Lanelet2 to RRHD Converter

Converts Lanelet2 .osm files to RoadRunner HD Map .rrhd format.

When to Use

• Converting a Lanelet2 .osm file to RoadRunner HD Map .rrhd format
• Importing Lanelet2 maps into RoadRunner via MATLAB
• Building RRHD from .osm sources that contain type=lanelet relations
• Need full pipeline: parse, geometry, topology, semantics, junctions, barriers, signs, markings

When NOT to Use

• Input is a standard OpenStreetMap file (highway=* ways without type=lanelet relations)
• Input is OpenDRIVE .xodr, import directly via roadrunner-import-scene
• Building RRHD from scratch without a source file, use roadrunner-rrhd-authoring
• Only need asset path lookups, use roadrunner-asset-mapping

Key Rules

• Always write to .m files when executing code. Never put multi-line MATLAB code directly in evaluate_matlab_code. Write to a .m file, run with run_matlab_file, edit on error. Exception: if the user asks to "show the pattern" or says "do not execute", show code inline without writing files.
• ALL pipeline steps are mandatory. Do NOT stop after writing lanes/boundaries, junctions, curve markings, barriers, signs, and speed limits must all be built.
• Boundary geometry is IMMUTABLE. Never flip, resample, project, or modify boundary points.
• One boundary object per way. Deduplicate via wayToBndID map.
• Detect alignment for EVERY lane. Never hardcode "Forward" for all boundaries.
• Center line density: 1 point per meter minimum. Use max(10, round(avgLen), nLeft, nRight).
• Run enforcement gate before write(). Alignment, spatial, extension, and completeness checks are mandatory.
• No nested function definitions. Code runs in script context, all logic inline or anonymous functions.

Behavior