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update radius

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This commit is contained in:
QuanyiLi
2023-05-21 21:53:06 +01:00
parent 12132bc870
commit 41c0b01f39
2 changed files with 3 additions and 3 deletions
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2
scenarionet/converter/nuplan/utils.py
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@@ -175,7 +175,7 @@ def get_line_type(nuplan_type):
raise ValueError("Unknown line tyep: {}".format(nuplan_type))
def extract_map_features(map_api, center, radius=250):
def extract_map_features(map_api, center, radius=500):
ret = {}
np.seterr(all='ignore')
# Center is Important !

4
scenarionet/converter/nuscenes/utils.py
View File

@@ -247,7 +247,7 @@ def get_tracks_from_frames(nuscenes: NuScenes, scene_info, frames, num_to_interp
return interpolate_tracks
def get_map_features(scene_info, nuscenes: NuScenes, map_center, radius=250, points_distance=1):
def get_map_features(scene_info, nuscenes: NuScenes, map_center, radius=500, points_distance=1):
"""
Extract map features from nuscenes data. The objects in specified region will be returned. Sampling rate determines
the distance between 2 points when extracting lane center line.
@@ -383,7 +383,7 @@ def convert_nuscenes_scenario(scene, version, nuscenes: NuScenes):
# map
map_center = result[SD.TRACKS]["ego"]["state"]["position"][0]
result[SD.MAP_FEATURES] = get_map_features(scene_info, nuscenes, map_center, 250)
result[SD.MAP_FEATURES] = get_map_features(scene_info, nuscenes, map_center, 500)
return result