tools: added hdmapviewer.

modules/tools/mapviewers/README.md

@@ -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

+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)