How to align the "fancy" maps with the driver's direction?

morbi · November 17, 2021, 4:26pm

Hi, I would like to ask whether it is possible to rotate the more sophisticated maps (shown in the uploaded image) such that they are aligned with the driver’s direction? I am asking because you can easily do it for the binary (layer) map masks by specifying the patch angle (being equal to the yaw angle of the ego rotation). Thank you very much in advance!

Whye_Kit_Fong · November 18, 2021, 12:50am

Hi @morbi, this is a method called _get_layer_geom which you could tinker around with to try to get each layer in the fancy map rotated:

github.com

nutonomy/nuscenes-devkit/blob/9b209638ef3dee6d0cdc5ac700c493747f5b35fe/python-sdk/nuscenes/map_expansion/map_api.py#L1771


        xs, ys = line.xy


        if layer_name == 'traffic_light':
            # Draws an arrow with the physical traffic light as the starting point, pointing to the direction on
            # where the traffic light points.
            ax.add_patch(Arrow(xs[0], ys[0], xs[1]-xs[0], ys[1]-ys[0], color=self.color_map[layer_name],
                               label=label))
        else:
            ax.plot(xs, ys, color=self.color_map[layer_name], alpha=alpha, label=label)


def _get_layer_geom(self,
                    patch_box: Tuple[float, float, float, float],
                    patch_angle: float,
                    layer_name: str) -> List[Geometry]:
    """
    Wrapper method that gets the geometries for each layer.
    :param patch_box: Patch box defined as [x_center, y_center, height, width].
    :param patch_angle: Patch orientation in degrees.
    :param layer_name: Name of map layer to be converted to binary map mask patch.
    :return: List of geometries for the given layer.
    """

morbi · December 2, 2021, 3:08pm

Thank you very much!