imap-test 0.1.6.3

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

New Features

v0.1.3

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

v0.1.4

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.

v0.1.5

For adding additional junction polygon points, you can use the following command:

-f -i imap/data/nansha_map_normal.xodr -o imap/data/base_map.txt -r -sl 7.0 -a 96 98.0 97.99999999999997 -a 593 618.0 98.0

The -a option is used to add additional junction polygon points, which is followed by three float numbers, (junction_id, x, y). Here, you will see log:

Adding point (98.0, 97.99999999999997) to junction 96
Adding point (618.0, 98.0) to junction 593

fix

when converting reverse map, left/right most boundary may not be accurate, so add -rb command to fix it:

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

v0.1.6

For adding additional junction lane forward neighbors, you can use the following command:

-f -i imap/data/nansha_map_normal.xodr -o imap/data/base_map.txt -e

The -e option is used to add additional junction lane forward neighbors.