rely on esmini for OpenDRIVE map plotting

README.md

@@ -74,6 +74,46 @@ dsc-toolkit render_orthophoto \
 	--save_dir /tmp/output
 ```
 
+## OpenDRIVE Map Visualization
+
+To visualize an OpenDRIVE map in `plot_annotations_3d`, you need to first convert it to [OBJ format](https://en.wikipedia.org/wiki/Wavefront_.obj_file). Choose one of the following methods:
+
+### Method 1: Online Conversion
+
+1. Navigate to [odrviewer.io](https://odrviewer.io/)
+2. In **"Parse Options"**, disable **"Center Map"**
+3. Click **"Open .xodr"** and select your OpenDRIVE file
+4. Click **"Export .obj"** to download the converted file
+
+### Method 2: Offline Conversion
+
+This method relies on [esmini](https://github.com/esmini/esmini) and [OpenSceneGraph](https://openscenegraph.github.io/openscenegraph.io/):
+
+#### Prerequisites
+```bash
+# Install OpenSceneGraph
+sudo apt install openscenegraph
+
+# Download and set up esmini
+wget https://github.com/esmini/esmini/releases/latest/download/esmini-demo_ubuntu-latest.zip
+unzip esmini-demo_ubuntu-latest.zip
+export PATH=$PATH:$(pwd)/esmini/bin
+```
+
+#### Conversion Steps
+
+1. **Generate OpenSceneGraph model** from your OpenDRIVE file:
+   ```bash
+   odrviewer --odr map.xodr --save_generated_model --headless --duration 0 --disable_log --disable_stdout
+   ```
+
+2. **Convert to OBJ format**:
+   ```bash
+   osgconv generated_road.osgb map.obj --use-world-frame
+   ```
+
+The resulting `map.obj` file can now be used with `plot_annotations_3d`.
+
 ## License
 
 This project is licensed under the Apache License 2.0. See [LICENSE.txt](LICENSE.txt) for details.

dsc_toolkit/__init__.py

@@ -1,3 +1,3 @@
 """DeepScenario Toolkit for visualizing and working with DeepScenario datasets."""
 
-__version__ = '1.0.2'
+__version__ = '1.0.3'

dsc_toolkit/plot_annotations_3d.py

@@ -15,7 +15,6 @@
     get_look_at_transform,
 )
 from dsc_toolkit.utils.io import load_data_meta
-from dsc_toolkit.utils.map import DiscretizedMap
 from dsc_toolkit.utils.visuals import get_ann_visuals, set_camera_transform
 
 
@@ -67,6 +66,16 @@ def animate_fn(event: vedo.plotter.Event) -> None:
     return animate_fn
 
 
+def load_obj(obj_path: str) -> list[vedo.Mesh]:
+    assert os.path.isfile(obj_path), f'File not found: {obj_path}'
+    assert (ext := os.path.splitext(obj_path)[1]) == '.obj', f'Invalid format for {obj_path}: expected .obj, got {ext}'
+
+    visuals = vedo.load_obj(obj_path, texture_path=os.path.dirname(obj_path))
+    for visual in visuals:
+        visual.lighting(style='ambient')
+    return visuals
+
+
 def set_initial_camera_pose(plotter: vedo.Plotter, anns_df: pd.DataFrame, relative_altitude: float) -> None:
     anns_center = anns_df[['translation_x', 'translation_y', 'translation_z']].mean().to_numpy()
     eye = anns_center + np.array([0, 0, relative_altitude])
@@ -112,15 +121,12 @@ def plot_annotations_3d(
     plotter.background(background_color)
 
     if mesh_path is not None:
-        textured_mesh_visuals = vedo.load_obj(mesh_path, texture_path=os.path.dirname(mesh_path))
-        for mesh_visual in textured_mesh_visuals:
-            mesh_visual.lighting(style='ambient')
-        plotter.add(textured_mesh_visuals)
+        mesh_visuals = load_obj(mesh_path)
+        plotter.add(mesh_visuals)
 
     if map_path is not None:
-        road_map = DiscretizedMap.load_from_file(map_path)
-        lane_visuals = road_map.get_lane_visuals()
-        plotter.add(lane_visuals)
+        map_visuals = load_obj(map_path)
+        plotter.add(map_visuals)
 
     if save_dir is not None:
         print(f'Screenshots will be saved in {save_dir}')
@@ -149,7 +155,7 @@ def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
     parser.add_argument('--data_dir', help='Directory that contains the released data', type=str, required=True)
     parser.add_argument('--recording', help='Recording to plot', type=str, dest='recording_id', required=True)
     parser.add_argument('--save_dir', help='Directory where the rendered images are saved', type=str)
-    parser.add_argument('--map', help='Path to the OpenDRIVE map', dest='map_path', type=str)
+    parser.add_argument('--map', help='Path to the OpenDRIVE map in .obj format', dest='map_path', type=str)
     parser.add_argument('--mesh', help='Path to the textured mesh', dest='mesh_path', type=str)
     parser.add_argument('--relative_altitude', help='Relative altitude of camera [m]', type=float, default=100)
     parser.add_argument('--headless', help='Do not show the visualizer', action='store_true')

pyproject.toml

@@ -38,7 +38,6 @@ dependencies = [
     "pyproj (>=3.6,<4.0)",
     "open3d (>=0.19,<1.0)",
     "scipy (>=1.14,<2.0)",
-    "opendrive2lanelet (>=1.2,<2.0)",
 ]
 
 [project.urls]