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体验新版 GitCode,发现更多精彩内容 >>
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69c866eb
编写于
1月 21, 2019
作者:
Y
Yifei Jiang
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差异文件
tools: added hdmapviewer.
上级
7680dee9
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2
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2 changed file
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76 addition
and
1 deletion
+76
-1
modules/tools/mapviewers/README.md
modules/tools/mapviewers/README.md
+27
-1
modules/tools/mapviewers/hdmapviewer.py
modules/tools/mapviewers/hdmapviewer.py
+49
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未找到文件。
modules/tools/mapviewers/README.md
浏览文件 @
69c866eb
...
...
@@ -15,7 +15,7 @@ pip install yattag
Inside docker, run the following command from your Apollo root dir:
```
python modules/tools/mapviewer/gmap_viwer.py map_path_and_file
python modules/tools/mapviewer/gmap_viwer.py
-m
map_path_and_file
```
An output file
...
...
@@ -32,3 +32,29 @@ The default utm zone is set to ***10*** in this tool. if the HDMap is located in
python modules/tools/mapviewer/gmap_viwer.py map_path_and_file utm_zone_id
```
### hdmapviewer.py
Activate enviroments:
```
conda create --name py27bokeh python=2.7.15 numpy scipy bokeh protobuf
conda activate py27bokeh
```
Inside docker, run the following command from Apollo root dir:
```
python modules/tools/mapviewer/hdmapviwer.py -m map_path_and_file
```
An output file
```
hdmap.html
```
can be found in your Apollo root dir.
Deactivate enviroments:
```
conda deactivate
```
\ No newline at end of file
modules/tools/mapviewers/hdmapviewer.py
0 → 100644
浏览文件 @
69c866eb
import
argparse
from
bokeh.plotting
import
figure
,
output_file
,
show
import
common.proto_utils
as
proto_utils
from
modules.map.proto
import
map_pb2
def
draw
(
map_pb
,
plot
):
for
lane
in
map_pb
.
lane
:
for
curve
in
lane
.
left_boundary
.
curve
.
segment
:
if
curve
.
HasField
(
'line_segment'
):
x
=
[]
y
=
[]
for
p
in
curve
.
line_segment
.
point
:
x
.
append
(
p
.
x
)
y
.
append
(
p
.
y
)
plot
.
line
(
x
,
y
,
line_width
=
2
)
for
curve
in
lane
.
right_boundary
.
curve
.
segment
:
if
curve
.
HasField
(
'line_segment'
):
x
=
[]
y
=
[]
for
p
in
curve
.
line_segment
.
point
:
x
.
append
(
p
.
x
)
y
.
append
(
p
.
y
)
plot
.
line
(
x
,
y
,
line_width
=
2
)
def
load_map_data
(
map_file
):
map_pb
=
map_pb2
.
Map
()
proto_utils
.
get_pb_from_file
(
map_file
,
map_pb
)
return
map_pb
if
__name__
==
"__main__"
:
parser
=
argparse
.
ArgumentParser
(
description
=
"HDMapViewer is a tool to display hdmap."
,
prog
=
"hdmapviewer.py"
)
parser
.
add_argument
(
"-m"
,
"--map"
,
action
=
"store"
,
type
=
str
,
required
=
True
,
help
=
"Specify the HDMap file in txt or binary format"
)
args
=
parser
.
parse_args
()
map_pb
=
load_map_data
(
args
.
map
)
output_file
(
"hdmap.html"
)
plot
=
figure
(
sizing_mode
=
'scale_both'
,
match_aspect
=
True
)
draw
(
map_pb
,
plot
)
show
(
plot
)
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