From 41c0b01f39ed249c5fb95e20415a3b7a8cc682f7 Mon Sep 17 00:00:00 2001 From: QuanyiLi Date: Sun, 21 May 2023 21:53:06 +0100 Subject: [PATCH] update radius --- scenarionet/converter/nuplan/utils.py | 2 +- scenarionet/converter/nuscenes/utils.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/scenarionet/converter/nuplan/utils.py b/scenarionet/converter/nuplan/utils.py index 4e1db4b..85f04e5 100644 --- a/scenarionet/converter/nuplan/utils.py +++ b/scenarionet/converter/nuplan/utils.py @@ -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 ! diff --git a/scenarionet/converter/nuscenes/utils.py b/scenarionet/converter/nuscenes/utils.py index 4cf78cc..24b9747 100644 --- a/scenarionet/converter/nuscenes/utils.py +++ b/scenarionet/converter/nuscenes/utils.py @@ -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