@drawtonomy/sdk 0.6.0 → 0.8.0

package/README.ja.md

@@ -118,6 +118,42 @@ https://drawtonomy.com?ext=http://localhost:3001/manifest.json
 | `getBoundingBox(points)` | バウンディングボックスを取得 |
 | `distanceToSegment(point, a, b)` | 点からセグメントまでの距離 |
 
+### Exporter モジュール
+
+`DrawtonomySnapshot` を OpenDRIVE / OpenSCENARIO / Lanelet2 OSM 形式の文字列に変換します。エディタランタイムに依存しないため、ヘッドレスツール、サーバーサイドパイプライン、ブラウザ拡張等から利用可能です。Lanelet2 については OSM XML をエディタが扱える形式（point / linestring / lane）に戻すパーサも提供し、ラウンドトリップを実現します。
+
+```typescript
+import { exporter, createSnapshot } from '@drawtonomy/sdk'
+
+const snapshot = createSnapshot(myShapes)
+const xodr = exporter.exportToOpenDrive(snapshot)
+const xosc = exporter.exportToOpenScenario(snapshot, { xodrFilename: 'scene.xodr' })
+
+// .xodr + .xosc を 1 つの zip にまとめて esmini で実行可能に
+const { blob, baseName } = exporter.buildEsminiZip(snapshot, { baseName: 'my-scene' })
+
+// Lanelet2 (.osm XML) のエクスポート + 再インポート
+const osm = exporter.exportToLanelet2(snapshot, { mapOrigin: { lat: 35.0, lon: 139.0 } })
+const data = exporter.parseOsmXml(osm)
+const imported = exporter.osmToShapes(data)
+```
+
+| 関数 | 説明 |
+|------|------|
+| `exporter.exportToOpenDrive(snapshot)` | OpenDRIVE 1.8 (.xodr) XML |
+| `exporter.exportToOpenScenario(snapshot, options?)` | OpenSCENARIO 1.3 (.xosc) XML |
+| `exporter.buildEsminiZip(snapshot, options?)` | .xodr + .xosc を 1 つの zip にまとめる |
+| `exporter.exportToLanelet2(snapshot, options?)` | Lanelet2 (.osm XML) ドキュメント |
+| `exporter.parseOsmXml(xml)` | Lanelet2 OSM XML を構造化データへパース |
+| `exporter.osmToShapes(data, options?)` | OSM → エディタが使う point / linestring / lane レコード |
+| `exporter.alignBoundaries(left, right)` | レーンの左右境界の反転フラグを判定 |
+| `exporter.createShapeIdAllocator()` | `osmToShapes` で使用する ID アロケータ |
+| `exporter.latLonToCanvas(lat, lon, ...)` / `canvasToLatLon(...)` | 等距円筒投影ヘルパ |
+| `exporter.buildPathTrajectory(input)` | Path → 時刻付き頂点列 |
+| `exporter.computeCenterlineWithWidth(left, right)` | レーン中心線 + 幅サンプル |
+| `exporter.buildZip(entries)` | 純粋な ZIP ビルダー (store mode、依存なし) |
+| `exporter.sanitizeFileBaseName(input)` | OS-safe なベース名サニタイザ |
+
 ## デプロイ
 
 エクステンションは任意のHTTPSホスティングサービスにデプロイできます。

package/README.md

@@ -129,8 +129,11 @@ http://localhost:3000/?ext=http://localhost:3001/manifest.json
 ### Exporter Module
 
 Convert a `DrawtonomySnapshot` into target-format strings (OpenDRIVE,
-OpenSCENARIO) without depending on the editor runtime — useful for headless
-tooling, server-side pipelines, or browser extensions.
+OpenSCENARIO, Lanelet2 OSM) without depending on the editor runtime — useful
+for headless tooling, server-side pipelines, or browser extensions. The
+Lanelet2 module additionally exposes a parser that turns OSM XML back into
+editor-ready primitives (points / linestrings / lanes), enabling round-trip
+workflows.
 
 ```typescript
 import { exporter, createSnapshot } from '@drawtonomy/sdk'
@@ -141,6 +144,11 @@ const xosc = exporter.exportToOpenScenario(snapshot, { xodrFilename: 'scene.xodr
 
 // Bundle both into a single .zip ready for esmini.
 const { blob, baseName } = exporter.buildEsminiZip(snapshot, { baseName: 'my-scene' })
+
+// Lanelet2 (.osm XML) export and round-trip.
+const osm = exporter.exportToLanelet2(snapshot, { mapOrigin: { lat: 35.0, lon: 139.0 } })
+const data = exporter.parseOsmXml(osm)
+const imported = exporter.osmToShapes(data)
 ```
 
