Feature Mapping: OpenDRIVE Standard → libOpenDRIVE C++ → WASM Adapter → Foxglove Schema

Version: 2.0 Last Updated: 2026-05-19 Audit Status: Updated for the current libOpenDRIVE WASM pipeline

This document maps OpenDRIVE features across four layers:

1. OpenDRIVE Standard — normative definition from ASAM OpenDRIVE V1.8.1
2. libOpenDRIVE C++ API — reference implementation compiled to WebAssembly
3. This Converter (WASM adapter) — sceneUpdateConverter.ts plus related TypeScript glue
4. Foxglove Output — SceneUpdate primitives emitted to the 3D panel

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1. Geometry Primitives (Reference Line)

#	Feature	ODR Standard	libOpenDRIVE C++	This Converter (WASM adapter)	Foxglove Output	Status	Notes
1.1	Straight line	[ODR §9.3] <line>	GeomLine	Included in get_road_network_mesh(eps)	Internal mesh generation	✅
1.2	Arc	[ODR §9.5] <arc curvature="κ">	GeomArc	Included in mesh generation	Internal mesh generation	✅
1.3	Spiral (clothoid)	[ODR §9.4] <spiral>	GeomSpiral	Included in mesh generation with spiral edge-case fixes enabled	Internal mesh generation	✅
1.4	Cubic polynomial	[ODR §9.7] <poly3>	GeomPoly3	Included in mesh generation	Internal mesh generation	✅
1.5	Parametric cubic	[ODR §9.6] <paramPoly3>	GeomParamPoly3	Included in mesh generation	Internal mesh generation	✅
1.6	Cubic bezier	[ODR §9.8] <cubicBezier>	CubicBezier support	Included in mesh generation	Internal mesh generation	✅
1.7	Local→global transform	[ODR §9.2] inertial transform	Built into geometry evaluation	Returned vertices are already in global coordinates	Absolute Point3 coordinates	✅
1.8	Adaptive linearization	Approximation quality	approximate_linear(eps)	Exposed as panel tessellation tolerance	Affects all generated meshes	✅

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2. Road Elevation & Lateral Profile

#	Feature	ODR Standard	libOpenDRIVE C++	This Converter (WASM adapter)	Foxglove Output	Status	Notes
2.1	Elevation profile	[ODR §10.5.1] <elevation>	CubicProfile support	Enabled via createFromXml()	z-coordinate in all features	✅
2.2	Superelevation	[ODR §10.5.2] <superelevation>	Lateral banking support	Enabled with withLateralProfile=true	Baked into meshes	✅
2.3	Crossfall	[ODR §10.5.3] <crossfall>	Crossfall support	Enabled with withLateralProfile=true	Baked into meshes	✅
2.4	Lateral shape	[ODR §10.5.3] <shape>	Controlled by with_lateral_profile	Current converter enables the flag	Baked into meshes when present	✅	Flag-dependent in libOpenDRIVE
2.5	Surface CRG	[ODR §10.6] <surface><CRG>	Not supported by libOpenDRIVE	Not exposed	—	❌

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3. Lane Model

#	Feature	ODR Standard	libOpenDRIVE C++	This Converter (WASM adapter)	Foxglove Output	Status	Notes
3.1	Lane sections	[ODR §11.3] <laneSection>	Piecewise lane-section model	Reflected in returned lane chunks	SceneEntity per lane chunk	✅
3.2	Lane numbering	[ODR §11.1] center=0, left=+, right=−	Lane::id	Preserved in entity IDs and metadata	lane_id metadata	✅
3.3	Lane width	[ODR §11.6.1] <width>	Width profiles	Used during mesh generation	Surface and outline geometry	✅
3.4	Lane border	[ODR §11.6.2] <border>	Border profiles	Used during mesh generation	Surface and outline geometry	✅
3.5	Lane offset	[ODR §11.4] <laneOffset>	Cubic lane-offset support	Enabled via createFromXml()	Surface and outline geometry	✅
3.6	Lane height	[ODR §11.6.3] <height>	Lane-height support	Enabled via withLaneHeight=true	Surface and object placement geometry	✅
3.7	Lane type	[ODR §11.7.1] e_laneType	Lane type enum/string	Mapped to colors including walking, slipLane, shared, tram, rail, bus, taxi, hov	Colored lane surfaces	✅
3.8	Lane material	[ODR §11.7.2] <material>	Not surfaced as a visual layer	Not rendered separately	—	❌
3.9	Width accumulation	[ODR §11.6.1] center-out accumulation	Handled inside libOpenDRIVE	Reflected in returned meshes	Surface and outline geometry	✅
3.10	Lateral offset	[ODR §8.3] s/t/h frame	get_xyz(s,t,h)-style evaluation	Reflected in returned vertices	Absolute Point3 coordinates	✅

