def set_visible_area(point_dict, axes):
min_x = 10e9
min_y = 10e9
max_x = -10e9
max_y = -10e9
for id, point in dict_utils.get_item_iterator(point_dict):
min_x = min(point.x, min_x)
min_y = min(point.y, min_y)
max_x = max(point.x, max_x)
max_y = max(point.y, max_y)
axes.set_aspect('equal', adjustable='box')
axes.set_xlim([min_x - 10, max_x + 10])
axes.set_ylim([min_y - 10, max_y + 10])
if flag_ped:
pedestrian_dictionary = dataset_reader.read_pedestrian(
pedestrian_file_name)
elif args.load_mode == 'vehicle':
track_dictionary = dataset_reader.read_tracks(track_file_name)
elif args.load_mode == 'pedestrian':
pedestrian_dictionary = dataset_reader.read_pedestrian(
pedestrian_file_name)
timestamp_min = 1e9
timestamp_max = 0
if track_dictionary is not None:
#print(len(track_dictionary))
for key, track in dict_utils.get_item_iterator(track_dictionary):
#print(track_dictionary)
timestamp_min = min(timestamp_min, track.time_stamp_ms_first)
timestamp_max = max(timestamp_max, track.time_stamp_ms_last)
else:
for key, track in dict_utils.get_item_iterator(pedestrian_dictionary):
timestamp_min = min(timestamp_min, track.time_stamp_ms_first)
timestamp_max = max(timestamp_max, track.time_stamp_ms_last)
if args.start_timestamp is None:
args.start_timestamp = timestamp_min
button_pp = FrameControlButton([0.2, 0.05, 0.05, 0.05], '<<')
button_p = FrameControlButton([0.27, 0.05, 0.05, 0.05], '<')
button_f = FrameControlButton([0.4, 0.05, 0.05, 0.05], '>')
button_ff = FrameControlButton([0.47, 0.05, 0.05, 0.05], '>>')
lon_origin = 0. # coordinates in which the tracks are provided; we decided to use (0|0) for every scenario
print("Loading map...")
if use_lanelet2_lib:
projector = lanelet2.projection.UtmProjector(lanelet2.io.Origin(lat_origin, lon_origin))
laneletmap = lanelet2.io.load(lanelet_map_file, projector)
map_vis_lanelet2.draw_lanelet_map(laneletmap, axes)
else:
map_vis_without_lanelet.draw_map_without_lanelet(lanelet_map_file, axes, lat_origin, lon_origin)
# load the tracks
print("Loading tracks...")
track_dictionary = dataset_reader.read_tracks(track_file_name)
timestamp_min = 1e9
timestamp_max = 0
for key, track in dict_utils.get_item_iterator(track_dictionary):
timestamp_min = min(timestamp_min, track.time_stamp_ms_first)
timestamp_max = max(timestamp_max, track.time_stamp_ms_last)
if args.start_timestamp is None:
args.start_timestamp = timestamp_min
button_pp = FrameControlButton([0.2, 0.05, 0.05, 0.05], '<<')
button_p = FrameControlButton([0.27, 0.05, 0.05, 0.05], '<')
button_f = FrameControlButton([0.4, 0.05, 0.05, 0.05], '>')
button_ff = FrameControlButton([0.47, 0.05, 0.05, 0.05], '>>')
button_play = FrameControlButton([0.6, 0.05, 0.1, 0.05], 'play')
button_pause = FrameControlButton([0.71, 0.05, 0.1, 0.05], 'pause')
# storage for track visualization