Merge remote-tracking branch 'origin/release_v0.2' into scripts_update

instructions.md

@@ -81,7 +81,7 @@
 
 24. **[Pushable Pullable Object](#pushable-pullable-object)**: Objects that a pedestrian may push or pull. For example dolleys, wheel barrows, garbage-bins with wheels, or shopping carts. Typically not designed to carry humans.
 
-25. **[Debris](#debris)**: Debris or movable object that is left **on the driveable surface** that is too large to be driven over safely, e.g tree branch, full trash bag etc. 
+25. **[Debris](#debris)**: Debris or movable object that is too large to be driven over safely. Includes misc. things like trash bags, temporary road-signs, objects around construction zones, and trash cans. 
 
 # Attributes 
 1. **For every object, include the attribute:** 

python-sdk/nuscenes/nuscenes.py

@@ -1013,13 +1013,19 @@ def render_scene_channel(self,
 
         cv2.destroyAllWindows()
 
-    def render_egoposes_on_map(self, log_location: str, scene_tokens: List = None, close_dist: float = 100.0) -> None:
+    def render_egoposes_on_map(self, log_location: str,
+                               scene_tokens: List = None,
+                               close_dist: float = 100,
+                               color_fg: Tuple[int, int, int] = (167, 174, 186),
+                               color_bg: Tuple[int, int, int] = (255, 255, 255)) -> None:
         """
         Renders ego poses a the map. These can be filtered by location or scene.
         :param log_location: Name of the location, e.g. "singapore-onenorth", "singapore-hollandvillage",
                              "singapore-queenstown' and "boston-seaport".
         :param scene_tokens: Optional list of scene tokens.
         :param close_dist: Distance in meters for an ego pose to be considered within range of another ego pose.
+        :param color_fg: Color of the semantic prior in RGB format.
+        :param color_bg: Color of the non-semantic prior in RGB format.
         """
 
         # Settings
@@ -1082,8 +1088,8 @@ def render_egoposes_on_map(self, log_location: str, scene_tokens: List = None, c
                                np.expand_dims(maskb, axis=2)), axis=2)
 
         # Plot.
-        _, ax = plt.subplots(1, 1, figsize=(10, 10), facecolor='black')
-        ax.imshow(Image.fromarray(map_mask.mask()))
+        _, ax = plt.subplots(1, 1, figsize=(10, 10))
+        ax.imshow(mask)
         title = 'Number of ego poses within {}m in {}'.format(close_dist, log_location)
         ax.set_title(title, color='k')
         sc = ax.scatter(map_poses[:, 0], map_poses[:, 1], s=10, c=close_poses)