Apollo: hdmap - I want to know more about the map in the simulation

[carlin314]

I see the map tool in modules, but I guess the hdmap in your simulation is sunnyvale_loop.bin,

but I can't find this file, I dont really understand the map

it comples the map in opendrive format to binary, all i know is this

but I hope there is some more document to use the map tool

could someone who know about it tell me how the original file .xml to the final file .bin

[msbeta]

You can try the following command to convert file .xml to .bin file, parameter InputDir refers to the directory where XML is saved, and OutputDir refers to the output directory where bin will be saved.
bazel build //modules/map/tools:proto_map_generator
bazel-bin/modules/map/tools/proto_map_generator --map_dir=InputDir --output_dir=OutputDir

[chucklqsun]

@msbeta is Apollo using OpenDrive format for hdmap? How to open and edit the map file of sunnyvale for some purposes, such as modify lane? I use odrviewer from opendrive.org to open the map xml file and failed.

[rockcdr]

Tested on OpenDrive sample files (V1.4 format) from OpenDrive.org. "proto_map_generator" does not work.

[chucklqsun]

@rockcdr I've reviewed the Apollo code and find its HDMap head and body structure does NOT completely follow OpenDrive v1.4 official spec.

[rockcdr]

@chucklqsun Yes, in the base_map.xml, it is strange to have revMajor="0" and revMinor="6". Should be "1" and something.

<?xml version="1.0" encoding="UTF-8" ?> <OpenDRIVE xmlns="http://www.opendrive.org"> <header revMajor="0" revMinor="6" name="yongfengchanyeyuan" version="1.4" date="2017-11-20T17:58:11" north="3.741827476e+01" south="3.740239160e+01" east="-1.219960182e+02" west="-1.220307622e+02" vendor="Baidu"> <geoReference> <![CDATA[+proj=longlat +ellps=WGS84 +datum=WGS84 +no_defs]]> </geoReference> </header>

[msbeta]

@chucklqsun @rockcdr The Apollo OpenDrive Format has modified and extended the standard OpenDrive specification, so if necessary, you can email us，or you can leave your email address，we will send the the Apollo OpenDrive specification to you.

[msbeta]

Hi @carlin314 @chucklqsun @rockcdr , hope our answer resolved your question. We will close the issue for now. If you have any additional question, please feel free to open an new issue. Our engineer team are more than happy to help that.

Thank you for supporting Apollo!

[chucklqsun]

@msbeta Thanks for your reply. It will be very helpful if you send me a copy of Apollo OpenDrive specification (to 77167680[at]qq.com ).

[msbeta]

hi, @chucklqsun , I have already emailed the Apollo map specification document to you. Please feel free to let me know if there are any other issues we can help with on the map side, thanks!

[chucklqsun]

@msbeta Got it! Thanks mate.

[carlin314]

@msbeta It will be also very helpful if you send me a copy of Apollo OpenDrive specification (to [email protected] ).I am also confused of the difference between the origin opendrive and apollo opendrive

[thilo20]

can you please send me the Apollo OpenDrive spec to Thilo.[email protected]?

[candyguo]

can you please send me the Apollo OpenDrive spec to [email protected]?

[methedras]

@msbeta Please send me the current Apollo OpenDRIVE spec to peter.[email protected]

[rockcdr]

@msbeta, Please send me the Apollo OpenDrive spec to [email protected]

[dorintt]

Why not publish the apollo specific opendrive spec? I thought Baidu wants to make everything open source so it's easy to get started.

[whunmr]

@msbeta, could you please send me the Apollo OpenDrive spec to whunmr[at]gmail.com

thanks mate.

[alexbuyval]

@msbeta Could you, please, send me the Apollo OD spec to [email protected]

Thanks!

[xiangguomin]

@msbeta Can you please send me the apollo OpenDrive spec to [email protected] as well?
Thanks!

[natashadsouza]

Hi going forward please use: the following link to send us your details. Thanks!

[JWhitleyWork]

@msbeta and/or @natashadsouza - I have filled out the above form several days ago but have not received any response. Could you please email this to me at [email protected]? Thank you.

[jmloveyj]

@msbeta and/or @natashadsouza - I have filled out the above form several days ago but have not received any response. Could you please email this to me at [email protected]? Thank you.

[wobistdu]

@natashadsouza I have filled out the survey, but not getting any email from you, can you email this to me? [email protected]

[ruisir001]

@msbeta @natashadsouza , Could you, please, send me the Apollo OpenDrive spec to [email protected]

Thanks!

[ruisir001]

@chucklqsun Could you, please, send me the Apollo OpenDrive spec to [email protected]

[Wang4758]

@msbeta Could you please send me the Apollo OpenDrive spec to xiao.[email protected]?

[ankaret]

@msbeta @natashadsouza I have filled the survey but haven't received any email from you, can you please send me the Apollo OpenDrive spec to anna.[email protected]?

[diff8911]

@msbeta Could you please send me the Apollo OpenDrive spec to [email protected]?

[natashadsouza]

Closing this issue. Please follow up on #3005 with all your requests. Thanks!

[MonkeyJohn]

Closing this issue. Please follow up on #3005 with all your requests. Thanks!
@natashadsouza Could you please send me the Apollo OpenDrive spec to [email protected]?

