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ASAM OpenDRIVE Converter

A Lichtblick extension that converts ASAM OpenDRIVE road network maps into Foxglove SceneUpdate messages for 3D visualization.

Overview​

This extension enables visualization of OpenDRIVE road networks stored in OMEGA PRIME MCAP recordings. It renders:

  • Lane surfaces — colored by lane type (driving, sidewalk, shoulder, etc.)
  • Lane boundaries — polyline edges between lanes
  • Road markings — colored center/edge lines with standard color mapping
  • Road objects — barriers, poles, buildings, vegetation [ODR §13]
  • Road signals — traffic signs and signals [ODR §14]

Geometry computation is handled by libOpenDRIVE (fork of pageldev/libOpenDRIVE), compiled to WebAssembly for in-browser execution.

Key Features​

FeatureDescription
Full geometry supportLine, arc, spiral (clothoid), poly3, paramPoly3
Elevation profilesCubic polynomial elevation along reference line
Lane modelMulti-section lanes with cubic width polynomials
Road markingsType-filtered with standard color mapping
Road objectsBarriers, poles, buildings, vegetation
Road signalsTraffic signs and signals
WASM geometrylibOpenDRIVE compiled to WebAssembly
CachingIdentical maps are computed once and reused
Standards-basedCode comments reference ASAM OpenDRIVE V1.8.1 sections; geometry engine targets V1.4

Quick Start​

# Install from source (requires emsdk for WASM build)
git clone --recurse-submodules https://github.com/lichtblick-suite/asam-opendrive-converter.git
cd asam-opendrive-converter
npm install
npm run build:wasm   # compile C++ → WASM (one-time)
npm run build        # bundle extension
npm run local-install

Then open Lichtblick, load an OMEGA PRIME MCAP file, and add a 3D panel. The OpenDRIVE map channel will be automatically converted and rendered.

Standards​

This extension implements portions of: