def plot_region(region, color):
"Plot passage region"
for seg in region.segment:
center_pt = debug_topo.plot_central_curve_with_s_range(
g_central_curve_dict[seg.id], seg.start_s, seg.end_s, color=color)
debug_topo.draw_id(center_pt, seg.id, 'r')
g_center_point_dict[seg.id] = center_pt
print 'Plot lane id: %s, start s: %f, end s: %f' % (
seg.id, seg.start_s, seg.end_s)
def plot_region(region, color):
"Plot passage region"
for seg in region.segment:
center_pt = debug_topo.plot_central_curve_with_s_range(
g_central_curve_dict[seg.id], seg.start_s, seg.end_s, color=color)
debug_topo.draw_id(center_pt, seg.id, 'r')
g_center_point_dict[seg.id] = center_pt
print 'Plot lane id: %s, start s: %f, end s: %f' % (seg.id, seg.start_s,
seg.end_s)
def plot_route(lanes, central_curve_dict):
"""Plot route result"""
plt.close()
plt.figure()
for lane in lanes:
lane_id = lane['id']
if lane['is virtual']:
color = 'red'
else:
color = 'green'
mid_pt = debug_topo.plot_central_curve_with_s_range(
central_curve_dict[lane_id],
lane['start s'],
lane['end s'],
color=color)
debug_topo.draw_id(mid_pt, lane_id, 'y')
plt.gca().set_aspect(1)
plt.title('Routing result')
plt.xlabel('x')
plt.ylabel('y')
plt.legend()
plt.draw()
def plot_route(lanes, central_curve_dict):
"""Plot route result"""
plt.close()
plt.figure()
for lane in lanes:
lane_id = lane['id']
if lane['is virtual']:
color = 'red'
else:
color = 'green'
mid_pt = debug_topo.plot_central_curve_with_s_range(
central_curve_dict[lane_id],
lane['start s'],
lane['end s'],
color=color)
debug_topo.draw_id(mid_pt, lane_id, 'y')
plt.gca().set_aspect(1)
plt.title('Routing result')
plt.xlabel('x')
plt.ylabel('y')
plt.legend()
plt.draw()