chenghuang66 / assuremappingtools

Desktop based tool for viewing, editing and saving road network maps for autonomous vehicle platforms such as Autoware.

ASSURE mapping tools

Desktop based tool for viewing, editing and saving road network maps for autonomous vehicle platforms such as Autoware.

* News: V0.5 build for Ubuntu 18.04 is now available in separate branch.

Operating System

• Ubuntu 16.04
• Ununtu 18.04 Fast fix, or Custom build branch

Prerequisites libraries:

• For Ubuntu 16.04: (master branch)

1. Install OpenCV 2.4 don't forget to checkout ver 2.4.13.7, default git clone download ver 4.0
2. Install ROS kinetic
3. Install libtinyxml, freeglut3, libglew, libpcl1.7, libpugixml-dev, libgeographic
4. Install ros-kinetic-pcl-ros

• For Ubuntu 18.04

1. Install OpenCV 2.4 don't forget to checkout ver 2.4.13.7, default git clone download ver 4.0
2. Install ROS melodic
3. Install libtinyxml, freeglut3, libglew, libpcl1, libpugixml-dev, libgeographic, libplib, libglm
4. Install ros-melodic-pcl-ros

• Library link issue: export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:libs

GPU acceleration

• The editor works faster with GPU accelerator specially for large maps

Supported Roadnetwork Map formates (Load)

• OpenPlanner map format .kml
• Signle path file .csv
• Vector Map, collection of .csv files composing the map
• OpenDRIVE, is open file format for the logical description of road networks .xodr
• Lanelet2, map format .osm, with autoware extention

Supported Roadnetwork Map formates (Save)

• OpenPlanner map format .kml
• Google Earth .kml format, if only the loaded vector map has GPS information.
• Lanelet2, map format .osm

Supported Pointcloud data

• pointcloud map .pcd files
• rosbag of (LIDAR, Camera, Pose) .bag files comming soon

Supported Map Semantics

• Lanes
• Waypoints
• Road lines
• Traffic Lights
• Stop Lines
• Traffic Sign
• Road Boundaries
• Crossings

Tutorials

• Video Tutorials V0.5
• Video Tutorials V0.2
• Older Video Tutorials

New features

• Saving lanelet2 using either UTM from original lanelet library or MGRS from the autoware extention.
• ASSURE map editor save the projection data with the .kml and .osm files to be use when the map is loaded.
• Accurate conversion from vector map to lanelet2 is available. use should find the projection string for the ptoj library online.
• This website provides prepared projection string, if you select Proj4js format. you will get this string which represent central Japan area.

Known Issues

• No support for multi-storey parking maps yet.
• Exporting traffic lights and signs to lanelet2 require connection all Ids correctly between light-lane-stopline.