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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)) 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 = {} ret = {}
np.seterr(all='ignore') np.seterr(all='ignore')
# Center is Important ! # Center is Important !

4
scenarionet/converter/nuscenes/utils.py
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@@ -247,7 +247,7 @@ def get_tracks_from_frames(nuscenes: NuScenes, scene_info, frames, num_to_interp
return interpolate_tracks 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 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. the distance between 2 points when extracting lane center line.
@@ -383,7 +383,7 @@ def convert_nuscenes_scenario(scene, version, nuscenes: NuScenes):
# map # map
map_center = result[SD.TRACKS]["ego"]["state"]["position"][0] 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 return result