simple-lanelet2 1.0.0__tar.gz

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simple_lanelet2-1.0.0/Cargo.toml

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+[workspace]
+resolver = "3"
+members = ["crates/*"]
+
+[workspace.package]
+version = "1.0.0"
+edition = "2024"
+license = "BSD-3-Clause"
+repository = "https://github.com/hakuturu583/simple_lanelet2"
+homepage = "https://github.com/hakuturu583/simple_lanelet2"
+rust-version = "1.85"
+
+[workspace.dependencies]
+ll2-core = { path = "crates/ll2-core" }
+ll2-matching = { path = "crates/ll2-matching" }
+ll2-io = { path = "crates/ll2-io" }
+ll2-projection = { path = "crates/ll2-projection" }
+ll2-routing = { path = "crates/ll2-routing" }
+ll2-traffic-rules = { path = "crates/ll2-traffic-rules" }
+
+parking_lot = "0.12"
+rstar = "0.13"
+quick-xml = "0.41"
+
+[profile.release]
+opt-level = 3
+lto = "thin"
+codegen-units = 1

simple_lanelet2-1.0.0/LICENSE

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+BSD 3-Clause License
+
+Copyright (c) 2026, simple_lanelet2 contributors
+Copyright (c) 2018, Fraunhofer IOSB, Karlsruhe Institute of Technology (FZI)
+
+This project reimplements the Python API of Lanelet2, which is distributed under the
+same licence. See NOTICE for the attribution of vendored assets.
+
+Redistribution and use in source and binary forms, with or without modification, are
+permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of
+   conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice, this list
+   of conditions and the following disclaimer in the documentation and/or other
+   materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors may be
+   used to endorse or promote products derived from this software without specific
+   prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
+THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

simple_lanelet2-1.0.0/NOTICE

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+simple_lanelet2
+Copyright (c) 2026
+
+This product is a reimplementation of the Python API of Lanelet2:
+
+  Lanelet2
+  Copyright (c) 2018, FZI Forschungszentrum Informatik
+  Licensed under the BSD 3-Clause License
+  https://github.com/fzi-forschungszentrum-informatik/Lanelet2
+
+The API shape, semantics and several algorithms in this project are ports of the
+Lanelet2 C++ sources. Ported algorithms carry a reference to the originating
+upstream file and line in their doc comments.
+
+Test fixtures under tests/data/ are vendored from the Lanelet2 repository
+(lanelet2_maps/res/) and remain under the BSD 3-Clause License.
+
+tests/data/mapping_example.osm is vendored unchanged from
+lanelet2_maps/res/mapping_example.osm in the Lanelet2 repository.
+
+tests/upstream/ contains the Lanelet2 Python test files, vendored unchanged from
+lanelet2_python/test/.

