whl-logmap

The whl-logmap tool enables the automatic creation of Apollo-format HD maps from recorded trajectory. Just one pass along the road is enough to generate a map. It’s a simple, efficient, and powerful solution for fast map production.

Install

pip3 install whl_logmap

Quick Start

Generate from record

1. Start the GPS/transform/localization module and record the vehicle's trajectory

cyber_recorder record -c /apollo/localization/pose

2. Generate base_map from records

whl-logmap --i=your_record_dir

// or

whl-logmap --i=your_record_file

Generate form x,y,heading

1. Generate base_map from x,y,heading

# x,y,heading(radians)[,forward,backward,spacing]
whl-logmap --path_params="221247.67,2517672.17,1.0,10,50,0.5"

Options

• --input_path (required): Path to the records.
• --output_path: Path to the output directory (default: "map"). The tool will create corresponding .txt and .bin files.
• --extra_roi_extension: Extra ROI extension distance (default: 0.3).