benchmark-HDMapping-Orchestration

Step 1 Prepare data

Create worskpace folder

mkdir -p ~/hdmapping-benchmark

Go to your workspace folder:

cd ~/hdmapping-benchmark

Clone the orchestration repository:

git clone https://github.com/MapsHD/benchmark-HDMapping-Orchestration.git

Available sequences:

seq00 seq01 seq02 seq04 seq05 seq06 seq07 seq08 seq09 seq10

The dataset is available here: KITTI dataset ROS

Make the script executable (if not done yet):

chmod +x ~/hdmapping-benchmark/benchmark-HDMapping-Orchestration/prepare_data_step1/download_data.sh 

Run the script with a sequence number:

~/hdmapping-benchmark/benchmark-HDMapping-Orchestration/prepare_data_step1/download_data.sh seq00

This will download the following into ~/hdmapping-benchmark/data:

kitti_seq00_ros1.bag

kitti_seq00_ros2.zip – ROS2 bag (automatically unzipped into kitti_seq00_ros2/)

Step 2 Clone repositores

Make the script executable (if not done yet):

chmod +x ~/hdmapping-benchmark/benchmark-HDMapping-Orchestration/clone_github_repositories_step2/clone_github_repositories_step2.sh

Run the script:

~/hdmapping-benchmark/benchmark-HDMapping-Orchestration/clone_github_repositories_step2/clone_github_repositories_step2.sh

After running the script, you will be prompted to enter the branch name you want to clone for the repositories.

Result:

The repositories will be cloned into:

~/hdmapping-benchmark

The Docker images required for the benchmark will be built.

Step 3 run benchmark

Make the script executable (if not done yet):

chmod +x ~/hdmapping-benchmark/benchmark-HDMapping-Orchestration/run_benchmark_step3/run_benchmark_step3.sh

Change directory to the data folder:

cd ~/hdmapping-benchmark/data

Run the benchmark script with your ROS1 bag and ROS2 folder:

~/hdmapping-benchmark/benchmark-HDMapping-Orchestration/run_benchmark_step3/run_benchmark_step3.sh kitti_seq00_ros1.bag kitti_seq00_ros2/2011_10_03_drive_0027_extract_ros2/ .

Result:

After running the script, you will get the following folder:

~/hdmapping-benchmark/data/output_hdmapping-ALGONAME/

You should see following data

lio_initial_poses.reg

poses.reg

scan_lio_*.laz

session.json

trajectory_lio_*.csv