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Add rendering options (nutonomy#223) (nutonomy#224)
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* Add rendering options (nutonomy#223)

* Cleanup

* Cleanup

* Addressed review comments
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@holger-motional
holger-motional authored Sep 10, 2019
1 parent c480b4f commit cfc9ade
Showing 1 changed file with 46 additions and 15 deletions.
61 changes: 46 additions & 15 deletions python-sdk/nuscenes/map_expansion/map_api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -226,16 +226,21 @@ def render_map_patch(self,
box_coords: Tuple[float, float, float, float],
layer_names: List[str] = None,
alpha: float = 0.5,
figsize: Tuple[int, int] = (15, 15)) -> Tuple[Figure, Axes]:
figsize: Tuple[int, int] = (15, 15),
render_egoposes_range: bool = True,
render_legend: bool = True) -> Tuple[Figure, Axes]:
"""
Renders a rectangular patch specified by `box_coords`. By default renders all layers.
:param box_coords: The rectangular patch coordinates (x_min, y_min, x_max, y_max).
:param layer_names: All the non geometric layers that we want to render.
:param alpha: The opacity of each layer.
:param figsize: Size of the whole figure.
:param render_egoposes_range: Whether to render a rectangle around all ego poses.
:param render_legend: Whether to render the legend of map layers.
:return: The matplotlib figure and axes of the rendered layers.
"""
return self.explorer.render_map_patch(box_coords, layer_names, alpha, figsize)
return self.explorer.render_map_patch(box_coords, layer_names, alpha, figsize,
render_egoposes_range, render_legend)

def render_map_in_image(self,
nusc: NuScenes,
Expand Down Expand Up @@ -274,18 +279,27 @@ def render_egoposes_on_fancy_map(self,
nusc: NuScenes,
scene_tokens: List = None,
verbose: bool = True,
out_path: str = None) -> np.ndarray:
out_path: str = None,
render_egoposes: bool = True,
render_egoposes_range: bool = True,
render_legend: bool = True) -> np.ndarray:
"""
Renders each ego pose of a list of scenes on the map (around 40 poses per scene).
This method is heavily inspired by NuScenes.render_egoposes_on_map(), but uses the map expansion pack maps.
:param nusc: The NuScenes instance to load the ego poses from.
:param scene_tokens: Optional list of scene tokens corresponding to the current map location.
:param verbose: Whether to show status messages and progress bar.
:param out_path: Optional path to save the rendered figure to disk.
:param render_egoposes: Whether to render ego poses.
:param render_egoposes_range: Whether to render a rectangle around all ego poses.
:param render_legend: Whether to render the legend of map layers.
:return: <np.float32: n, 2>. Returns a matrix with n ego poses in global map coordinates.
"""
return self.explorer.render_egoposes_on_fancy_map(nusc, scene_tokens=scene_tokens,
verbose=verbose, out_path=out_path)
verbose=verbose, out_path=out_path,
render_egoposes=render_egoposes,
render_egoposes_range=render_egoposes_range,
render_legend=render_legend)

def render_map_mask(self,
patch_box: Tuple[float, float, float, float],
Expand Down Expand Up @@ -695,13 +709,17 @@ def render_map_patch(self,
box_coords: Tuple[float, float, float, float],
layer_names: List[str] = None,
alpha: float = 0.5,
figsize: Tuple[int, int] = (15, 15)) -> Tuple[Figure, Axes]:
figsize: Tuple[int, int] = (15, 15),
render_egoposes_range: bool = True,
render_legend: bool = True) -> Tuple[Figure, Axes]:
"""
Renders a rectangular patch specified by `box_coords`. By default renders all layers.
:param box_coords: The rectangular patch coordinates (x_min, y_min, x_max, y_max).
:param layer_names: All the non geometric layers that we want to render.
:param alpha: The opacity of each layer.
:param figsize: Size of the whole figure.
:param render_egoposes_range: Whether to render a rectangle around all ego poses.
:param render_legend: Whether to render the legend of map layers.
:return: The matplotlib figure and axes of the rendered layers.
"""
x_min, y_min, x_max, y_max = box_coords
Expand All @@ -725,14 +743,17 @@ def render_map_patch(self,
y_margin = np.minimum(local_height / 4, 10)
ax.set_xlim(x_min - x_margin, x_max + x_margin)
ax.set_ylim(y_min - y_margin, y_max + y_margin)
ax.add_patch(Rectangle((x_min, y_min), local_width, local_height, fill=False, linestyle='-.', color='red',
lw=2))
ax.text(x_min + local_width / 100, y_min + local_height / 2, "%g m" % local_height,
fontsize=14, weight='bold')
ax.text(x_min + local_width / 2, y_min + local_height / 100, "%g m" % local_width,
fontsize=14, weight='bold')

