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from typing import Any, Dict, List
import numpy as np
from shapely import affinity
from shapely.geometry import Polygon, LineString
import matplotlib.pyplot as plt
from nuplan.common.maps.abstract_map import AbstractMap, SemanticMapLayer
from nuplan.common.actor_state.state_representation import StateSE2
from nuplan.common.actor_state.oriented_box import OrientedBox
from nuplan.common.actor_state.vehicle_parameters import get_pacifica_parameters
from nuplan.common.actor_state.car_footprint import CarFootprint
from nuplan.common.actor_state.tracked_objects_types import TrackedObjectType
from nuplan.common.geometry.transform import translate_longitudinally
from navsim.common.dataclasses import Frame, Annotations, Trajectory, Lidar
from navsim.common.enums import BoundingBoxIndex, LidarIndex
from navsim.planning.scenario_builder.navsim_scenario_utils import tracked_object_types
from navsim.visualization.lidar import filter_lidar_pc, get_lidar_pc_color
from navsim.visualization.config import BEV_PLOT_CONFIG, MAP_LAYER_CONFIG, AGENT_CONFIG, LIDAR_CONFIG
def add_configured_bev_on_ax(ax: plt.Axes, map_api: AbstractMap, frame: Frame) -> plt.Axes:
"""
Adds birds-eye-view visualization optionally with map, annotations, or lidar
:param ax: matplotlib ax object
:param map_api: nuPlans map interface
:param frame: navsim frame dataclass
:return: ax with plot
"""
if "map" in BEV_PLOT_CONFIG["layers"]:
add_map_to_bev_ax(ax, map_api, StateSE2(*frame.ego_status.ego_pose))
if "annotations" in BEV_PLOT_CONFIG["layers"]:
add_annotations_to_bev_ax(ax, frame.annotations)
if "lidar" in BEV_PLOT_CONFIG["layers"]:
add_lidar_to_bev_ax(ax, frame.lidar)
return ax
def add_annotations_to_bev_ax(ax: plt.Axes, annotations: Annotations, add_ego: bool = True) -> plt.Axes:
"""
Adds birds-eye-view visualization of annotations (ie. bounding boxes)
:param ax: matplotlib ax object
:param annotations: navsim annotations dataclass
:param add_ego: boolean weather to add ego bounding box, defaults to True
:return: ax with plot
"""
for name_value, box_value in zip(annotations.names, annotations.boxes):
agent_type = tracked_object_types[name_value]
x, y, heading = (
box_value[BoundingBoxIndex.X],
box_value[BoundingBoxIndex.Y],
box_value[BoundingBoxIndex.HEADING],
)
box_length, box_width, box_height = box_value[3], box_value[4], box_value[5]
agent_box = OrientedBox(StateSE2(x, y, heading), box_length, box_width, box_height)
add_oriented_box_to_bev_ax(ax, agent_box, AGENT_CONFIG[agent_type])
if add_ego:
car_footprint = CarFootprint.build_from_rear_axle(
rear_axle_pose=StateSE2(0, 0, 0),
vehicle_parameters=get_pacifica_parameters(),
)
add_oriented_box_to_bev_ax(
ax, car_footprint.oriented_box, AGENT_CONFIG[TrackedObjectType.EGO], add_heading=False
)
return ax
def add_map_to_bev_ax(ax: plt.Axes, map_api: AbstractMap, origin: StateSE2) -> plt.Axes:
"""
Adds birds-eye-view visualization of map (ie. polygons / lines)
TODO: add more layers for visualizations (or flags in config)
:param ax: matplotlib ax object
:param map_api: nuPlans map interface
:param origin: (x,y,θ) dataclass of global ego frame
:return: ax with plot
"""
# layers for plotting complete layers
polygon_layers: List[SemanticMapLayer] = [
SemanticMapLayer.LANE,
SemanticMapLayer.WALKWAYS,
SemanticMapLayer.CARPARK_AREA,
SemanticMapLayer.INTERSECTION,
SemanticMapLayer.STOP_LINE,
SemanticMapLayer.CROSSWALK,
]
# layers for plotting complete layers
polyline_layers: List[SemanticMapLayer] = [
SemanticMapLayer.LANE,
SemanticMapLayer.LANE_CONNECTOR,
]
# query map api with interesting layers
map_object_dict = map_api.get_proximal_map_objects(
point=origin.point,
radius=max(BEV_PLOT_CONFIG["figure_margin"]),
layers=list(set(polygon_layers + polyline_layers)),
)
def _geometry_local_coords(geometry: Any, origin: StateSE2) -> Any:
"""Helper for transforming shapely geometry in coord-frame"""
a = np.cos(origin.heading)
b = np.sin(origin.heading)
d = -np.sin(origin.heading)
e = np.cos(origin.heading)
xoff = -origin.x
yoff = -origin.y
translated_geometry = affinity.affine_transform(geometry, [1, 0, 0, 1, xoff, yoff])
rotated_geometry = affinity.affine_transform(translated_geometry, [a, b, d, e, 0, 0])
return rotated_geometry
for polygon_layer in polygon_layers:
for map_object in map_object_dict[polygon_layer]:
polygon: Polygon = _geometry_local_coords(map_object.polygon, origin)
add_polygon_to_bev_ax(ax, polygon, MAP_LAYER_CONFIG[polygon_layer])
for polyline_layer in polyline_layers:
