Extracting OpenDrive road net within point cloud

[Sephiroth1118]

Hi! I just recently doing a project, in which we got the point cloud of the lane line and lane mark of the road. What we want to do next is to generate the OpendDrive map of this road to run the simulation in Carla. I'm now stuck with this step. One way I tried is that we use the Vector Map Builder by Autoware, generate the lanelet2 road net and then convert it to OpenDrive. There are many methods that convert OpenDrive to lanelet2, but few vice versa. One library is common-road-designer, through which can convert lanelet2 to commonroad then convert to OpenDrive or sumo, but its code has some problem that I never ran successfully. Is there any other way to do this job?
This is my point cloud sample shown in Vector Map Builder, which is the point cloud of three lanes.