This part contains explanations of the rationales behind the implementation of the opendrive2lanelet package.

In detail, the parsing of a OpenDrive file to a Python object, the converting to a network of ParametricLane object and then the conversion from Parametric Lanes to Lanelets is explained.

Parsing OpenDRIVE

Converting to network of ParametricLanes

Converting ParametricLanes to Lanelets