 | Function | Description |
@@ -148,6 +156,12 @@ const { blob, baseName } = exporter.buildEsminiZip(snapshot, { baseName: 'my-sce
 | `exporter.exportToOpenDrive(snapshot)` | OpenDRIVE 1.8 (.xodr) XML |
 | `exporter.exportToOpenScenario(snapshot, options?)` | OpenSCENARIO 1.3 (.xosc) XML |
 | `exporter.buildEsminiZip(snapshot, options?)` | One-shot zip bundling .xodr + .xosc |
+| `exporter.exportToLanelet2(snapshot, options?)` | Lanelet2 (.osm XML) document |
+| `exporter.parseOsmXml(xml)` | Parse Lanelet2 OSM XML into structured data |
+| `exporter.osmToShapes(data, options?)` | OSM → editor-ready point / linestring / lane records |
+| `exporter.alignBoundaries(left, right)` | Decide invert flags for a lane's left / right boundary |
+| `exporter.createShapeIdAllocator()` | Pluggable id allocator used by `osmToShapes` |
+| `exporter.latLonToCanvas(lat, lon, ...)` / `canvasToLatLon(...)` | Equirectangular projection helpers |
 | `exporter.buildPathTrajectory(input)` | Path → time-stamped vertex sequence |
 | `exporter.computeCenterlineWithWidth(left, right)` | Lane centerline + width samples |
 | `exporter.buildZip(entries)` | Pure ZIP builder (store mode, no deps) |

package/dist/exporter/index.d.ts

@@ -1,4 +1,5 @@
 export { exportToOpenDrive } from './opendrive';
+export { latLonToTmercProj, latLonToUtmProj, originToProjString, FALLBACK_GEO_REFERENCE, type GeoOrigin, } from './projection';
 export { exportToOpenScenario, templateIdToVehicleCategory, type OpenScenarioExportOptions, type TemplateResolver, } from './openscenario';
 export { buildPathTrajectory, DEFAULT_PATH_SPEED_MPS, type PathSamplePoint, type PathTrajectoryInput, } from './trajectory';
 export { computeCenterlineWithWidth, sampleAtParam, computeHeadings, type Point2D, type CenterlineSample, } from './laneCenterline';
@@ -6,4 +7,7 @@ export { buildEsminiZip, type EsminiPackageOptions, type EsminiPackageResult } f
 export { buildZip, type ZipEntry } from './zip';
 export { sanitizeFileBaseName } from './sanitize';
 export { PIXELS_PER_METER } from './units';
+export { exportToLanelet2, DEFAULT_ORIGIN_LAT, DEFAULT_ORIGIN_LON, type Lanelet2ExportOptions, type OsmSidecar, type MapOrigin, } from './lanelet2';
+export { parseOsmXml, latLonToCanvas, canvasToLatLon, type OsmData, type OsmNode, type OsmWay, type OsmRelation, } from './osmParser';
+export { osmToShapes, alignBoundaries, createShapeIdAllocator, type ImportedShapes, type ImportedPoint, type ImportedLinestring, type ImportedLane, type ImportBounds, type OsmToShapesOptions, type ShapeIdAllocator, } from './osmToShapes';
 //# sourceMappingURL=index.d.ts.map

