MapExpansion - semantic Segmentation Labels

Is there a quick way to get semantic Segmentation labels for Velodyne Point Clouds from the MapExpansion with the nuScenes DevKit?

Basically would need classes for: drivable_area, ego_lane, opposite_lane and parallel_to_ego_lane with same direction as ego.

This function renders the map annotations in the camera view:

I suggest you create a modified copy and return the results, rather than printing them.
Note however that this method is not optimized for speed (you should probably render these to disk).
Furthermore the results can be inaccurate on sloped roads as we do not model z/pitch/roll in the localization.
Here is an example:

Thank you so much holger,

that should make some things much easier. :slight_smile:
Is there also a quick way to project labels from images into point clouds?

The result I try to get would be a per point label of the velodyne point clouds.

Yes, you can use render_pointcloud_in_image(). Again the same caveat that this function is designed for displaying it on screen. If you just want the data you need to change it a bit.