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)