How to generate base_map.txt from opendrive map?

[daohu527]

Good job for able to use the map in Apollo directly! But I want to know how to convert opendrive map to apollo base_map.txt? Can I modify the map myself?Thanks!

[zeyu-zha]

Hello Apollo Team,

i have a question here, could you provide not only the base_map.bin but also the base_map.txt and base_map.xml here ? Or could you tell me how to generate the base_map.xml from the available base_map.bin with the usage of baidu map engine?

[luqiang21]

@daohu527 Sorry for late reply. We don't have tools to convert from opendrive to apollo base_map.txt. But currently, our simulator can import opendrive, then you can export to apollo format. But remember not all details will be kept by this transition.

@zeyu-zha Here is the way to convert base_map.bin back to base_map.txt. We are not aware of how to generate base_map.xml. You may ask apollo developers.

• To convert base_map.bin back to base_map.txt, inside apollo docker,
  • protoc --decode=apollo.hdmap.Map modules/map/proto/map.proto --proto_path=. < your_path_to_base_map.bin > base_map.txt inside /apollo

[zeyu-zha]

@luqiang21 Thanks for your advise! I have another question. Since it is possible to write base_map.txt for the base_map.bin, could you give me some suggestions or guides for directly extracting the map information, e.g. lanewidth, lane number and center line of the lane, from the base_map.bin file with the usage of apollo Map functions?

[daohu527]

I think is possible, you can use "apollo\modules\map\hdmap\hdmap_common.h" and "apollo\modules\map\hdmap\hdmap_impl.h" Have a try.

[luqiang21]

@zeyu-zha You can parse the file and read the map file in txt. The lanes have center line information, boundary line information. You might need to compute laneWidth since it is not a constant. The map only has sampled boundary line points.

Using Apollo map functions, I am not very clear, you can try @daohu527's suggestion.

[AlexandrZabolotny]

@daohu527 Sorry for late reply. We don't have tools to convert from opendrive to apollo base_map.txt. But currently, our > simulator can import opendrive, then you can export to apollo format. But remember not all details will be kept by this transition.

@zeyu-zha Here is the way to convert base_map.bin back to base_map.txt. We are not aware of how to generate base_map.xml. You may ask apollo developers.

To convert base_map.bin back to base_map.txt, inside apollo docker, protoc --decode=apollo.hdmap.Map modules/map/proto/map.proto --proto_path=. < your_path_to_base_map.bin > > base_map.txt inside /apollo

Hi @luqiang21 Can I import HDmap from base_map.txt?? I see that I can import HDmap only from base_map.bin

[daohu527]

import to which side apollo or lgsvl, if lgsvl it can easy to change txt to bin with command

[AlexandrZabolotny]

import to which side apollo or lgsvl, if lgsvl it can easy to change txt to bin with command

For lgsvl. can you jump with which command?

[daohu527]

protoc --encode apollo.hdmap.Map modules/map/proto/map.proto < modules/map/data/base_map.txt > base_map.bin

[luqiang21]

@daohu527 Sorry for late reply. We don't have tools to convert from opendrive to apollo base_map.txt. But currently, our > simulator can import opendrive, then you can export to apollo format. But remember not all details will be kept by this transition. @zeyu-zha Here is the way to convert base_map.bin back to base_map.txt. We are not aware of how to generate base_map.xml. You may ask apollo developers.

To convert base_map.bin back to base_map.txt, inside apollo docker, protoc --decode=apollo.hdmap.Map modules/map/proto/map.proto --proto_path=. < your_path_to_base_map.bin > > base_map.txt inside /apollo

Hi @luqiang21 Can I import HDmap from base_map.txt?? I see that I can import HDmap only from base_map.bin

Yeah, you are right, we only support bin file. As @daohu527 said, you can convert inside apollo docker, then import in our simulator.

[AlexandrZabolotny]

Thanks for your reply! I followed your recommendations. But, when I load the map into the simulator, then I get the following error

[daohu527]

I guess you map don't have a header like below.

header {
  version: "03/10/17_22.46.20"
  date: "20161124"
  projection {
    proj: "+proj=tmerc +lat_0={37.413082} +lon_0={-122.013332} +k={0.9999999996} +ellps=WGS84 +no_defs"
  }
}

[AlexandrZabolotny]

I guess you map don't have a header like below.

header {
  version: "03/10/17_22.46.20"
  date: "20161124"
  projection {
    proj: "+proj=tmerc +lat_0={37.413082} +lon_0={-122.013332} +k={0.9999999996} +ellps=WGS84 +no_defs"
  }
}

Sorry for my persistence.
But this partially solved the problem. Now another error has occurred

[luqiang21]

@AlexandrZabolotny Please have a full header like this and try again

header {
  version: "1.500000"
  date: "2018-03-23T13:27:54"
  projection {
    proj: "+proj=utm +zone=10 +ellps=WGS84 +datum=WGS84 +units=m +no_defs"
  }
  district: "0"
  rev_major: "1"
  rev_minor: "0"
  left: -122.01603666045537
  top: 37.416905633399246
  right: -122.01603666045537
  bottom: 37.416905633399246
  vendor: "LGSVL"
}

Make sure zone is correct for your map, left/right, top/bottom can be the center's longitude, latitude of your map.

[AlexandrZabolotny]

@luqiang21 thanks. All ok now