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How to generate openDRIVE formate file like base_map.xml #3005

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hyx007 opened this issue Feb 26, 2018 · 324 comments
Closed

How to generate openDRIVE formate file like base_map.xml #3005

hyx007 opened this issue Feb 26, 2018 · 324 comments
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@Zhenni17
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Module: HD Map Indicates HD Map module related issues Type: Question Indicates that an issue or pull request needs more information

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@hyx007
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hyx007 commented Feb 26, 2018

Hi, I want to generate map file like base_map.xml, is there any toturials about how to generate and load openDRIVE formate file? I've download the OpenDRIVE Format Specification, Rev. 1.4 but did not find any code samples to generate .xml file, thank you very much!
@msbeta
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msbeta commented Mar 1, 2018

Due to the different methods by which HDMap providers collect and generate maps, the expression of HDMap elements is quite different. so we only provide the HDMap specification. As long as the HDMap provider's map can be converted into Apollo's map, they can use Apollo's services.
To generate base_map.xml, you first need to have a HDMap data, and then convert the format to Apollo OpenDrive format.
In addition, the Apollo OpenDrive specification has modified and extended the standard OpenDrive specification, so if necessary, you can email us to get the Apollo OpenDrive specification.

@selwart12
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Does Apollo have a scripted method to generate base_map.xml directly from GPS and LiDAR data? How was the Sunnyvale map created. Can you share the steps or point me to documentation?

@markcraw
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Can you please email me the Apollo map specification? mark.crawford@havalus.com

@wqqn
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wqqn commented Mar 14, 2018

I am also interesting of the Baidu OpenDrive specification. Could you email it to me? nian.wu99@gmail.com

@drwnz
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drwnz commented Mar 15, 2018

Hi, I would also like more information on the Apollo OpenDrive specification. If you could email me on david@lifecyclist.co.nz it would be much appreciated! Thanks.

@wanglei828 wanglei828 added Type: Question Indicates that an issue or pull request needs more information Module: HD Map Indicates HD Map module related issues labels Mar 15, 2018
@ankitvora7
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Hi can you email me the Apollo OpenDrive specification please ? ankitvora19@gmail.com

@maziqiqi
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Hi can you email me the Apollo OpenDrive specification please ? m17801067011@163.com

@tintinchou
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Hi can you email me the Apollo OpenDrive specification please ? tintinchou@gmail.com

@stiaszny
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stiaszny commented Mar 20, 2018 •
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Good information, but let's say I have no HDmap. How do I create one? I see there are some tools, like create_map_from_mobileye.sh and create_map_from_xy.sh (which can presumably be used with UTM coordinates), but are there any tools in Apollo that will allow you to add junctions and signals and link roads together? How did the Apollo team create the sunnyvale_loop demo maps, and is that technology available to Apollo users in any form?

@filipkarlsson
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Hi! Can you please email me the Apollo OpenDrive specification? filkarl@student.chalmers.se

@msbeta
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msbeta commented Mar 21, 2018

@selwart12 @stiaszny
There is no method or tools to generate base_map.xml directly from GPS and LiDAR data now. The steps we generate Apollo HDMap are roughly as follows:

  1. collect Lidar data,GPS data, IMU data, Camera data, etc. through HDMap collection vehicles;
  2. process point cloud data using technologies such as Lidar SLAM;
  3. Identify road elements through machine learning, deep learning,etc. to generate HDMap data, which may contains some misidentified data.
  4. manually correct the automatically generated HDMap and construct logical relationships between the map elements to generate the final HDMap.

The technology we create the HDMaps is not available to users now, but we will open our methods how to collect map data through HDMap collection vehicles in the near future.

@Smashingkeyboard
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Hi! @msbeta I would be very appreciated if you can send me copy of Apollo OpenDrive specification! Obeeee@163.com

@msbeta
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msbeta commented Mar 22, 2018

Sorry for this late reply, We will email the Apollo OpenDrive specification to everyone,thanks.

@stiaszny
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Fantastic - can you send one to me at shwagocytosis@gmail.com? Thanks!

@Smashingkeyboard
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@msbeta I think I may have problem receiving the Specification? If you have already send the Specification, Could you send me with it again? with this email address tangz3@miamioh.edu and Obeeee@163.com
Thank you!

@Smashingkeyboard
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@msbeta I apologize for being annoying! Is there any problem with the Specification? I would be really appreciated if you can tell me how long should I wait for it

@msbeta
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msbeta commented Mar 29, 2018

@Smashingkeyboard I will ask my colleague to send you the Specification as soon as possible.It is expected to be sent out today.

@wang87325
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wang87325 commented Mar 31, 2018 •
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@msbeta Hi can you email me the Apollo OpenDrive specification please ? wang_87325@163.com

@bumnabi
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bumnabi commented Apr 4, 2018

@msbeta Hi can you email me the Apollo OpenDrive specification please ? sungyun.jung@swmobile.co.kr
it would be much appreciated! Thanks.

