The purpose of this repository is to convert the Waymo-dataset to Lanelet.
Waymo-dataset: https://github.com/waymo-research/waymo-open-dataset
Lanelet: https://github.com/fzi-forschungszentrum-informatik/liblanelet
Lanelet utilizes OSM(OpenStreeMap) data structure for modelling lanes and their relations. Lanes always contain a left and right polyline while other properties can be assigned to them as well. Thus, this repo offers a parser which is able to convert multiple lanes into a XML/OSM file. The required input is a list of [left_points, right_points, velocity].
Loading up the waymo-dataset it consists of multiple polylines forming different intersections. Unfortunately, none of these lines represent a total left/right lane but a chunk of it. Therefore, it is hard to determine which polyline follows another polyline. A workaround is introduced in this repo, although it is working solely for a certain type of road graph.
Since developing a proper method exceeds the workload and might not scale, the work on this repo is stopped.