package/dist/exporter/index.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/exporter/index.ts"],"names":[],"mappings":"AAOA,OAAO,EAAE,iBAAiB,EAAE,MAAM,aAAa,CAAA;AAC/C,OAAO,EACL,oBAAoB,EACpB,2BAA2B,EAC3B,KAAK,yBAAyB,EAC9B,KAAK,gBAAgB,GACtB,MAAM,gBAAgB,CAAA;AACvB,OAAO,EACL,mBAAmB,EACnB,sBAAsB,EACtB,KAAK,eAAe,EACpB,KAAK,mBAAmB,GACzB,MAAM,cAAc,CAAA;AACrB,OAAO,EACL,0BAA0B,EAC1B,aAAa,EACb,eAAe,EACf,KAAK,OAAO,EACZ,KAAK,gBAAgB,GACtB,MAAM,kBAAkB,CAAA;AACzB,OAAO,EAAE,cAAc,EAAE,KAAK,oBAAoB,EAAE,KAAK,mBAAmB,EAAE,MAAM,iBAAiB,CAAA;AACrG,OAAO,EAAE,QAAQ,EAAE,KAAK,QAAQ,EAAE,MAAM,OAAO,CAAA;AAC/C,OAAO,EAAE,oBAAoB,EAAE,MAAM,YAAY,CAAA;AACjD,OAAO,EAAE,gBAAgB,EAAE,MAAM,SAAS,CAAA"}
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/exporter/index.ts"],"names":[],"mappings":"AASA,OAAO,EAAE,iBAAiB,EAAE,MAAM,aAAa,CAAA;AAC/C,OAAO,EACL,iBAAiB,EACjB,eAAe,EACf,kBAAkB,EAClB,sBAAsB,EACtB,KAAK,SAAS,GACf,MAAM,cAAc,CAAA;AACrB,OAAO,EACL,oBAAoB,EACpB,2BAA2B,EAC3B,KAAK,yBAAyB,EAC9B,KAAK,gBAAgB,GACtB,MAAM,gBAAgB,CAAA;AACvB,OAAO,EACL,mBAAmB,EACnB,sBAAsB,EACtB,KAAK,eAAe,EACpB,KAAK,mBAAmB,GACzB,MAAM,cAAc,CAAA;AACrB,OAAO,EACL,0BAA0B,EAC1B,aAAa,EACb,eAAe,EACf,KAAK,OAAO,EACZ,KAAK,gBAAgB,GACtB,MAAM,kBAAkB,CAAA;AACzB,OAAO,EAAE,cAAc,EAAE,KAAK,oBAAoB,EAAE,KAAK,mBAAmB,EAAE,MAAM,iBAAiB,CAAA;AACrG,OAAO,EAAE,QAAQ,EAAE,KAAK,QAAQ,EAAE,MAAM,OAAO,CAAA;AAC/C,OAAO,EAAE,oBAAoB,EAAE,MAAM,YAAY,CAAA;AACjD,OAAO,EAAE,gBAAgB,EAAE,MAAM,SAAS,CAAA;AAC1C,OAAO,EACL,gBAAgB,EAChB,kBAAkB,EAClB,kBAAkB,EAClB,KAAK,qBAAqB,EAC1B,KAAK,UAAU,EACf,KAAK,SAAS,GACf,MAAM,YAAY,CAAA;AACnB,OAAO,EACL,WAAW,EACX,cAAc,EACd,cAAc,EACd,KAAK,OAAO,EACZ,KAAK,OAAO,EACZ,KAAK,MAAM,EACX,KAAK,WAAW,GACjB,MAAM,aAAa,CAAA;AACpB,OAAO,EACL,WAAW,EACX,eAAe,EACf,sBAAsB,EACtB,KAAK,cAAc,EACnB,KAAK,aAAa,EAClB,KAAK,kBAAkB,EACvB,KAAK,YAAY,EACjB,KAAK,YAAY,EACjB,KAAK,kBAAkB,EACvB,KAAK,gBAAgB,GACtB,MAAM,eAAe,CAAA"}

package/dist/exporter/index.js

@@ -1,10 +1,13 @@
 // drawtonomy SDK — exporter modules.
 //
 // These exporters convert a `DrawtonomySnapshot` into target-format strings
-// (OpenDRIVE / OpenSCENARIO) without depending on the editor runtime, so
-// they can be used in headless tooling, server-side pipelines, or browser
-// extensions.
+// (OpenDRIVE / OpenSCENARIO / Lanelet2 OSM) without depending on the editor
+// runtime, so they can be used in headless tooling, server-side pipelines, or
+// browser extensions. The Lanelet2 module additionally exposes a parser that
+// turns OSM XML back into editor-ready primitives (points / linestrings /
+// lanes), enabling round-trip workflows.
 export { exportToOpenDrive } from './opendrive';
+export { latLonToTmercProj, latLonToUtmProj, originToProjString, FALLBACK_GEO_REFERENCE, } from './projection';
 export { exportToOpenScenario, templateIdToVehicleCategory, } from './openscenario';
 export { buildPathTrajectory, DEFAULT_PATH_SPEED_MPS, } from './trajectory';
 export { computeCenterlineWithWidth, sampleAtParam, computeHeadings, } from './laneCenterline';
@@ -12,4 +15,7 @@ export { buildEsminiZip } from './packageEsmini';
 export { buildZip } from './zip';
 export { sanitizeFileBaseName } from './sanitize';
 export { PIXELS_PER_METER } from './units';
+export { exportToLanelet2, DEFAULT_ORIGIN_LAT, DEFAULT_ORIGIN_LON, } from './lanelet2';
+export { parseOsmXml, latLonToCanvas, canvasToLatLon, } from './osmParser';
+export { osmToShapes, alignBoundaries, createShapeIdAllocator, } from './osmToShapes';
 //# sourceMappingURL=index.js.map

