| Format | Export | Import | Notes |
|---|
| SVG | ✓ | ✓ | Standard SVG. |
| PNG | ✓ | ✓ | Lossless raster. |
| JPG | ✓ | ✓ | Lossy raster. |
| PDF | ✓ | | Vector, supports transparency. |
| EPS | ✓ | | Vector. No transparency — use PDF instead. |
| drawtonomy.svg | ✓ | ✓ | Re-editable: keeps connections, shared points, footprint groups, style. |
| OSM (Lanelet2) | ✓ | ✓ | Lanelet2 road networks. |
| PGM + YAML (ROS) | | ✓ | OccupancyGrid map, ROS map_server format. |
| OpenDRIVE (.xodr) | ✓ | ✓ | ASAM up to 1.8. Round-trips via carry-through. |
| OpenSCENARIO (.xosc) | ✓ | ✓ | Export writes ASAM 1.0, 1.1, or 1.2 (chosen in the export dialog; 1.3 is coming soon). Import reads OpenSCENARIO 1.x. Export captures the full authored storyboard — phases, events, actions, triggers, and END / FAIL conditions. Import a .xosc to edit and replay it. |
| esmini bundle (.zip) | ✓ | | .xodr + .xosc together, ready for esmini. The same scenario also runs in-browser on esmini-WASM without this export. |
| CommonRoad (.xml) | ✓ | ✓ | Road network, NPC trajectories, and the ego planning problem. Import a scenario, or bring your own planner’s Solution XML and replay it against the recorded traffic. See CommonRoad integration. |
| Feature | drawtonomy.svg | Lanelet2 | OpenDRIVE | OpenSCENARIO | PNG/SVG/PDF |
|---|
| Geometry | ✓ | ✓ | ✓ | ✓ | ✓ |
| Lane connections | ✓ | ✓ | ✓ | partial | – |
| Shared points | ✓ | – | – | – | – |
| Footprint groups | ✓ | – | – | partial | – |
| Style (color, opacity) | ✓ | – | – | – | ✓ |
| Round-trip | ✓ | ✓ | ✓ | – | – |
Round-trip means a file you imported can be re-exported in the same format
without losing detail. For Lanelet2 and OpenDRIVE, drawtonomy carries
the original file through as a sidecar: untouched elements (Lanelet2
regulatory elements, OpenDRIVE analytical geometry) are re-emitted verbatim,
while edited geometry is rewritten. Converting between the two formats does
not use that shortcut — see
Convert between OpenDRIVE and Lanelet2.
