12.3. How to Convert OpenDRIVE Format Maps to Apollo Format Maps?

How can these two map formats be converted to each other?

12.3.1. Answer

Here are the methods for converting between the two map formats.

12.3.1.1. OpenDRIVE to Apollo

You can use the imap tool to convert OpenDRIVE format maps to Apollo format maps.

  1. Install imap

pip3 install imap_box

  1. Convert the format

# data/town.xodr (OpenDRIVE format map)
# data/apollo_map.txt (Apollo format map)
imap -f -i data/town.xodr -o data/apollo_map.txt

12.3.1.2. Apollo to OpenDRIVE

Todo: Currently, there is no corresponding conversion tool.