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dreamview

modules/dreamview/README.md

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dreamview

Introduction

Dreamview or Apollo's HMI module provides a web application that helps developers visualize the output of other relevant autonomous driving modules, e.g. the vehicle's planning trajectory, car localization, chassis status etc.

Directory Structure

shell
modules/dreamview
├── backend               // dreamview backend implementation
├── BUILD
├── conf
├── cyberfile.xml
├── frontend              // dreamview frontend implementation 
├── launch
├── main.cc
├── proto
└── README.md

Input

Currently Dreamview monitors the following messages:

  • Localization, defined by Protobuf message LocalizationEstimate, which can be found in file modules/common_msgs/localization_msgs/localization.proto.
  • Chassis, defined by Protobuf message Chassis, which can be found in file modules/common_msgs/chassis_msgs/chassis.proto.
  • Planning, defined by Protobuf message ADCTrajectory, which can be found in file modules/common_msgs/planning_msgs/planning.proto.
  • Monitor, defined by Protobuf message MonitorMessage, which can be found in file modules/common_msgs/monitor_msgs/monitor.proto.
  • Perception Obstacles, defined by Protobuf message PerceptionObstacles, which can be found in file modules/common_msgs/perception_msgs/perception_obstacle.proto.
  • Prediction, defined by Protobuf message PredictionObstacles, which can be found in file modules/common_msgs/prediction_msgs/prediction_obstacle.proto.
  • Routing, defined by Protobuf message RoutingResponse, which can be found in file modules/common_msgs/routing_msgs/routing.proto.

Output

A web-based dynamic 3D rendering of the monitored messages in a simulated world.

configs

file pathtype / structDescription
modules/dreamview/conf/camera_to_lidar_preprocess_table.pb.txtapollo::dreamview::PreprocessTablepreprocess table
modules/dreamview/conf/data_collection_table.pb.txtapollo::dreamview::DataCollectionTabledata collection table
modules/dreamview/conf/lidar_to_gnss_preprocess_table.pb.txtapollo::dreamview::PreprocessTablepreprocess table
modules/dreamview/conf/hmi_modesapollo::dreamview::HMIModeHMI mode config
modules/dreamview/conf/dreamview.confgflagsgflags config

Flags

flagfiletypeDescription
modules/dreamview/backend/common/dreamview_gflags.ccccdreamview flags define
modules/dreamview/backend/common/dreamview_gflags.hhdreamview flags header

How to use

  1. Build apollo in source env or install dreamview and monitor package in package management env
  2. in source env:
shell
bash scripts/bootstrap.sh

in package management env:

shell
aem bootstrap start

  1. Xu, J., Luo, Q., Xu, K., Xiao, X., Yu, S., Hu, J., Miao, J. and Wang, J., 2019, November. An Automated Learning-Based Procedure for Large-scale Vehicle Dynamics Modeling on Baidu Apollo Platform. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 5049-5056). IEEE.

  2. Jiang, S., Wang, Y., Lin, L., Lin, W., Cao, Y., Miao, J. and Luo, Q., 2020, November. DRF: A Framework for High-Accuracy Autonomous Driving Vehicle Modeling, arXiv preprint arXiv:2011.00646.