Fix map tutorial issues. (#35)

* Fix map tutorial issues. * Revert strings. * Remove outputs.
argoverse · Apr 4, 2022 · 2f86009 · 2f86009
1 parent d196151
commit 2f86009
Showing 1 changed file with 10 additions and 12 deletions.
diff --git a/tutorials/map_tutorial.ipynb b/tutorials/map_tutorial.ipynb
@@ -15,7 +15,8 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "from types import SimpleNamespace"
+    "from argparse import Namespace\n",
+    "from pathlib import Path"
    ]
   },
   {
@@ -39,7 +40,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "args = SimpleNamespace(**{\"dataroot\": dataroot, \"log_id\": log_id})"
+    "args = Namespace(**{\"dataroot\": Path(dataroot), \"log_id\": Path(log_id)})"
    ]
   },
   {
@@ -62,7 +63,7 @@
     "\n",
     "import av2.geometry.polyline_utils as polyline_utils\n",
     "import av2.rendering.vector as vector_plotting_utils\n",
-    "from av2.datasets.sensor_dataset.av2_sensor_dataloader import AV2SensorDataLoader\n",
+    "from av2.datasets.sensor.av2_sensor_dataloader import AV2SensorDataLoader\n",
     "from av2.map.map_api import ArgoverseStaticMap, LaneSegment"
    ]
   },
@@ -102,23 +103,20 @@
     "    in a bird's eye view.\n",
     "    \"\"\"\n",
     "    log_map_dirpath = Path(args.dataroot) / args.log_id / \"map\"\n",
-    "    avm = ArgoverseStaticMap.from_json(log_map_dirpath, build_raster=False)\n",
+    "    avm = ArgoverseStaticMap.from_map_dir(log_map_dirpath, build_raster=False)\n",
     "\n",
     "    fig = plt.figure(figsize=(10, 10))\n",
     "    ax = fig.add_subplot()\n",
     "\n",
-    "    for id, ls in avm.vector_lane_segments.items():\n",
+    "    for _, ls in avm.vector_lane_segments.items():\n",
     "\n",
     "        # right_ln_bnd\n",
     "        # left_ln_bnd\n",
     "        vector_plotting_utils.draw_polygon_mpl(ax, ls.polygon_boundary, color=\"g\", linewidth=0.5)\n",
     "        vector_plotting_utils.plot_polygon_patch_mpl(ls.polygon_boundary, ax, color=\"g\", alpha=0.2)\n",
     "\n",
-    "        x, y, z = ls.polygon_boundary.mean(axis=0)\n",
-    "        # plt.text(x, y, str(id))\n",
-    "\n",
     "    # plot all pedestrian crossings\n",
-    "    for id, pc in avm.vector_pedestrian_crossings.items():\n",
+    "    for _, pc in avm.vector_pedestrian_crossings.items():\n",
     "        vector_plotting_utils.draw_polygon_mpl(ax, pc.polygon, color=\"m\", linewidth=0.5)\n",
     "        vector_plotting_utils.plot_polygon_patch_mpl(pc.polygon, ax, color=\"m\", alpha=0.2)\n",
     "\n",
@@ -148,7 +146,7 @@
     "    Also, visualize side-by-side plots of the 3 raster arrays -- ground height, drivable area, ROI.\n",
     "    \"\"\"\n",
     "    log_map_dirpath = Path(args.dataroot) / args.log_id / \"map\"\n",
-    "    avm = ArgoverseStaticMap.from_json(log_map_dirpath, build_raster=True)\n",
+    "    avm = ArgoverseStaticMap.from_map_dir(log_map_dirpath, build_raster=True)\n",
     "\n",
     "    height_array = avm.raster_ground_height_layer.array\n",
     "    ax = plt.subplot()\n",
@@ -264,7 +262,7 @@
     "\n",
     "    log_map_dirpath = Path(args.dataroot) / args.log_id / \"map\"\n",
     "\n",
-    "    avm = ArgoverseStaticMap.from_json(log_map_dirpath, build_raster=False)\n",
+    "    avm = ArgoverseStaticMap.from_map_dir(log_map_dirpath, build_raster=False)\n",
     "\n",
     "    # retain every pose first.\n",
     "    traj_ns = loader.get_subsampled_ego_trajectory(args.log_id, sample_rate_hz=1e9)\n",
@@ -340,7 +338,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.9.9"
+   "version": "3.9.12"
   }
  },
  "nbformat": 4,