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.

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

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

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 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

2. 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".