@Zhenni17
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Zhenni17 commented Apr 4, 2018

Hi @markcraw @wqqn @bumnabi @wang87325 @Smashingkeyboard @stiaszny @filipkarlsson @tintinchou @maziqiqi @ankitvora7 @drwnz , you should receive an email directly from me with the Apollo map specification document attached. Please feel free to let me know if there are any other issues we can help with on the map side! Thank you for your support in Apollo! 👍

@paulCBS
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paulCBS commented Apr 12, 2018

@msbeta Hi can you email me the Apollo OpenDrive specification please ? paulbaoshan@gmail.com

@msbeta msbeta mentioned this issue Apr 12, 2018
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@msbeta
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msbeta commented Apr 12, 2018

hi, @paulCBS , 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!

@candyguo
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Fantastic - can you send apollo map specification to me at candyguo_fly@163.com? Thanks!

@DLH1
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DLH1 commented Apr 27, 2018

@msbeta Could I have a Apollo OpenDrive specs as well? Thanks. daniel.heckman@mscsoftware.com

@patrick-neal patrick-neal mentioned this issue Apr 27, 2018
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@yuzhangbit
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Hi, @msbeta . Could you please send me the Apollo OpenDrive specs as well? yu.zhang.bit@gmail.com Thanks!

@bingfengwang1992
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Hi can you email me the Apollo OpenDrive specification please ? thanks. email: bingfengwang1992@gmail.com

@liujianqiang1016
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liujianqiang1016 commented Oct 29, 2021 via email

@exlimit
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exlimit commented Oct 30, 2021

Hi can you email me the Apollo OpenDrive specification please ? thanks. email: exlimit@qq.com

@simon-zy
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simon-zy commented Nov 3, 2021

@msbeta
Please email me the Apollo HD map specification? Thanks in advance!
email: suihj@mail.ustc.edu.cn

@xiakexing17
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@msbeta
Hello, could you please email me the Apollo HD map specification? Thanks in advance!
email: 1324508731@qq.com

@shagarwal
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Not sure why the spec isn't openly available - attaching it here in case others need it (@xiakexing17 @simon-zy @exlimit fyi)
EN_APOLLO_HDMap_OpenDrive_Specs_A3.0 (1).pdf

@ropoc
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ropoc commented Dec 15, 2021

@shagarwal
Thank you for sharing!
This is very helpfull!

@msbeta
I'm not sure whether the shared file from @shagarwal is the latest version or not.
Please email me the Apollo HD map specification if there is any update? Thanks!
email: poncotsu3@yahoo.co.jp

@DBeloglazov
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Hello, could you please send me the Apollo Opendrive specification, please?
e-mail: d.beloglazov@gmail.com
Thanks you!

@tiagoaston
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Hello @msbeta
I filled in the form about a week ago but haven't heard back.. wondering if it's still active
Just to be safe, I'll ask here too.
Can you send me the Apollo Opendrive spec to tiagoaston@gmail.com, please?
Thank you so much!!

@DBeloglazov
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DBeloglazov commented Mar 22, 2022 via email

@LuoXin0826
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Hi can you email me the Apollo OpenDrive specification please ? [luoxin@umich.edu]

@wuhuccp
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wuhuccp commented May 31, 2022

Hi, Can you send me the Apollo Opendrive spec to hzcp201503@163.com ,please?
Thank you so much !!!

@northward111
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Hi, Can you send me the Apollo Opendrive spec to 1686839480@qq.com ,please?
Thank you so much !!!

@Gabriel-Lv258
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Hi, Can you send me the Apollo Opendrive spec to lvgenbo@126.com, please?
Thank you very much.

@llllllyan92
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Hello, is this thread still active?
Could u pls send a copy of the spec to lilyy_1992@sina.com ?

@zhuiyuehun
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Hi, Can you send me the Apollo Opendrive spec to 786953593@qq.com,please?
Thank you so much !!!

@qinyafee
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Hi, would you please send me the Apollo HD map specification to qinyafee@163.com ? Thanks a lot!

@daohu527 daohu527 mentioned this issue Jul 4, 2022
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@ahmedmayman
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Hi,
would you please send me the Apollo HD map specification to ahmedmayman2222@gmail.com ?
Thanks

@DBeloglazov
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DBeloglazov commented Oct 11, 2022 via email

@jianqiaolll
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Hi, could you please send me the Apollo HD map specification to jianqiao@qcraft.ai ? Thanks!

@jianqiaolll
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Hi, could you please send me the Apollo Opendrive spec to jianqiao@qcraft.ai ? Thanks!

@jianqiaolll
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Hi, could you please send me the Apollo Opendrive spec to jianqiao@qcraft.ai ? Thanks!

Hi, could you please send me the Apollo Opendrive spec to jianqiao@qcraft.ai ? Thanks!

@Brook051825
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Hi, could you please send me the Apollo Opendrive spec to yangkefan0518@163.com?
Thanks a lot!

@yutong-xie
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Could you please send me the Apollo Opendrive spec to yutong-xie@outlook.com ? Thanks!

@ruanhailiang
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Could you please send me the Apollo Opendrive spec to 275611070@qq.com ? Thanks!

@chenyuhui
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@msbeta hi, could you please email me the Apollo OpenDrive specification to jacketcyhi@163.com? Thanks!

@Wokening
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hi, could you please email me the Apollo OpenDrive specification to bytescat@163.com? Thanks!

@haileynam
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@msbeta hello, could you please email me the Apollo OpenDrive specification to haileynam0408@gmail.com? Thanks!

@daohu527
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Here is the Apollo OpenDrive specification #15117

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