Binary map mask api and visualization example

python-sdk/nuscenes/map_expansion/map_demo.ipynb

@@ -129,7 +129,7 @@
     "patch_angle = 0  # Default orientation where North is up\n",
     "layer_names = ['drivable_area', 'ped_crossing']\n",
     "canvas_size = (1000, 1000)\n",
-    "map_mask = nusc_map.explorer.get_map_mask(patch_box, patch_angle, layer_names, canvas_size)\n",
+    "map_mask = nusc_map.get_map_mask(patch_box, patch_angle, layer_names, canvas_size)\n",
     "map_mask[0]"
    ]
   },
@@ -166,6 +166,30 @@
     "fig, ax = nusc_map.render_map_mask(patch_box, 45, layer_names, canvas_size, figsize=figsize, n_row=1)"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "In case you previously used the nuScenes v1.0 semantic prior map, here we show how to reconstruct that map given the nuScenes expansion pack:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import numpy as np\n",
+    "patch_box = None\n",
+    "patch_angle = 0  # Default orientation where North is up\n",
+    "layer_names = ['drivable_area', 'walkway']\n",
+    "canvas_size = None\n",
+    "map_mask = nusc_map.get_map_mask(patch_box, patch_angle, layer_names, canvas_size)\n",
+    "semantic_prior = np.any(map_mask, axis=0)\n",
+    "plt.imshow(semantic_prior, origin='lower')\n",
+    "plt.show()"
+   ]
+  },
   {
    "cell_type": "markdown",
    "metadata": {},

python-sdk/nuscenes/map_expansion/test.py

@@ -1,11 +1,10 @@
 from nuscenes.map_expansion.map_api import NuscenesMap
-import matplotlib.pyplot as plt 
+import matplotlib.pyplot as plt
 
-map_graph = NuscenesMap(dataroot='/data/sets/nuscenes', map_name='singapore-onenorth')
+nusc_map = NuscenesMap(dataroot='/data/sets/nuscenes', map_name='singapore-onenorth')
 
-patch_box = (400, 1500, 500, 500)
-patch_angle = 0
-layer_names = None
-figsize = (40, 10)
-canvas_size = (1000, 1000)
-fig, ax = map_graph.render_map_mask(patch_box, patch_angle, layer_names, figsize, canvas_size)
+patch_box = None
+patch_angle = 0  # Default orientation where North is up
+layer_names = ['drivable_area', 'ped_crossing']
+canvas_size = None
+map_mask = nusc_map.explorer.render_map_mask(patch_box, patch_angle, layer_names, canvas_size, figsize=(15, 15))