hereHDLMReader

Use the HERE HD Live Map (HERE HDLM) service to read the lane topology data of a driving route and its surrounding area. Plot this data, and then stream the route on a geographic player.

Load the latitude and longitude coordinates of a driving route in Natick, Massachusetts, USA.

route = load('geoSequenceNatickMA.mat');
lat = route.latitude;
lon = route.longitude;

Stream the coordinates on a geographic player.

player = geoplayer(lat(1),lon(1),'HistoryDepth',5);
plotRoute(player,lat,lon)

for idx = 1:length(lat)
    plotPosition(player,lat(idx),lon(idx))
end

Create a HERE HDLM reader from the route coordinates. If you have not previously set up HERE HDLM credentials, a dialog box prompts you to enter them. The reader contains map data for the two map tiles that the route crosses.

reader = hereHDLMReader(lat,lon);

Read lane topology data from the LaneTopology layer of the map tiles. Plot the lane topology.

laneTopology = read(reader,'LaneTopology');
plot(laneTopology)

Overlay the route data on the plot.

hold on
geoplot(lat,lon,'bo-','DisplayName','Route');
hold off

Overlay the lane topology data on the geographic player. Stream the route again.

plot(laneTopology,'Axes',player.Axes)
for idx = 1:length(lat)
    plotPosition(player,lat(idx),lon(idx))
end

Use the HERE HD Live Map (HERE HDLM) web service to read 3-D lane geometry data from a map tile. Then, plot the 2-D part of the data on an OpenStreetMap® basemap.

Create a HERE HDLM reader for a map tile ID representing an area of Berlin, Germany. If you have not previously set up HERE HDLM credentials, a dialog box prompts you to enter them.

tileID = uint32(377894435);
reader = hereHDLMReader(tileID);

Add the OpenStreetMap basemap to the list of basemaps available for use with the HERE HDLM service. After you add the basemap, you do not need to add it again in future sessions.

name = 'openstreetmap';
url = 'https://a.tile.openstreetmap.org/${z}/${x}/${y}.png';
copyright = char(uint8(169));
attribution = copyright + "OpenStreetMap contributors";
addCustomBasemap(name,url,'Attribution',attribution)

Read 3-D lane geometry data from the LaneGeometryPolyline layer of the map tile. Plot the 2-D part of the lane geometry on the openstreetmap basemap.

laneGeometryPolyline = read(reader,'LaneGeometryPolyline');
gx = plot(laneGeometryPolyline);
geobasemap(gx,'openstreetmap')

Zoom in on the central coordinate of the map tile.

latcenter = laneGeometryPolyline.TileCenterHere3dCoordinate.Here2dCoordinate(1);
loncenter = laneGeometryPolyline.TileCenterHere3dCoordinate.Here2dCoordinate(2);

offset = 0.001;
latlim = [latcenter-offset,latcenter+offset];
lonlim = [loncenter-offset,loncenter+offset];

geolimits(latlim,lonlim)

Use the HERE HD Live Map (HERE HDLM) web service to read the topology geometry data from a map tile. Use this data to find the shortest path between two nodes within the map tile.

Define a HERE tile ID for an area of Stockholm, Sweden.

tileID = uint32(378373553);

Create a HERE HDLM reader for the tile ID. Configure the reader to search for the tile in only the Western Europe catalog. If you have not previously set up HERE HDLM credentials, a dialog box prompts you to enter them. The reader contains map data for the specified map tile.

config = hereHDLMConfiguration("hrn:here:data::olp-here-had:here-hdlm-protobuf-weu-2");
reader = hereHDLMReader(tileID,Configuration=config);

Read the link definitions from the TopologyGeometry layer of the map tile. The returned layer object contains the specified LinksStartingInTile field and the required map tile fields, such as the tile ID. The other fields are empty. Your map data and catalog version might differ from the ones shown here.

topology = read(reader,TopologyGeometry="LinksStartingInTile")

topology = 
  TopologyGeometry with properties:

   Data:
                    HereTileId: 378373553
          IntersectingLinkRefs: []
           LinksStartingInTile: [1269×1 struct]
                   NodesInTile: []
    TileCenterHere2dCoordinate: [59.3372 18.0505]

   Metadata:
                       Catalog: 'hrn:here:data::olp-here-had:here-hdlm-protobuf-weu-2'
                CatalogVersion: 21501

  Use plot to visualize TopologyGeometry data.

Find the start and end nodes for each link in the LinksStartingInTile field.

startNodes = [topology.LinksStartingInTile.StartNodeId];
endNodesRef = [topology.LinksStartingInTile.EndNodeRef];
endNodes = [endNodesRef.NodeId];

Find the length of each link in meters.

linkLengths = [topology.LinksStartingInTile.LinkLengthMeters];

Create an undirected graph for the links in the map tile.

G = graph(string(startNodes),string(endNodes),double(linkLengths));
H = plot(G,Layout="force");
title("Undirected Graph")

Specify a start and end node to find the shortest path between them. Use the first and last node in the graph as the start and end nodes, respectively. Overlay the nodes on the graph.

startNode = G.Nodes.Name(1);
endNode = G.Nodes.Name(end);

highlight(H,[startNode endNode],NodeColor="red",MarkerSize=6)
title("Undirected Graph - Start and End Nodes")

Find the shortest path between the two nodes. Plot the path.

path = shortestpath(G,startNode,endNode);
highlight(H,path,EdgeColor="red",LineWidth=2);
title("Undirected Graph - Shortest Path")