本项目用于处理OpenDrive地图数据，用户可以获得路网信息，可用A*等算法搜索导航路径，并且集成了可视化模块，用户可以交互式地查看地图信息。

This project processes OpenDrive map data, allowing users to access road network information, perform navigation pathfinding with algorithms like A*, and includes a visualization module for interactively viewing map data.

• 地图数据处理 / Map Data Processing

  加载并解析 OpenDrive 格式的地图数据，生成路网结构。

  Load and parse OpenDrive map data to generate a road network structure.

• 路径搜索 / Path Planning

  支持 A* 等路径搜索算法，帮助用户在地图上找到导航路径。

  Supports pathfinding algorithms like A* to find navigation paths across the road network.

• 交互式可视化 / Interactive Visualization

  提供可视化模块，用户可以查看地图、探索路径，并查看车道和道路段信息。

  Provides a visualization module where users can view the map, explore paths, and access lane and road section information interactively.

• For detailed information on the OpenDrive format, please refer to the official documentation: https://www.asam.net/index.php?eID=dumpFile&t=f&f=3768&token=66f6524fbfcdb16cfb89aae7b6ad6c82cfc2c7f2#
• Referenced and fixed some bugs in the parsing tool package: https://github.com/fiefdx/pyopendriveparser
• Map files are sourced from the following open-source project, with parsing and processing as required：https://gitee.com/a4zhangfei/OpenDrivePraser

1. 克隆仓库 / Clone the Repository：

   git clone https://github.com/ccccctu/OpenDriveMap.git
   
   cd yourproject
   

2. 创建虚拟环境 / Setup a Virtual Environment（可选但推荐 / optional but recommended）：

   conda create -n opendrive_map python=3.11
   
   conda activate opendrive_map
   

3. 安装依赖 / Install Dependencies：

   pip install -r requirements.txt
   

1. 运行主脚本 / Run the Main Script：

   python main.py
   

2. 控制 / Controls：

• 放大 / Zoom In： + / =
• 缩小 / Zoom Out： -
• 复位缩放 / Reset Zoom： 0

main.py：主程序入口，处理地图加载、路径搜索和可视化功能。 Entry point for loading maps, performing pathfinding, and launching visualization.

modules/map_manager.py：管理 OpenDrive 地图的加载和解析，构建路网，处理道路和车道数据。Manages loading and parsing of OpenDrive maps, handling road and lane data.

modules/visualizer.py：主要的可视化逻辑，显示地图和路径信息，支持交互式查看。Main visualization logic, displaying map and path data with interactive viewing.

requirements.txt：项目运行所需的依赖包。Contains dependencies required to run the project.