package/dist/exporter/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","sourceRoot":"","sources":["../../src/exporter/index.ts"],"names":[],"mappings":"AAAA,qCAAqC;AACrC,EAAE;AACF,4EAA4E;AAC5E,yEAAyE;AACzE,0EAA0E;AAC1E,cAAc;AAEd,OAAO,EAAE,iBAAiB,EAAE,MAAM,aAAa,CAAA;AAC/C,OAAO,EACL,oBAAoB,EACpB,2BAA2B,GAG5B,MAAM,gBAAgB,CAAA;AACvB,OAAO,EACL,mBAAmB,EACnB,sBAAsB,GAGvB,MAAM,cAAc,CAAA;AACrB,OAAO,EACL,0BAA0B,EAC1B,aAAa,EACb,eAAe,GAGhB,MAAM,kBAAkB,CAAA;AACzB,OAAO,EAAE,cAAc,EAAuD,MAAM,iBAAiB,CAAA;AACrG,OAAO,EAAE,QAAQ,EAAiB,MAAM,OAAO,CAAA;AAC/C,OAAO,EAAE,oBAAoB,EAAE,MAAM,YAAY,CAAA;AACjD,OAAO,EAAE,gBAAgB,EAAE,MAAM,SAAS,CAAA"}
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../src/exporter/index.ts"],"names":[],"mappings":"AAAA,qCAAqC;AACrC,EAAE;AACF,4EAA4E;AAC5E,4EAA4E;AAC5E,8EAA8E;AAC9E,6EAA6E;AAC7E,0EAA0E;AAC1E,yCAAyC;AAEzC,OAAO,EAAE,iBAAiB,EAAE,MAAM,aAAa,CAAA;AAC/C,OAAO,EACL,iBAAiB,EACjB,eAAe,EACf,kBAAkB,EAClB,sBAAsB,GAEvB,MAAM,cAAc,CAAA;AACrB,OAAO,EACL,oBAAoB,EACpB,2BAA2B,GAG5B,MAAM,gBAAgB,CAAA;AACvB,OAAO,EACL,mBAAmB,EACnB,sBAAsB,GAGvB,MAAM,cAAc,CAAA;AACrB,OAAO,EACL,0BAA0B,EAC1B,aAAa,EACb,eAAe,GAGhB,MAAM,kBAAkB,CAAA;AACzB,OAAO,EAAE,cAAc,EAAuD,MAAM,iBAAiB,CAAA;AACrG,OAAO,EAAE,QAAQ,EAAiB,MAAM,OAAO,CAAA;AAC/C,OAAO,EAAE,oBAAoB,EAAE,MAAM,YAAY,CAAA;AACjD,OAAO,EAAE,gBAAgB,EAAE,MAAM,SAAS,CAAA;AAC1C,OAAO,EACL,gBAAgB,EAChB,kBAAkB,EAClB,kBAAkB,GAInB,MAAM,YAAY,CAAA;AACnB,OAAO,EACL,WAAW,EACX,cAAc,EACd,cAAc,GAKf,MAAM,aAAa,CAAA;AACpB,OAAO,EACL,WAAW,EACX,eAAe,EACf,sBAAsB,GAQvB,MAAM,eAAe,CAAA"}

package/dist/exporter/lanelet2.d.ts

@@ -0,0 +1,26 @@
+import type { DrawtonomySnapshot } from '../types';
+/** Sidecar captured at OSM import time. Used to round-trip tags / `ele`. */
+export interface OsmSidecar {
+    rawXml: string;
+    originLat: number;
+    originLon: number;
+}
+/** Origin to use when no sidecar is provided. */
+export interface MapOrigin {
+    lat: number | null;
+    lon: number | null;
+}
+export interface Lanelet2ExportOptions {
+    sidecar?: OsmSidecar | null;
+    mapOrigin?: MapOrigin | null;
+}
+/**
+ * Default origin used when neither a sidecar nor a map origin is supplied.
+ * Tokyo Teleport Station — picked because it is in a flat area visible at
+ * default zoom on most map providers.
+ */
+export declare const DEFAULT_ORIGIN_LAT = 35.62614;
+export declare const DEFAULT_ORIGIN_LON = 139.77525;
+/** Build a Lanelet2 OSM XML document from a snapshot. */
+export declare function exportToLanelet2(snapshot: DrawtonomySnapshot, options?: Lanelet2ExportOptions): string;
+//# sourceMappingURL=lanelet2.d.ts.map

