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Fix map tutorial issues. #35

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merged 3 commits into from
Apr 4, 2022
Merged

Fix map tutorial issues. #35

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5cb43ea
Fix map tutorial issues.
benjaminrwilson Apr 3, 2022
ae8aeb5
Revert strings.
benjaminrwilson Apr 3, 2022
d8a0ae9
Remove outputs.
benjaminrwilson Apr 3, 2022
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22 changes: 10 additions & 12 deletions tutorials/map_tutorial.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,8 @@
"metadata": {},
"outputs": [],
"source": [
"from types import SimpleNamespace"
"from argparse import Namespace\n",
"from pathlib import Path"
]
},
{
Expand All @@ -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)})"
]
},
{
Expand All @@ -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"
]
},
Expand Down Expand Up @@ -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",
Expand Down Expand Up @@ -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",
Expand Down Expand Up @@ -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",
Expand Down Expand Up @@ -340,7 +338,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.9.9"
"version": "3.9.12"
}
},
"nbformat": 4,
Expand Down