The relative map module receives navigation line, perception information, and location inforamtion from dreamview, perception, and localization module respectively. It generates realtime relative map (~10Hz), in which ADV location is always at (0,0) with heading of zero.
## Inputs
* NavigationInfo from dreamview module
* LaneMarker from perception module
* Localization from localization module
## Outputs
* Relative map follows map format defined in modules/map/proto/map.proto