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4. Road Markings

#	Feature	ODR Standard	libOpenDRIVE C++	This Converter (WASM adapter)	Foxglove Output	Status	Notes
4.1	Road mark group	[ODR §11.8] <roadMark>	Grouped road-mark support	Adapted from roadmarks_mesh chunks	TriangleListPrimitive	✅
4.2	Mark type	[ODR §11.8] solid, broken, etc.	Type-aware road-mark mesh generation	Preserved as per-chunk metadata	Filled meshes with natural gaps	✅
4.3	Mark color	[ODR §11.8] 9 colors	Color-aware road-mark data	Color mapping covers standard, white, yellow, blue, green, red, orange, violet, black	Colored road-mark meshes	✅
4.4	Mark weight	[ODR §11.8] standard/bold	Width and weight contribute to generated geometry	Consumed through libOpenDRIVE mesh generation	Mesh width	✅
4.5	Explicit marks	[ODR §11.8] <explicit><line>	Explicit mark line support	Consumed as generated mesh chunks	Filled meshes	✅	Adapted at mesh level
4.6	Mark mesh	Visualization layer	roadmarks_mesh	Adapted directly to Foxglove triangles	TriangleListPrimitive	✅
4.7	Center lane marks	[ODR §11.8] lane 0 markings	Included if present in mesh output	Adapted like any other chunk	Filled meshes	✅

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5. Lane Surfaces (Tessellation)

#	Feature	ODR Standard	libOpenDRIVE C++	This Converter (WASM adapter)	Foxglove Output	Status	Notes
5.1	Lane mesh	Visualization layer	lanes_mesh	Adapted per lane chunk	TriangleListPrimitive	✅
5.2	Lane border line	Visualization layer	Outline indices from lane mesh	Adapted to Foxglove line geometry	LinePrimitive	✅
5.3	Outline indices	Visualization layer	get_lane_outline_indices()	Used to build lane-boundary overlay	LinePrimitive indices	✅
5.4	Full network mesh	Visualization layer	get_road_network_mesh(eps)	Single mesh-generation entry point	Multiple scene entities	✅

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6. Junctions

#	Feature	ODR Standard	libOpenDRIVE C++	This Converter (WASM adapter)	Foxglove Output	Status	Notes
6.1	Junction connections	[ODR §12.3] <connection>	Junction topology support	Junction road IDs used for surface coloring	Junction lanes rendered with distinct color	✅
6.2	Junction groups	[ODR §12.5] <junctionGroup>	Not exposed	Not adapted	—	❌
6.3	Virtual junctions	[ODR §12.6] type="virtual"	Not exposed	Not adapted	—	❌

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7. Road Objects & Signals

#	Feature	ODR Standard	libOpenDRIVE C++	This Converter (WASM adapter)	Foxglove Output	Status	Notes
7.1	Road objects	[ODR §13] <object>	road_objects_mesh	Adapted per object chunk	TriangleListPrimitive	✅
7.2	Road signals	[ODR §14] <signal>	road_signals_mesh	Adapted per signal chunk	TriangleListPrimitive	✅
7.3	Object outlines	[ODR §13.4] <outline>	Used during object mesh generation	Represented by generated mesh geometry	TriangleListPrimitive	✅
7.4	Object repeat	[ODR §13.5] <repeat>	Expanded during object mesh generation	Represented by generated mesh geometry	TriangleListPrimitive	✅

