def draw_lane_ids(lane_ids: List[int], am: ArgoverseMap, ax: Axes,
city_name: str) -> None:
"""
Args:
- lane_ids
- am
- ax
- city_name
Returns:
- None
"""
for lane_id in lane_ids:
centerline = am.get_lane_segment_centerline(int(lane_id), city_name)
ax.text(centerline[2, 0], centerline[2, 1], f"s_{lane_id}")
ax.text(centerline[-3, 0], centerline[-3, 1], f"e_{lane_id}")
def verify_halluc_lane_extent_index(enable_lane_boundaries=False):
"""
"""
avm = ArgoverseMap()
city_names = ["MIA", "PIT"]
for city_name in city_names:
# get all lane segment IDs inside of this city
lane_segment_ids = list(
avm.city_lane_centerlines_dict[city_name].keys())
for lane_segment_id in lane_segment_ids:
xmin, ymin, xmax, ymax = find_lane_segment_bounds_in_table(
adm, city_name, lane_segment_id)
predecessor_ids = avm.get_lane_segment_predecessor_ids(
lane_segment_id, city_name)
successor_ids = avm.get_lane_segment_successor_ids(
lane_segment_id, city_name)
(r_neighbor_id, l_neighbor_id) = avm.get_lane_segment_adjacent_ids(
lane_segment_id, city_name)
lane_centerline = avm.get_lane_segment_centerline(
lane_segment_id, city_name)
halluc_lane_polygon = avm.get_lane_segment_polygon(
lane_segment_id, city_name)
fig = plt.figure(figsize=(22.5, 8))
ax = fig.add_subplot(111)
# add the lane of interest
add_lane_segment_to_ax(ax, lane_centerline, halluc_lane_polygon,
"y", xmin, xmax, ymin, ymax)
if predecessor_ids is not None:
# add predecessors
for predecessor_id in predecessor_ids:
lane_centerline = avm.get_lane_segment_centerline(
predecessor_id, city_name)
halluc_lane_polygon = avm.get_lane_segment_polygon(
predecessor_id, city_name)
xmin, ymin, xmax, ymax = find_lane_segment_bounds_in_table(
adm, city_name, predecessor_id)
add_lane_segment_to_ax(ax, lane_centerline,
halluc_lane_polygon, "r", xmin,
xmax, ymin, ymax)
if successor_ids is not None:
# add successors
for successor_id in successor_ids:
lane_centerline = avm.get_lane_segment_centerline(
successor_id, city_name)
halluc_lane_polygon = avm.get_lane_segment_polygon(
successor_id, city_name)
xmin, ymin, xmax, ymax = find_lane_segment_bounds_in_table(
adm, city_name, successor_id)
add_lane_segment_to_ax(ax, lane_centerline,
halluc_lane_polygon, "b", xmin,
xmax, ymin, ymax)
# add left neighbor
if l_neighbor_id is not None:
lane_centerline = avm.get_lane_segment_centerline(
l_neighbor_id, city_name)
halluc_lane_polygon = avm.get_lane_segment_polygon(
l_neighbor_id, city_name)
xmin, ymin, xmax, ymax = find_lane_segment_bounds_in_table(
adm, city_name, l_neighbor_id)
add_lane_segment_to_ax(ax, lane_centerline,
halluc_lane_polygon, "g", xmin, xmax,
ymin, ymax)
# add right neighbor
if r_neighbor_id is not None:
lane_centerline = avm.get_lane_segment_centerline(
r_neighbor_id, city_name)
halluc_lane_polygon = avm.get_lane_segment_polygon(
r_neighbor_id, city_name)
xmin, ymin, xmax, ymax = find_lane_segment_bounds_in_table(
adm, city_name, r_neighbor_id)
add_lane_segment_to_ax(ax, lane_centerline,
halluc_lane_polygon, "m", xmin, xmax,
ymin, ymax)
if enable_lane_boundaries:
# Compare with Argo's proprietary, ground truth lane boundaries
gt_lane_polygons = avm.city_to_lane_polygons_dict[city_name]
for gt_lane_polygon in gt_lane_polygons:
dist = np.linalg.norm(
gt_lane_polygon.mean(axis=0)[:2] -
np.array([xmin, ymin]))
if dist < 30:
ax.plot(gt_lane_polygon[:, 0],
gt_lane_polygon[:, 1],
color="k",
alpha=0.3,
zorder=1)
ax.axis("equal")
plt.show()
datetime_str = generate_datetime_string()
plt.savefig(
f"lane_segment_id_{lane_segment_id}_@_{datetime_str}.jpg")
plt.close("all")