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Features

All feature builders live in src/converters/openDriveMap/sceneUpdateConverter.ts and operate on mesh data returned by libOpenDRIVE WASM.

Lane Surfaces​

Builder: buildLaneSurfaceEntities()

This builder iterates lanes_mesh.lane_start_indices and creates one SceneEntity per lane chunk.

For each chunk it:

  1. collects the vertices and triangle indices that belong to the lane
  2. looks up the lane type for color selection
  3. applies junction coloring when the road is part of a junction
  4. emits a TriangleListPrimitive

Entity ID pattern: road.{roadId}.lanesection.{s0}.lane.{laneId}

Metadata: road_id, lane_id, lane_type, junction, road_name, road_length, speed_limit, road_type, predecessor, successor, lane_predecessor, lane_successor

Lane Boundaries​

Builder: buildLaneBoundaryEntities()

This builder uses lanes_mesh.get_lane_outline_indices() to extract the lane outline graph and remaps it into a compact Foxglove LinePrimitive.

Current rendering characteristics:

  • one SceneEntity per lane chunk with ID road.{roadId}.lanesection.{s0}.lane.{laneId}.boundary
  • type = LINE_LIST
  • thickness 0.08 m
  • z-offset +0.01 m to avoid z-fighting with lane surfaces

Metadata: road_id, lane_id

Road Markings​

Builder: buildRoadMarkEntities()

This builder iterates roadmarks_mesh.roadmark_type_start_indices and emits one TriangleListPrimitive per road-mark mesh chunk.

Because the geometry comes from libOpenDRIVE, dashed and broken markings appear naturally as separate filled mesh segments with gaps between them.

Entity ID pattern: road.{roadId}.roadmark.{startIdx}

Metadata: road_id, mark_type, weight, lane_change, width

Road Objects​

Builder: buildRoadObjectEntities()

This builder iterates road_objects_mesh.road_object_start_indices and emits one TriangleListPrimitive per road object.

Objects are rendered from libOpenDRIVE-generated meshes derived from OpenDRIVE object geometry and repeats.

Entity ID pattern: road.{roadId}.object.{objectId}

Metadata: road_id, object_id, type, name, subtype, orientation, dynamic, width, height, length, s, t

Road Signals​

Builder: buildRoadSignalEntities()

This builder iterates road_signals_mesh.road_signal_start_indices and emits one TriangleListPrimitive per road signal.

Signals are rendered as libOpenDRIVE-generated meshes with their pose already baked into the returned vertices.

Entity ID pattern: road.{roadId}.signal.{signalId}

Metadata: road_id, signal_id, name, country, type, subtype, value, text, dynamic, height, width, orientation

Shared Rendering Conventions​

All generated entities use:

  • frame_id="global"
  • frame_locked=true
  • lifetime={sec: 0, nsec: 0}
  • IDENTITY_POSE with absolute OpenDRIVE inertial coordinates