Autonomous-Visualization is a tool to visulize map and agents for self-driving(PnC) developers. It's based on two libraries:

• Dear ImGui
• ImPlot

Now the tool supports:

• Show hdmap(apollo) lane boundaries and reference line with ids;
• Show agents(ego vehicle and obstacles, extract from apollo channel) with history/shape/futures(planning or prediction trajectory);
• Show real time plot of vlaues(extracted from apollo channel)

Build

Dependence

SDL2

sudo apt install libsdl2-dev

Apollo Cyber Module(for data extraction)

git clone git@github.com:neolixcn/cyber.git &&
cd cyber &&
git checkout imu_integral_proto_update &&
bash build.sh build

Build

git clone git@github.com:yongcongwang/autonomous-visualization.git &&
cd autonomous-visualization &&
mkdir build &&
cmake -Bbuild -H. &&
make -C build -$(nproc)

Run

The executable will be generated in autonomous-visualization/build:

./build/visulizer

If you want to display infos from apollo channel in LAN, you have to set the enviroment CYBER_IP to your true ip:

export CYBER_IP=xxx.xxx.xxx.xxx

Architecture

The .png picture is created by Draw.io you can re-edit the pic with that.