ax.legend(frameon=True, loc='upper right')
if render_egoposes_range:
ax.add_patch(Rectangle((x_min, y_min), local_width, local_height, fill=False, linestyle='-.', color='red',
lw=2))
ax.text(x_min + local_width / 100, y_min + local_height / 2, "%g m" % local_height,
fontsize=14, weight='bold')
ax.text(x_min + local_width / 2, y_min + local_height / 100, "%g m" % local_width,
fontsize=14, weight='bold')

if render_legend:
ax.legend(frameon=True, loc='upper right')

return fig, ax

Expand Down Expand Up @@ -898,7 +919,10 @@ def render_egoposes_on_fancy_map(self,
nusc: NuScenes,
scene_tokens: List = None,
verbose: bool = True,
out_path: str = None) -> np.ndarray:
out_path: str = None,
render_egoposes: bool = True,
render_egoposes_range: bool = True,
render_legend: bool = True) -> np.ndarray:
"""
Renders each ego pose of a list of scenes on the map (around 40 poses per scene).
This method is heavily inspired by NuScenes.render_egoposes_on_map(), but uses the map expansion pack maps.
Expand All @@ -908,11 +932,15 @@ def render_egoposes_on_fancy_map(self,
:param scene_tokens: Optional list of scene tokens corresponding to the current map location.
:param verbose: Whether to show status messages and progress bar.
:param out_path: Optional path to save the rendered figure to disk.
:param render_egoposes: Whether to render ego poses.
:param render_egoposes_range: Whether to render a rectangle around all ego poses.
:param render_legend: Whether to render the legend of map layers.
:return: <np.float32: n, 2>. Returns a matrix with n ego poses in global map coordinates.
"""
# Settings
patch_margin = 2
min_diff_patch = 30

# Ids of scenes with a bad match between localization and map.
scene_blacklist = [3, 12, 18, 19, 33, 35, 36, 41, 45, 50, 54, 55, 61, 120, 121, 123, 126, 132, 133, 134, 149,
154, 159, 196, 268, 278, 351, 365, 367, 368, 369, 372, 376, 377, 382, 385, 499, 515, 517,
Expand Down Expand Up @@ -975,11 +1003,14 @@ def render_egoposes_on_fancy_map(self,
min_patch = center_patch - diff_patch / 2
max_patch = center_patch + diff_patch / 2
my_patch = (min_patch[0], min_patch[1], max_patch[0], max_patch[1])
fig, ax = self.render_map_patch(my_patch, self.map_api.non_geometric_layers, figsize=(10, 10))
fig, ax = self.render_map_patch(my_patch, self.map_api.non_geometric_layers, figsize=(10, 10),
render_egoposes_range=render_egoposes_range,
render_legend=render_legend)

# Plot in the same axis as the map.
# Make sure these are plotted "on top".
ax.scatter(map_poses[:, 0], map_poses[:, 1], s=20, c='k', alpha=1.0, zorder=2)
if render_egoposes:
ax.scatter(map_poses[:, 0], map_poses[:, 1], s=20, c='k', alpha=1.0, zorder=2)
plt.axis('off')

if out_path is not None:
Expand Down

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