Package: lanelet2x
Lanelet2xLanelet2x is a fork of lanelet2 library with all dependencies on ROS1, ROS2 or Catkin removed to create a standalone and
cross-platform library.OverviewLanelet2 is a C++ library for handling map data in the context of automated driving. It is designed to utilize
high-definition map data in order to efficiently handle the challenges posed to a vehicle in complex traffic scenarios.
Flexibility and extensibility are some of the core principles to handle the upcoming challenges of future maps.Features:2D and 3DsupportConsistent modification: if one point is modified, all owning objects see the changeSupportslane changes, routing through areas, etc.Separated routingfor pedestrians, vehicles, bikes, etc.Manycustomization pointsto add new traffic rules, routing costs, parsers, etc.Simple convenience functionsfor common tasks when handling mapsAccurate Projectionbetween the lat/lon geographic world and local metric coordinatesIO Interfacefor reading and writing e.g.osmdata formats (this does not mean it can deal withosm maps)Pythonbindings for the whole C++ interfaceBoost Geometrysupport for all thinkable kinds of geometry calculations on map primitivesReleased under theBSD 3-Clause licenseSupportWindows,LinuxandMacOSLanelet2 is the successor of the oldliblaneletthat
was developed in 2013. If you know Lanelet1, you might be interested
inreading this.DocumentationYou can find more documentation in the individual packages and in doxygen comments. Here is an overview on the most
important topics:Hereis more information on the basic primitives that make up a Lanelet2
map.Read herefor a primer on thesoftware architectureof lanelet2.There is also somedocumentationon the geometry calculations you can do with
lanelet2 primitives.If you are interested in Lanelet2'sprojections, you will find
morehere.To get more information on how to create valid maps, seehere.InstallationPyPILanelet2x can be installed from PyPI.pip install lanelet2xUsing DockerTODO: We are currently working on the Docker containerManual installationAt leastC++14is required.DependenciesBoost(from 1.58)eigen3pugixml(for lanelet2_io)boost-python, python2 or python3(for lanelet2_python)geographiclib(for lanelet2_projection)BuildingWe use Conan 2.0 to manage all C++ dependencies, first clone the project:gitclonehttps://github.com/wu-vincent/lanelet2x.gitcdlanelet2xInstall conan from PyPI and create a profile:pipinstall-rrequirements.txt
conanprofiledetectNow we are ready to buildconancreate.--build=missingExamplesExamples and common use cases in both C++ and Python can be foundhere.Packageslanelet2is the meta-package for the whole lanelet2 frameworklanelet2_coreimplements the basic library with all the primitives, geometry calculations and the LanletMap objectlanelet2_iois responsible for reading and writing lanelet mapslanelet2_traffic_rulesprovides support to interpret the traffic rules encoded in a maplanelet2_projectionfor projecting maps from WGS84 (lat/lon) to local metric coordinateslanelet2_routingimplements the routing graph for routing or reachable set or queries as well as collision
checkinglanelet2_mapsprovides example maps and functionality to visualize and modify them easily in JOSMlanelet2_matchingprovides functions to determine in which lanelet an object is/could be currently locatedlanelet2_pythonimplements the python interface for lanelet2lanelet2_validationprovides checks to ensure a valid lanelet2 maplanelet2_examplescontains tutorials for working with Lanelet2 in C++ and PythonCitationIf you are using Lanelet2 for scientific research, we would be pleased if you would cite
ourpublication:@inproceedings{poggenhans2018lanelet2,
  title     ={Lanelet2: A High-Definition Map Framework for the Future of Automated Driving},
  author    ={Poggenhans, Fabian and Pauls, Jan-Hendrik and Janosovits, Johannes and Orf, Stefan and Naumann, Maximilian and Kuhnt, Florian and Mayr, Matthias},
  booktitle ={Proc.\IEEE Intell.\Trans.\Syst.\Conf.},
  year      ={2018},
  address   ={Hawaii, USA},
  owner     ={poggenhans},
  month     ={November},
  Url={http://www.mrt.kit.edu/z/publ/download/2018/Poggenhans2018Lanelet2.pdf}}