Autonomous-Visualization is a tool to visulize map and agents for self-driving(PnC) developers. It's based on two libraries:
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)
sudo apt install libsdl2-dev
git clone [email protected]:neolixcn/cyber.git &&
cd cyber &&
git checkout imu_integral_proto_update &&
bash build.sh build
git clone [email protected]:yongcongwang/autonomous-visualization.git &&
cd autonomous-visualization &&
mkdir build &&
cmake -Bbuild -H. &&
make -C build -$(nproc)
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
The .png
picture is created by Draw.io you can re-edit the pic with that.