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Project map to image, resolves #188 #195

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merged 17 commits into from
Jul 30, 2019
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This PR addresses the previously requested feature to project semantic map layers into the camera image view. The main difficulty here is to figure out what to do with polygons where some points are behind the camera. Note that the projections are not always accurate as the localization is in 2d.

An example was added to the tutorial.
map-tutorial

A video with some renderings can be found at: https://www.youtube.com/watch?v=wUBdMrnL6BU&feature=youtu.be

@holger-motional holger-motional self-assigned this Jul 26, 2019
@holger-motional holger-motional changed the title Project map to image, addresses #188 Project map to image, resolves #188 Jul 26, 2019
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Reviewed changes without running code. All changes are well documented and are easily understood.

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Looks good. I left some minor comments. I also noticed that the nuScenes tutorial does not mention anything about the map_expansion tutorial. Should we keep the tutorials together or at least add a comment in the main tutorial about the map expansion package?

python-sdk/nuscenes/map_expansion/map_api.py Outdated Show resolved Hide resolved
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python-sdk/nuscenes/map_expansion/map_api.py Outdated Show resolved Hide resolved
@holger-motional holger-motional merged commit 918a74c into master Jul 30, 2019
@holger-motional holger-motional deleted the render_map_in_image branch July 30, 2019 04:45
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4 participants