package/dist/exporter/lanelet2.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"lanelet2.d.ts","sourceRoot":"","sources":["../../src/exporter/lanelet2.ts"],"names":[],"mappings":"AAiBA,OAAO,KAAK,EAEV,kBAAkB,EAInB,MAAM,UAAU,CAAA;AAOjB,4EAA4E;AAC5E,MAAM,WAAW,UAAU;IACzB,MAAM,EAAE,MAAM,CAAA;IACd,SAAS,EAAE,MAAM,CAAA;IACjB,SAAS,EAAE,MAAM,CAAA;CAClB;AAED,iDAAiD;AACjD,MAAM,WAAW,SAAS;IACxB,GAAG,EAAE,MAAM,GAAG,IAAI,CAAA;IAClB,GAAG,EAAE,MAAM,GAAG,IAAI,CAAA;CACnB;AAED,MAAM,WAAW,qBAAqB;IACpC,OAAO,CAAC,EAAE,UAAU,GAAG,IAAI,CAAA;IAC3B,SAAS,CAAC,EAAE,SAAS,GAAG,IAAI,CAAA;CAC7B;AAED;;;;GAIG;AACH,eAAO,MAAM,kBAAkB,WAAW,CAAA;AAC1C,eAAO,MAAM,kBAAkB,YAAY,CAAA;AAwN3C,yDAAyD;AACzD,wBAAgB,gBAAgB,CAC9B,QAAQ,EAAE,kBAAkB,EAC5B,OAAO,GAAE,qBAA0B,GAClC,MAAM,CAiDR"}

