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.
Input¶
Currently Dreamview monitors the following messages:
Localization, defined by Protobuf message
LocalizationEstimate
, which can be found in filelocalization/proto/localization.proto
.Chassis, defined by Protobuf message
Chassis
, which can be found in filecanbus/proto/chassis.proto
.Planning, defined by Protobuf message
ADCTrajectory
, which can be found in fileplanning/proto/planning.proto
.Monitor, defined by Protobuf message
MonitorMessage
, which can be found in filecommon/monitor/proto/monitor.proto
.Perception Obstacles, defined by Protobuf message
PerceptionObstacles
, which can be found in fileperception/proto/perception_obstacle.proto
.Prediction, defined by Protobuf message
PredictionObstacles
, which can be found in fileprediction/proto/prediction_obstacle.proto
.Routing, defined by Protobuf message
RoutingResponse
, which can be found in filerouting/proto/routing.proto
.
Output¶
A web-based dynamic 3D rendering of the monitored messages in a simulated world.