Imap

Imap is a tool for visualize and convert format of the hd-map. This project was inspired by Apollo.

Supported features:

1. Visualize the hd-map, supported formats: Apollo, OpenDrive.
2. Find lane by id
3. Convert format: Opendrive to Apollo format.

Quick start

dependency

The following is the tested environment, must use python3.

Python      3.7.6
matplotlib  2.2.5
protobuf    3.17.3

If you encounter problems, you can try uninstalling and then reinstalling to ensure that the software version is consistent.

Install

There are 2 ways to install imap.

1. Install by requirements.

pip3 install -r requirements.txt

2. Or you can install conda first, then install protobuf. Use conda install protobuf to install will fail, I haven't found the reason yet. Replace with the following command will work.

pip install protobuf

Example

1. Visualization

After the installation is complete, you can view the map with the following command.

python3 main.py -m data/borregas_ave.txt
// or
python3 main.py -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.

python3 main.py -m data/borregas_ave.txt -l lane_35

3. Format conversion

Now you can convert OpenDrive map to Apollo map by following command.

python3 main.py -f -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

1. After running the command python3 main.py -m data/your_map_file.bin, 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.bin