High-resolution map visualization and conversion tool, opendrive hdmap convert to appollo base map!
Project description
imap
imap is a tool for visualize and convert format of the hd-map. This project was inspired by Apollo.
I called the modified with imap_box_up , Just to differentiate it from imap_box
imap_box_up code: https://github.com/porterpan/imap_box_up
Note:
Modified on project https://github.com/daohu527/imap
I found that imap_box had the problem of inaccurate junction drawing, which could not meet the needs of my project. Therefore, I modified imap_box based on it to adapt to appollo hdmap code.
Supported features:
- Visualize the hd-map, supported formats: Apollo, OpenDrive.
- Find lane by id
- Convert format: Opendrive to Apollo format.
os | support | remark |
---|---|---|
ubuntu | :heavy_check_mark: | |
mac | :heavy_check_mark: | |
windows | :heavy_check_mark: |
Related work
- odrviewer.io is an excellent interactive online OpenDRIVE viewer.
- esmini is a basic OpenSCENARIO player.
- apollo_map convert carla map to apollo
Quick start
Install
You can install imap by following cmd.
pip3 install imap_box_up
Example
1. Visualization
After the installation is complete, you can view the map with the following command.
imap -m data/borregas_ave.txt
// or
imap -m data/town.xodr
Currently supported formats:
- Apollo map
- OpenDrive map
2. Find lane by id
You can use below command to find lane by id, Found lane is shown in Red.
imap -m data/borregas_ave.txt -l lane_35
3. Format conversion
Now you can convert OpenDrive map to Apollo map by following command.
imap -f -i data/town.xodr -o data/apollo_map.txt
you should better reference follow command to convert apollo map to OpenDrive map.
1.show appollo map by id:
imap -m data/borregas_ave.txt -l lane_35
2.Format conversion with UTM map(opendrive->appollo):
imap -f -i data/town.xodr -o data/apollo_map.txt
3.Format conversion with inertial map(opendrive->appollo.inertial map):
imap -f -r -i data/town.xodr -o data/apollo_map.txt
The following is the display of the hd-map in data\borregas_ave.txt
.You can click on the lane you want to display more detail info, which will display the current lane's id, as well as the predecessor and successor lane's id in the upper left corner.
Questions
- After running the command
imap -m data/your_map_file
, nothing display and no errors!!!
A: Check the permissions of the map file, if the current user does not have permissions, modify the permissions with the following commands.
sudo chmod 777 data/your_map_file
- Map data permission checking has no problem, still nothing display and no errors! A: It's better to install imap_box by running "sudo pip3 install imap_box", then run "imap -m xxx.txt".
Project details
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