package/dist/exporter/lanelet2.js

@@ -0,0 +1,261 @@
+// Lanelet2 (.osm XML) exporter — emits an OSM document from a snapshot.
+// No external library dependencies.
+//
+// Behavior summary:
+// - Each PointShape becomes a `<node>`
+// - Each LinestringShape becomes a `<way>` referencing its point nodes
+// - Each LaneShape becomes a `<relation type=lanelet>` referencing its
+//   left/right way as members
+// - When a sidecar (the original OSM XML captured at import time) is supplied,
+//   tags / `ele` / unrelated relations (regulatory_element etc.) are
+//   round-tripped: shape-derived entries override the sidecar copies for the
+//   same OSM IDs, and untouched entries are emitted verbatim in the original
+//   order.
+// - The root `<osm>` element carries `drawtonomy_origin_lat` /
+//   `drawtonomy_origin_lon` so re-importing the file restores the same canvas
+//   origin. Standard OSM consumers ignore unknown attributes.
+import { canvasToLatLon, parseOsmXml } from './osmParser';
+/**
+ * Default origin used when neither a sidecar nor a map origin is supplied.
+ * Tokyo Teleport Station — picked because it is in a flat area visible at
+ * default zoom on most map providers.
+ */
+export const DEFAULT_ORIGIN_LAT = 35.62614;
+export const DEFAULT_ORIGIN_LON = 139.77525;
+function escapeXml(s) {
+    return s
+        .replace(/&/g, '&amp;')
+        .replace(/</g, '&lt;')
+        .replace(/>/g, '&gt;')
+        .replace(/"/g, '&quot;')
+        .replace(/'/g, '&apos;');
+}
+function formatLatLon(v) {
+    // 11 decimal places ≈ 0.1 mm precision.
+    return v.toFixed(11);
+}
+function formatEle(v) {
+    // 3 decimal places = 1 mm precision.
+    return v.toFixed(3);
+}
+function buildShapeMap(shapes) {
+    const map = new Map();
+    for (const s of shapes)
+        map.set(s.id, s);
+    return map;
+}
+function buildFromShapes(shapes, originLat, originLon, sidecarData) {
+    const shapeMap = buildShapeMap(shapes);
+    const points = [];
+    const linestrings = [];
+    const lanes = [];
+    for (const s of shapes) {
+        if (s.type === 'point')
+            points.push(s);
+        else if (s.type === 'linestring')
+            linestrings.push(s);
+        else if (s.type === 'lane')
+            lanes.push(s);
+    }
+    const nodesOut = new Map();
+    const waysOut = new Map();
+    const relationsOut = [];
+    const shapeNodeOsmIds = new Set();
+    const shapeWayOsmIds = new Set();
+    const shapeRelationOsmIds = new Set();
+    // Resolve a shape -> OSM ID. Empty `osmId` (newly drawn shape) gets a fresh
+    // negative ID, matching the OSM convention for unsubmitted edits.
+    let nextNewId = -1;
+    const newIdFor = new Map();
+    const resolveOsmId = (shapeId, propsOsmId) => {
+        if (propsOsmId && propsOsmId.length > 0)
+            return propsOsmId;
+        const cached = newIdFor.get(shapeId);
+        if (cached !== undefined)
+            return cached;
+        const id = String(nextNewId--);
+        newIdFor.set(shapeId, id);
+        return id;
+    };
+    // Points -> nodes.
+    for (const p of points) {
+        const osmId = resolveOsmId(p.id, p.props.osmId);
+        shapeNodeOsmIds.add(osmId);
+        const { lat, lon } = canvasToLatLon(p.x, p.y, originLat, originLon);
+        const original = sidecarData?.nodes.get(osmId);
+        const tags = original ? { ...original.tags } : {};
+        const ele = original?.ele;
+        nodesOut.set(osmId, { id: osmId, lat, lon, ele, tags });
+    }
+    // Linestrings -> ways.
+    for (const ls of linestrings) {
+        const osmId = resolveOsmId(ls.id, ls.props.osmId);
+        shapeWayOsmIds.add(osmId);
+        const nodeRefs = [];
+        for (const pid of ls.props.pointIds) {
+            const point = shapeMap.get(pid);
+            if (!point)
+                continue;
+            nodeRefs.push(resolveOsmId(point.id, point.props.osmId));
+        }
+        const original = sidecarData?.ways.get(osmId);
+        const tags = original ? { ...original.tags } : {};
+        if (ls.props.attributes) {
+            for (const [k, v] of Object.entries(ls.props.attributes)) {
+                if (v !== undefined && v !== null && v !== '')
+                    tags[k] = String(v);
+            }
+        }
+        if (!tags.type)
+            tags.type = 'line_thin';
+        waysOut.set(osmId, { id: osmId, nodeRefs, tags });
+    }
+    // Lanes -> relations (type=lanelet).
+    for (const lane of lanes) {
+        const osmId = resolveOsmId(lane.id, lane.props.osmId);
+        shapeRelationOsmIds.add(osmId);
+        const original = sidecarData?.relations.find(r => r.id === osmId);
+        const members = [];
+        let leftWayId = null;
+        let rightWayId = null;
+        if (lane.props.leftBoundaryId) {
+            const leftLs = shapeMap.get(lane.props.leftBoundaryId);
+            if (leftLs)
+                leftWayId = resolveOsmId(leftLs.id, leftLs.props.osmId);
+        }
+        if (lane.props.rightBoundaryId) {
+            const rightLs = shapeMap.get(lane.props.rightBoundaryId);
+            if (rightLs)
+                rightWayId = resolveOsmId(rightLs.id, rightLs.props.osmId);
+        }
+        if (original) {
+            // Preserve the original member order; only refresh left/right refs.
+            for (const m of original.members) {
+                if (m.type === 'way' && m.role === 'left' && leftWayId) {