[pjs9115916]

@msbeta Got it! Thanks mate.

It will be also very helpful if you send me a copy of Apollo OpenDrive specification (to [email protected] ).I am also confused of the difference between the origin opendrive and apollo opendrive

[ArtistZhou]

where can i get apollo opendrive sample data? i found Apollo OpenDRIVE specification:https://github.com/chucklqsun/apollo_learning

[ArtistZhou]

@chucklqsun @rockcdr The Apollo OpenDrive Format has modified and extended the standard OpenDrive specification, so if necessary, you can email us，or you can leave your email address，we will send the the Apollo OpenDrive specification to you.

Can Ｉ　get xml file from you? I can not find this file base_map.xml

[windcatcher]

@msbeta Could you please send me the Apollo OpenDrive spec to [email protected]?

[wangruoyi123456]

@msbeta@natashadsouza Could you please send me the Apollo OpenDrive spec to [email protected]
thanks

[glebkiselev]

@msbeta Could you please send me the Apollo OpenDrive spec to [email protected]?

[sszove]

@msbeta Could you please send me the Apollo OpenDrive spec to [email protected]?

[wangzhensuo]

Tested on OpenDrive sample files (V1.4 format) from OpenDrive.org. "proto_map_generator" does not work.

I tested on base_map.xml from apollo. it is also could not be convert.
./bazel-bin/modules/map/tools/proto_map_generator --map_dir=./modules/map/data/sunnyvale_loop --output_dir=./modules/map/data/sunnyvale_loop

[wangzhensuo]

I found a method to fix this error.
when I run cmd,I meet errors:

[cpoc@in-dev-docker:/apollo]$ bazel-bin/modules/map/tools/proto_map_generator --map_dir=modules/map/data/new --output_dir=modules/map/data/new
E0111 10:33:41.756587 28383 opendrive_adapter.cc:44] []fail to parse opendrive header, unsupport data in more than one zones
F0111 10:33:41.757151 28383 proto_map_generator.cc:39] Check failed: apollo::hdmap::adapter::OpendriveAdapter::LoadData(map_filename, &pb_map) []fail to load data from : modules/map/data/new/base_map.xml
* Check failure stack trace: *
@ 0x7f6591ecb60d google::LogMessage::Fail()
@ 0x7f6591ecdaca google::LogMessage::SendToLog()
@ 0x7f6591ecb01d google::LogMessage::Flush()
@ 0x7f6591ecea79 google::LogMessageFatal::~LogMessageFatal()
@ 0x557fab562409 main
@ 0x7f6590d31b97 __libc_start_main
@ 0x557fab56216a _start
@ (nil) (unknown)
Aborted (core dumped)

then,I found where errors occurs

int eastZone = GetLongZone(east);
int westZone = GetLongZone(west);
if (eastZone != westZone) {
  std::string err_msg = "unsupport data in more than one zones";
  return Status(apollo::common::ErrorCode::HDMAP_DATA_ERROR, err_msg);
}

then,I opened base_map.xml,and change "east" and "west" to the same value.
and run above cmd
(bazel-bin/modules/map/tools/proto_map_generator --map_dir=modules/map/data/new --output_dir=modules/map/data/new)
again. it is successfully generate base_map.txt and base_map.bin from base_map.xml.
I do not know this method is correct or not,if anyone know a better method,please tell me,thank you.

[rahulkrishn1990]

Hallo @natashadsouza,

I have filled above form requesting the Custom Apollo's OpenDrive format.
Could you please email me the document at [email protected] ?

Regards,
Rahul

[SamerSeed]

Could you send your specks on iskander.[email protected], please?

[rahulkrishn1990]

Hallo Sameer,

Do you work for Apollo?

Or do you need the Apollo map specifications?

Regards,
Rahul

On Sat, 27 Mar, 2021, 08:50 SamerSeed, @.*> wrote:

Could you send your specks on @.*, please?

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[SamerSeed]

I m trying to dig into apollo. I need the Apollo map specifications.
 
 
С уважением,
Отрощенко Александр
 
 

Суббота, 27 марта 2021, 11:08 +03:00 от rahulkrishn1990 @.*>:
 
  Hallo Sameer,

Do you work for Apollo?

Or do you need the Apollo map specifications?

Regards,
Rahul

On Sat, 27 Mar, 2021, 08:50 SamerSeed, @.*> wrote:

Could you send your specks on @.*, please?

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[rahulkrishn1990]

Ok. I do not have it.

I am also waiting for reply from Apollo community.

On Sat, 27 Mar, 2021, 09:10 SamerSeed, @.*> wrote:

>

I m trying to dig into apollo. I need the Apollo map specifications.

С уважением,
Отрощенко Александр

Суббота, 27 марта 2021, 11:08 +03:00 от rahulkrishn1990 @.*>:

Hallo Sameer,

Do you work for Apollo?

Or do you need the Apollo map specifications?

Regards,
Rahul

On Sat, 27 Mar, 2021, 08:50 SamerSeed, @.*> wrote:

Could you send your specks on @.*, please?

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https://github.com/ApolloAuto/apollo/issues/603#issuecomment-808682802 >,
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.

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[yufeilongyuan]

LGSVL还是很香的，导入导出，不难吧。细微差别，自己改一下代码就好了啊，目前看还不用修改