for map_object in map_object_dict[polyline_layer]:
linestring: LineString = _geometry_local_coords(map_object.baseline_path.linestring, origin)
add_linestring_to_bev_ax(ax, linestring, MAP_LAYER_CONFIG[SemanticMapLayer.BASELINE_PATHS])
return ax
def add_lidar_to_bev_ax(ax: plt.Axes, lidar: Lidar) -> plt.Axes:
"""
Add lidar point cloud in birds-eye-view
:param ax: matplotlib ax object
:param lidar: navsim lidar dataclass
:return: ax with plot
"""
lidar_pc = filter_lidar_pc(lidar.lidar_pc)
lidar_pc_colors = get_lidar_pc_color(lidar_pc, as_hex=True)
ax.scatter(
lidar_pc[LidarIndex.Y],
lidar_pc[LidarIndex.X],
c=lidar_pc_colors,
alpha=LIDAR_CONFIG["alpha"],
s=LIDAR_CONFIG["size"],
zorder=LIDAR_CONFIG["zorder"],
)
return ax
def add_trajectory_to_bev_ax(ax: plt.Axes, trajectory: Trajectory, config: Dict[str, Any]) -> plt.Axes:
"""
Add trajectory poses as lint to plot
:param ax: matplotlib ax object
:param trajectory: navsim trajectory dataclass
:param config: dictionary with plot parameters
:return: ax with plot
"""
poses = np.concatenate([np.array([[0, 0]]), trajectory.poses[:, :2]])
ax.plot(
poses[:, 1],
poses[:, 0],
color=config["line_color"],
alpha=config["line_color_alpha"],
linewidth=config["line_width"],
linestyle=config["line_style"],
marker=config["marker"],
markersize=config["marker_size"],
markeredgecolor=config["marker_edge_color"],
zorder=config["zorder"],
)
return ax
def add_oriented_box_to_bev_ax(
ax: plt.Axes, box: OrientedBox, config: Dict[str, Any], add_heading: bool = True
) -> plt.Axes:
"""
Adds birds-eye-view visualization of surrounding bounding boxes
:param ax: matplotlib ax object
:param box: nuPlan dataclass for 2D bounding boxes
:param config: dictionary with plot parameters
:param add_heading: whether to add a heading line, defaults to True
:return: ax with plot
"""
box_corners = box.all_corners()
corners = [[corner.x, corner.y] for corner in box_corners]
corners = np.asarray(corners + [corners[0]])
ax.fill(
corners[:, 1],
corners[:, 0],
color=config["fill_color"],
alpha=config["fill_color_alpha"],
zorder=config["zorder"],
)
ax.plot(
corners[:, 1],
corners[:, 0],
color=config["line_color"],
alpha=config["line_color_alpha"],
linewidth=config["line_width"],
linestyle=config["line_style"],
zorder=config["zorder"],
)
if add_heading:
future = translate_longitudinally(box.center, distance=box.length / 2 + 1)
line = np.array([[box.center.x, box.center.y], [future.x, future.y]])
ax.plot(
line[:, 1],
line[:, 0],
color=config["line_color"],
alpha=config["line_color_alpha"],
linewidth=config["line_width"],
linestyle=config["line_style"],
zorder=config["zorder"],
)
return ax
def add_polygon_to_bev_ax(ax: plt.Axes, polygon: Polygon, config: Dict[str, Any]) -> plt.Axes:
"""
Adds shapely polygon to birds-eye-view visualization
:param ax: matplotlib ax object
:param polygon: shapely Polygon
:param config: dictionary containing plot parameters
:return: ax with plot
"""
def _add_element_helper(element: Polygon):
"""Helper to add single polygon to ax"""
exterior_x, exterior_y = element.exterior.xy
ax.fill(
exterior_y,
exterior_x,
color=config["fill_color"],
alpha=config["fill_color_alpha"],
zorder=config["zorder"],
)
ax.plot(
exterior_y,
exterior_x,
color=config["line_color"],
alpha=config["line_color_alpha"],
linewidth=config["line_width"],
linestyle=config["line_style"],
zorder=config["zorder"],
)
for interior in element.interiors:
x_interior, y_interior = interior.xy
ax.fill(
y_interior,
x_interior,
color=BEV_PLOT_CONFIG["background_color"],
zorder=config["zorder"],
)
ax.plot(
y_interior,
x_interior,
color=config["line_color"],
alpha=config["line_color_alpha"],
linewidth=config["line_width"],
linestyle=config["line_style"],
zorder=config["zorder"],
)
if isinstance(polygon, Polygon):
_add_element_helper(polygon)
else:
# NOTE: in rare cases, a map polygon has several sub-polygons.
for element in polygon:
_add_element_helper(element)
return ax
def add_linestring_to_bev_ax(ax: plt.Axes, linestring: LineString, config: Dict[str, Any]) -> plt.Axes:
"""
Adds shapely linestring (polyline) to birds-eye-view visualization
:param ax: matplotlib ax object
:param linestring: shapely LineString
:param config: dictionary containing plot parameters
:return: ax with plot
"""
x, y = linestring.xy
ax.plot(
y,
x,
color=config["line_color"],
alpha=config["line_color_alpha"],
linewidth=config["line_width"],
linestyle=config["line_style"],
zorder=config["zorder"],
)
return ax
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