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8. Coordinate Systems & Geo-Referencing

#	Feature	ODR Standard	libOpenDRIVE C++	This Converter (WASM adapter)	Foxglove Output	Status	Notes
8.1	Inertial frame	[ODR §8.2] x=East, y=North, z=Up	Native output frame	Used directly	frame_id="global"	✅
8.2	s/t/h frame	[ODR §8.3] curvilinear coordinates	Internal evaluation frame	Consumed inside libOpenDRIVE	Absolute mesh coordinates	✅
8.3	geoReference	[ODR §8.5] PROJ string	Parsed by libOpenDRIVE	Original coordinates preserved; no extra projection in adapter	Absolute mesh coordinates	⚠️	Preserved, not reprojected
8.4	Header offset	[ODR §8.5] <offset>	Available in map data	Adapter does not apply extra post-transform	Absolute mesh coordinates	⚠️	No additional adapter transform
8.5	Map centering	Visualization option	center_map flag exists	Converter intentionally passes false	—	❌	Original coordinates preserved

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9. Foxglove SceneUpdate Output

#	Feature	Foxglove Schema	Field Values	Source
9.1	SceneUpdate	{ deletions, entities }	Uses SceneEntityDeletionType.ALL when settings change	sceneUpdateConverter.ts
9.2	SceneEntity.id	Stable upsert keys using dot notation mirroring XODR hierarchy	Lane: road.{roadId}.lanesection.{s0}.lane.{laneId}; boundary: road.{roadId}.lanesection.{s0}.lane.{laneId}.boundary; marks: road.{roadId}.roadmark.{chunk}; objects: road.{roadId}.object.{objectId}; signals: road.{roadId}.signal.{signalId}	sceneUpdateConverter.ts
9.3	frame_id	"global"	OpenDRIVE inertial frame maps directly to Foxglove world coordinates	constants.ts, scene.ts
9.4	lifetime	{sec:0, nsec:0}	Persistent until replaced or deleted	scene.ts
9.5	frame_locked	true	Anchors entities to the selected frame	scene.ts
9.6	timestamp	MCAP receiveTime	Shared across all entities in one update	sceneUpdateConverter.ts
9.7	Lane surfaces	TriangleListPrimitive	Indexed triangles, uniform color per lane chunk	sceneUpdateConverter.ts
9.8	Lane boundaries	LinePrimitive	type=LINE_LIST, world-space thickness	sceneUpdateConverter.ts
9.9	Road marks / objects / signals	TriangleListPrimitive	Indexed triangles with stable per-chunk IDs	sceneUpdateConverter.ts
9.10	Metadata	KeyValuePair[]	Lane, mark, object, and signal metadata attached per entity type	sceneUpdateConverter.ts

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10. Summary Statistics

Category	Total Features	✅ Implemented	⚠️ Partial / Conditional	❌ Not Implemented
Geometry primitives	8	8	0	0
Elevation/profile	5	4	0	1
Lane model	10	9	0	1
Road markings	7	7	0	0
Lane surfaces	4	4	0	0
Junctions	3	1	0	2
Objects & signals	4	4	0	0
Coordinates/geo	5	2	2	1
Total	46	39 (85%)	2 (4%)	5 (11%)
Foxglove output	10	10	0	0

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References

• [ODR] ASAM OpenDRIVE V1.8.1: https://publications.pages.asam.net/standards/ASAM_OpenDRIVE/ASAM_OpenDRIVE_Specification/v1.8.1/specification/
• [libODR] lichtblick-suite/libOpenDRIVE: https://github.com/lichtblick-suite/libOpenDRIVE (fork of https://github.com/pageldev/libOpenDRIVE)
• [FG-SCENE] Foxglove SceneUpdate: https://docs.foxglove.dev/docs/sdk/schemas/scene-update
• See docs/references/ for detailed standard reference documents.