+                    members.push({ type: 'way', ref: leftWayId, role: 'left' });
+                }
+                else if (m.type === 'way' && m.role === 'right' && rightWayId) {
+                    members.push({ type: 'way', ref: rightWayId, role: 'right' });
+                }
+                else {
+                    members.push({ ...m });
+                }
+            }
+        }
+        else {
+            if (leftWayId)
+                members.push({ type: 'way', ref: leftWayId, role: 'left' });
+            if (rightWayId)
+                members.push({ type: 'way', ref: rightWayId, role: 'right' });
+        }
+        const tags = original ? { ...original.tags } : {};
+        if (lane.props.attributes) {
+            for (const [k, v] of Object.entries(lane.props.attributes)) {
+                if (v !== undefined && v !== null && v !== '')
+                    tags[k] = String(v);
+            }
+        }
+        if (!tags.type)
+            tags.type = 'lanelet';
+        relationsOut.push({ id: osmId, members, tags });
+    }
+    return { nodes: nodesOut, ways: waysOut, relations: relationsOut, shapeNodeOsmIds, shapeWayOsmIds, shapeRelationOsmIds };
+}
+function nodeToXml(node) {
+    const tags = [];
+    // `ele` is emitted as a tag (Lanelet2 OSM convention).
+    const tagEntries = Object.entries(node.tags).filter(([k]) => k !== 'ele');
+    if (node.ele !== undefined) {
+        tags.push(`    <tag k='ele' v='${escapeXml(formatEle(node.ele))}' />`);
+    }
+    else if (node.tags.ele !== undefined) {
+        tags.push(`    <tag k='ele' v='${escapeXml(node.tags.ele)}' />`);
+    }
+    for (const [k, v] of tagEntries) {
+        tags.push(`    <tag k='${escapeXml(k)}' v='${escapeXml(v)}' />`);
+    }
+    if (tags.length === 0) {
+        return `  <node id='${escapeXml(node.id)}' visible='true' version='1' lat='${formatLatLon(node.lat)}' lon='${formatLatLon(node.lon)}' />\n`;
+    }
+    let xml = `  <node id='${escapeXml(node.id)}' visible='true' version='1' lat='${formatLatLon(node.lat)}' lon='${formatLatLon(node.lon)}'>\n`;
+    xml += tags.join('\n') + '\n';
+    xml += `  </node>\n`;
+    return xml;
+}
+function wayToXml(way) {
+    let xml = `  <way id='${escapeXml(way.id)}' visible='true' version='1'>\n`;
+    for (const ref of way.nodeRefs) {
+        xml += `    <nd ref='${escapeXml(ref)}' />\n`;
+    }
+    for (const [k, v] of Object.entries(way.tags)) {
+        xml += `    <tag k='${escapeXml(k)}' v='${escapeXml(v)}' />\n`;
+    }
+    xml += `  </way>\n`;
+    return xml;
+}
+function relationToXml(rel) {
+    let xml = `  <relation id='${escapeXml(rel.id)}' visible='true' version='1'>\n`;
+    for (const m of rel.members) {
+        xml += `    <member type='${escapeXml(m.type)}' ref='${escapeXml(m.ref)}' role='${escapeXml(m.role)}' />\n`;
+    }
+    for (const [k, v] of Object.entries(rel.tags)) {
+        xml += `    <tag k='${escapeXml(k)}' v='${escapeXml(v)}' />\n`;
+    }
+    xml += `  </relation>\n`;
+    return xml;
+}
+/** Build a Lanelet2 OSM XML document from a snapshot. */
+export function exportToLanelet2(snapshot, options = {}) {
+    const { sidecar = null, mapOrigin = null } = options;
+    // Sidecar wins (= round-trip from import). Otherwise fall back to the
+    // current map origin, then DEFAULT.
+    let originLat;
+    let originLon;
+    if (sidecar) {
+        originLat = sidecar.originLat;
+        originLon = sidecar.originLon;
+    }
+    else {
+        originLat = mapOrigin?.lat ?? DEFAULT_ORIGIN_LAT;
+        originLon = mapOrigin?.lon ?? DEFAULT_ORIGIN_LON;
+    }
+    const sidecarData = sidecar ? parseOsmXml(sidecar.rawXml) : null;
+    const fromShapes = buildFromShapes(snapshot.shapes, originLat, originLon, sidecarData);
+    // Combine: sidecar entries (skipping IDs that shapes overwrite) + shape-derived entries.
+    // Sidecar order is preserved to keep round-trips stable.
+    const finalNodes = [];
+    const finalWays = [];
+    const finalRelations = [];
+    if (sidecarData) {
+        sidecarData.nodes.forEach((n, id) => {
+            if (fromShapes.shapeNodeOsmIds.has(id))
+                return;
+            finalNodes.push({ id, lat: n.lat, lon: n.lon, ele: n.ele, tags: n.tags });
+        });
+        sidecarData.ways.forEach((w, id) => {
+            if (fromShapes.shapeWayOsmIds.has(id))
+                return;
+            finalWays.push({ id, nodeRefs: w.nodeRefs, tags: w.tags });
+        });
+        for (const r of sidecarData.relations) {
+            if (fromShapes.shapeRelationOsmIds.has(r.id))
+                continue;
+            finalRelations.push({ id: r.id, members: r.members.map(m => ({ ...m })), tags: r.tags });
+        }
+    }
+    fromShapes.nodes.forEach(n => finalNodes.push(n));
+    fromShapes.ways.forEach(w => finalWays.push(w));
+    for (const r of fromShapes.relations)
+        finalRelations.push(r);
+    let xml = `<?xml version='1.0' encoding='UTF-8'?>\n`;
+    xml += `<osm version='0.6' generator='drawtonomy' drawtonomy_origin_lat='${formatLatLon(originLat)}' drawtonomy_origin_lon='${formatLatLon(originLon)}'>\n`;
+    for (const n of finalNodes)
+        xml += nodeToXml(n);
+    for (const w of finalWays)
+        xml += wayToXml(w);
+    for (const r of finalRelations)
+        xml += relationToXml(r);
+    xml += `</osm>\n`;
+    return xml;
+}
+//# sourceMappingURL=lanelet2.js.map

