if not os.path.exists(output_dir):
os.makedirs(output_dir)
# World Definition
params = ParameterServer()
world = World(params)
map_interface = MapInterface()
map_interface.set_open_drive_map(xodr_parser.map)
world.set_map(map_interface)
open_drive_map = world.map.get_open_drive_map()
viewer = MPViewer(params=params, use_world_bounds=True)
viewer.drawWorld(world)
viewer.saveFig(output_dir + "/" + "world_plain.png")
color_triplet_gray = (0.7, 0.7, 0.7)
# Open Drive Elements (Roads, Lane Sections, Lanes)
for idx_r, road in open_drive_map.get_roads().items():
viewer.drawWorld(world)
viewer.drawRoad(road)
viewer.saveFig(output_dir + "/" + "open_drive_map_road_" + str(idx_r) +
".png")
viewer.clear()
for idx_r, road in open_drive_map.get_roads().items():
for idx_ls, lane_section in enumerate(road.lane_sections):
viewer.drawWorld(world)
viewer.drawRoad(road, color_triplet_gray)
os.makedirs(output_dir)
# World Definition
params = ParameterServer()
world = World(params)
map_interface = MapInterface()
map_interface.SetOpenDriveMap(xodr_parser.map)
world.SetMap(map_interface)
open_drive_map = world.map.GetOpenDriveMap()
viewer = MPViewer(params=params,
use_world_bounds=True)
viewer.drawWorld(world)
viewer.saveFig(output_dir + "/" + "world_plain.png")
color_triplet_gray = (0.7,0.7,0.7)
# Open Drive Elements (XodrRoads, XodrLane Sections, XodrLanes)
# for idx_r, road in open_drive_map.GetRoads().items():
# viewer.drawWorld(world)
# viewer.drawXodrRoad(road)
# viewer.saveFig(output_dir + "/" + "open_drive_map_road_" + str(idx_r) + ".png")
# viewer.show(block=True)
# viewer.clear()
# for idx_r, road in open_drive_map.GetRoads().items():
# for idx_ls, lane_section in enumerate(road.lane_sections):
# viewer.drawWorld(world)
# viewer.drawXodrRoad(road, color_triplet_gray)
