imap-test 0.1.4

Apollo map and Opendrive map converter

imap_test

Introduction

This is a tool to convert Opendrive to Apollo base map, which is modified from apollo's imap tool, and supports generating adjacent reverse lanes of different roads.

Quick Start

To generate Apollo base map from Opendrive file, you can run the following command:

# Method 1 [Recommended]
pip install imap_test
imap -f -i imap/data/town.xodr -o imap/data/base_map.txt
# Method 2
python3 imap/main.py -f -i imap/data/town.xodr -o imap/data/base_map.txt
# Method 3
python3 setup.py develop
imap -f -i imap/data/town.xodr -o imap/data/base_map.txt

If you want to generate adjacent reverse lanes for each lane, you can run the following command:

imap -f -i imap/data/town.xodr -o imap/data/base_map.txt -r

The -r option is used to generate adjacent reverse lanes.

For visualization, you can use the following command:

imap -m imap/data/apollo_map.txt

For global speed limit, you can use the following command:

imap -f -i imap/data/town.xodr -o imap/data/base_map.txt -sl 7.0

The -sl option is used to set the global speed limit, which is followed by a float number. Here, the global speed limit is set to 7.0 m/s.