)

# Convert back to original coordinate system
x, y = Map.convertLonLat2XY(lon, lat)

Open the Web Viewer

import pyopendrive as odr

# This will open the web viewer to your browser
odr.xodr_web_viewer()

Convert XODR to and from SUMO net xml

import pyopendrive as odr

path_xodr = "datasets/chatt.xodr"
path_net = "datasets/chatt.net.xml"

Map = odr.readXodr(path_xodr)

# Convert OpenDrive to SUMO network
sumo_net = xodr_to_net_xml(xodr_file, path_net)

# Convert OpenDrive from SUMO network file
Map = xodr_from_net_xml(net_file, xodr_file)

If netconvert is not available, the SUMO helpers will raise an error.

Save a map back to OpenDRIVE

saved_path = Map.saveXodr("output/saved.xodr")

Query Map Information

import pyopendrive as odr

path_xodr = "datasets/chatt.xodr"

Map = odr.readXodr(path_xodr)

roads = Map.getRoads()
junctions = Map.getJunctions()
graph = Map.getRoutingGraph()

lane_count = len(Map.getLanes())
geometry_count = sum(len(road.ref_line.s0_to_geometry) for road in roads)
object_count = sum(len(road.id_to_object) for road in roads)
signal_count = sum(len(road.id_to_signal) for road in roads)

first_road = roads[0]
s = min(1.0, first_road.length)
xyz = first_road.ref_line.get_xyz(s)
surface = first_road.get_surface_pt(s, 0.0)

print(f"roads={len(roads)}")
print(f"junctions={len(junctions)}")
print(f"lane_sections={sum(len(road.s_to_lanesection) for road in roads)}")
print(f"lanes={lane_count}")
print(f"geometries={geometry_count}")
print(f"objects={object_count}")
print(f"signals={signal_count}")
print(f"routing_edges={len(graph.edges)}")
print(f"sample_ref_xyz={xyz}")
print(f"sample_surface_xyz={surface}")

The repository includes a sample map at datasets/chatt.xodr and a simple smoke-test script at tutorial.py.

There is also a browser-based viewer in web that can be opened locally or served from a static HTTP server. See pyopendrive/web/README.md for viewer instructions.

Testing

Run the test suite with:

pytest

# or generate coverage report (pytest-cov requried)
pytest --cov=pyopendrive --cov-report=html  --cov-report=term

# or generate pylint report (pylint required)
pylint . --output=pylint_report.txt

The SUMO round-trip tests are skipped automatically when netconvert is not installed.

License

pyopendrive is licensed under the Apache License, Version 2.0. See LICENSE for the full text.

The repository also includes third-party assets under third_party with their own notices and licenses.