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[ Software Division : Lanelet HDM Service ]

Created by [ Rowan Dempster] on Aug 31, 2020

Background

A MVP for a Lanelet HDM query service using the 3rd party `liblanelet` https://github.com/fzi-forschungszentrum-informatik/liblanelet package was created by Rowan Dempster{.confluence-userlink .user-mention}during Summer 2020. This MVP will be brought into the Environment Server being architected for the Year 4 competition. 

Technical Background

Steps to understand the service as it stands in August 2020:

1. Develop a robust mental model for the Lanelet HDM logical model by reading the paper published about it: https://ieeexplore-ieee-org.proxy.lib.uwaterloo.ca/document/6856487
2. Understand at a high level the `liblanelet` code library that was created by the authors of the paper to implement the logical model in C++
   1. Checkout the interface for the LaneletMap: https://github.com/fzi-forschungszentrum-informatik/liblanelet/blob/master/src/liblanelet/LaneletMap.hpp
   2. And the interface for Lanelet: 
      1. https://github.com/fzi-forschungszentrum-informatik/liblanelet/blob/master/src/liblanelet/LaneletBase.hpp
      2. https://github.com/fzi-forschungszentrum-informatik/liblanelet/blob/master/src/liblanelet/Lanelet.hpp
   3. Read the README, download JOSM, and explore some actual OSM format Lanelet HDMs, which are currently kept here: https://git.uwaterloo.ca/WATonomous/localization/-/tree/develop/hdmap_processing/data/osm
3. See how the `liblanelet` library is used by WATonomous HDM service: https://git.uwaterloo.ca/WATonomous/localization/-/blob/develop/hdmap_processing/src/hdmap_processing/liblanelet_service.cpp

Document generated by Confluence on Dec 10, 2021 04:01

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