package/dist/exporter/lanelet2.js.map

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package/dist/exporter/opendrive.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"opendrive.d.ts","sourceRoot":"","sources":["../../src/exporter/opendrive.ts"],"names":[],"mappings":"AAUA,OAAO,KAAK,EAGV,kBAAkB,EAMnB,MAAM,UAAU,CAAA;AAglBjB;;GAEG;AACH,wBAAgB,iBAAiB,CAAC,QAAQ,EAAE,kBAAkB,GAAG,MAAM,CA4DtE"}
+{"version":3,"file":"opendrive.d.ts","sourceRoot":"","sources":["../../src/exporter/opendrive.ts"],"names":[],"mappings":"AAUA,OAAO,KAAK,EAGV,kBAAkB,EAMnB,MAAM,UAAU,CAAA;AAilBjB;;GAEG;AACH,wBAAgB,iBAAiB,CAAC,QAAQ,EAAE,kBAAkB,GAAG,MAAM,CAuEtE"}

package/dist/exporter/opendrive.js

@@ -8,6 +8,7 @@
 // - Lane connectivity (next/prev) is written into <link>
 // - Coordinate frame: canvas (x right, y down) → ENU (x right, y up); y is flipped
 import { computeCenterlineWithWidth } from './laneCenterline';
+import { originToProjString } from './projection';
 import { escapeXml, fmt, pxToEnuX, pxToEnuY, pxToMeter } from './units';
 /** O(1) shape lookup by id. */
 function buildShapeMap(shapes) {
@@ -538,10 +539,21 @@ export function exportToOpenDrive(snapshot) {
     const laneIdToRoadId = new Map();
     lanes.forEach((lane, i) => laneIdToRoadId.set(lane.id, i + 1));
     const dateStr = new Date().toISOString();
+    const bbox = computeEnuBoundingBox(shapeMap);
+    const geoRefProj = originToProjString(snapshot.origin);
     const lines = [];
     lines.push(`<?xml version="1.0" encoding="UTF-8"?>`);
     lines.push(`<OpenDRIVE>`);
-    lines.push(`  <header revMajor="1" revMinor="8" name="drawtonomy" version="1.0" date="${dateStr}" north="0" south="0" east="0" west="0" vendor="drawtonomy"/>`);
+    // OpenDRIVE 1.8 expects <geoReference> inside <header>. We always emit one —
+    // tmerc-at-origin when snapshot.origin is set, WGS84 longlat as a fallback —
+    // so downstream tools (esmini, RoadRunner, asam-qc-opendrive) see a defined
+    // coordinate reference system rather than nothing. The N/S/E/W attributes
+    // are populated from the actual point cloud so the header bbox reflects the
+    // map extent in ENU metres.
+    lines.push(`  <header revMajor="1" revMinor="8" name="drawtonomy" version="1.0" date="${dateStr}" ` +
+        `north="${fmt(bbox.north)}" south="${fmt(bbox.south)}" east="${fmt(bbox.east)}" west="${fmt(bbox.west)}" vendor="drawtonomy">`);
+    lines.push(`    <geoReference><![CDATA[${escapeCdata(geoRefProj)}]]></geoReference>`);
+    lines.push(`  </header>`);
     const pointOverrides = buildBoundaryAlignmentOverrides(shapeMap, lanes);
     const laneToGeom = new Map();
     for (const lane of lanes) {
@@ -562,4 +574,45 @@ export function exportToOpenDrive(snapshot) {
     lines.push(`</OpenDRIVE>`);
     return lines.join('\n');
 }
+/**
+ * Compute the axis-aligned bounding box of all point shapes in ENU metres.
+ * Used to populate OpenDRIVE <header> north/south/east/west attributes.
+ * Returns zeros when the snapshot has no points.
+ */
+function computeEnuBoundingBox(shapeMap) {
+    let minX = Infinity;
+    let maxX = -Infinity;
+    let minY = Infinity;
+    let maxY = -Infinity;
+    for (const s of shapeMap.values()) {
+        if (s.type !== 'point')
+            continue;
+        if (s.x < minX)
+            minX = s.x;
+        if (s.x > maxX)
+            maxX = s.x;
+        if (s.y < minY)
+            minY = s.y;
+        if (s.y > maxY)
+            maxY = s.y;
+    }
+    if (!Number.isFinite(minX)) {
+        return { north: 0, south: 0, east: 0, west: 0 };
+    }
+    // Canvas y points down, ENU y points up — flip when reporting bounds.
+    return {
+        west: pxToEnuX(minX),
+        east: pxToEnuX(maxX),
+        south: pxToEnuY(maxY),
+        north: pxToEnuY(minY),
+    };
+}
+/**
+ * Escape a string so it can appear safely inside an XML CDATA section. The
+ * only character sequence that ends a CDATA section is `]]>`, so we split it
+ * across two CDATA sections.
+ */
+function escapeCdata(s) {
+    return s.replace(/]]>/g, ']]]]><![CDATA[>');
+}
 //# sourceMappingURL=opendrive.js.map