simple_lanelet2-1.0.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: simple-lanelet2
+Version: 1.0.0
+Classifier: Development Status :: 5 - Production/Stable
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: BSD License
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Programming Language :: Rust
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Programming Language :: Python :: Implementation :: CPython
+Classifier: Topic :: Scientific/Engineering :: GIS
+License-File: LICENSE
+License-File: NOTICE
+Summary: A drop-in reimplementation of the Lanelet2 Python API, in Rust
+Keywords: lanelet2,hd-map,autonomous-driving,autoware,gis
+Home-Page: https://github.com/hakuturu583/simple_lanelet2
+License: BSD-3-Clause
+Requires-Python: >=3.9
+Description-Content-Type: text/markdown; charset=UTF-8; variant=GFM
+Project-URL: Homepage, https://github.com/hakuturu583/simple_lanelet2
+Project-URL: Issues, https://github.com/hakuturu583/simple_lanelet2/issues
+Project-URL: Repository, https://github.com/hakuturu583/simple_lanelet2
+
+# simple_lanelet2
+
+A reimplementation of the [Lanelet2](https://github.com/fzi-forschungszentrum-informatik/Lanelet2)
+Python API with a Rust core and PyO3 bindings.
+
+The goal is a **drop-in replacement**: `import lanelet2` keeps working, unchanged, but
+installation is a single wheel with no Boost, no GeographicLib and no C++ toolchain.
+
+```python
+import lanelet2
+from lanelet2.core import Point3d, LineString3d, Lanelet, getId
+
+left = LineString3d(getId(), [Point3d(getId(), 0, 0, 0), Point3d(getId(), 1, 0, 0)])
+right = LineString3d(getId(), [Point3d(getId(), 0, 1, 0), Point3d(getId(), 1, 1, 0)])
+lanelet = Lanelet(getId(), left, right)
+```
+
+**Status.** All seven submodules are implemented. The library exposes **100% of
+the reference's public API** — 633 names across every module and class — and
+upstream's own test suite passes against it **unmodified**, in both modes.
+
+## Bug-compatibility mode
+
+Upstream has a number of outright defects — a `__hash__` that contradicts `__eq__`, a
+misnamed keyword argument on `Origin`, a routing filter that silently does nothing.
+By default this library **fixes** them. Setting `LANELET2_BUG_COMPAT` restores
+upstream's behaviour exactly:
+
+```bash
+LANELET2_BUG_COMPAT=1 python my_script.py   # byte-for-byte upstream behaviour
+python my_script.py                         # repaired behaviour (default)
+```
+
+The flag is read once at import time and is reported as `lanelet2.BUG_COMPAT`.
+Every switched behaviour is listed in [`docs/DIVERGENCE.md`](docs/DIVERGENCE.md) and
+enforced by the test harness.
+
+## Verification
+
+Compatibility is not asserted, it is measured. Every case in `tests/cases/` is run
+three ways and the JSON-Lines output is compared:
+
+| run | interpreter | environment |
+| --- | --- | --- |
+| `REF` | `.venv-ref` | the real `lanelet2==1.2.3` from PyPI |
+| `COMPAT` | `.venv` | ours, `LANELET2_BUG_COMPAT=1` |
+| `FIXED` | `.venv` | ours, default |
+
+`REF` and `COMPAT` must agree exactly. `COMPAT` and `FIXED` must differ in exactly
+the places listed in `tests/compat_matrix.toml` — no more, and no fewer, so neither
+an accidental behaviour change nor an unwired repair can slip through.
+
+```bash
+just venvs           # create both virtualenvs
+just build           # build and install into .venv
+just diff            # run the harness
+just upstream-tests  # upstream's own tests, unmodified, in both modes
+just test-rust       # the Rust unit tests
+```
+
+What the harness checks, beyond "it runs":
+
+- the 594 KB example map from the Lanelet2 repository loads, and writing it back
+  reproduces the reference's file **byte for byte** — every node, way, relation and
+  tag, in the same order — and a second pass is identical again;
+- every lanelet's full centerline matches, on that map and on forty procedurally
+  generated shapes chosen to exercise the parts of the algorithm a rectangular
+  lanelet never reaches;
+- the projections agree with GeographicLib to **7e-15 m** across zone edges, the
+  Norway and Svalbard zone irregularities, both hemispheres and the antimeridian;
+- the traffic-rule tables are swept exhaustively — every participant against every
+  way subtype, both directions, both locations — rather than spot-checked;
+- the routing graph's whole edge list is compared before any query is.
+
+## Autoware maps
+
+`autoware_lanelet2_extension`'s regulatory elements and its transverse Mercator
+projector are provided under the upstream import path, in this same wheel:
+
+```python
+import lanelet2
+import autoware_lanelet2_extension_python.regulatory_elements  # registers the subtypes
+from autoware_lanelet2_extension_python.projection import TransverseMercatorProjector
+```
+
+Importing `regulatory_elements` is what makes `road_marking`, `crosswalk`,
+`detection_area` and the rest resolvable, and it makes `traffic_light` resolve to
+`AutowareTrafficLight`. Before that import a map carrying them is refused, exactly as
+stock Lanelet2 refuses it. That is upstream's behaviour, not an accident of packaging:
+registration there happens when the extension's shared library loads. Note that it is
+process-wide and cannot be undone, so an unrelated module importing the extension
+changes what `lanelet2.io.load` produces from that point on.
+
+**Coordinates come from latitude and longitude, not from `local_x`/`local_y`.**
+Autoware's C++ `AutowareOsmParser` prefers those tags, and a real Autoware map is full
+of them — the Nishi-Shinjuku example carries 36,936. That parser is not reachable from
+Python in the reference either, so `lanelet2.io.load` behaves the same in both; our
+output on that map is byte-identical to the reference's. But it does mean the numbers
+differ from what Autoware's own C++ tooling produces.
+
+`utility.query` and `utility.utilities` are provided apart from their ROS-dependent
+halves, which are defined but raise when called — upstream imports `geometry_msgs` and
+`rclpy` at module top, so its versions cannot be imported at all without ROS. Several
+of upstream's own bindings do not work; those are repaired here and reproduced under
+`LANELET2_BUG_COMPAT=1`. See [`docs/DIVERGENCE.md`](docs/DIVERGENCE.md) for the list.
+
+## CI
+
+Four jobs, arranged around the compatibility claim rather than around the test suite:
+
+| job | what it proves | needs |
+|---|---|---|
+| `check` | it builds, lints, and the wheel installs into an empty venv and imports | nothing |
+| `diff` | 20 cases against the PyPI `lanelet2==1.2.3`, plus upstream's vendored tests | a wheel |
+| `upstream` | upstream's *own* tests, cloned at HEAD each run, unmodified, both modes | network |
+| `oracle` | 31 cases, including the Autoware extension and the two-reference skew check | pixi + colcon |
+
+One case is not in that count. `1150_aw_map` loads a real 10.5 MB Autoware map and
+checks it writes back byte for byte; the map it was developed against is CC BY-NC
+licensed, so it can neither be vendored here nor fetched by CI. Point
+`SIMPLE_LL2_AW_MAP` at a real Autoware map to run it. `1160_aw_synthetic_map` covers
+the same behaviour on a map small enough to write inline, and does run in CI.
+
+One caveat on what `upstream` proves. Lanelet2's own tests are substantive; the
+Autoware extension's Python tests are import smoke tests, and its real suite is C++
+gtest that cannot run against a Python implementation. The extension is verified by the
+`# ORACLE: aw` diff cases instead — see [`tests/upstream-awext/README.md`](tests/upstream-awext/README.md).
+
+`upstream` fetching at HEAD rather than a pin is deliberate. A vendored copy proves
+compatibility with whatever upstream looked like the day it was copied; fetching proves
+it against upstream as it stands, and a test they change becomes a signal rather than a
+silent drift. It runs on a schedule too, since upstream moves without anyone touching
+this repository. Locally: `just upstream-fresh`.
+
+## Licence
+
+BSD-3-Clause, matching upstream Lanelet2. See [`NOTICE`](NOTICE) for vendored assets.
+