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Traffic Density Heatmap — Automatum Data Full Highway Dataset
Generates a 2D heatmap of all vehicle positions over time.
Usage:
python 02_heatmap_density.py <path_to_recording_folder>
Example:
python 02_heatmap_density.py ../hw-a9-denkendorf-001-d8087340-8287-46b6-9612-869b09e68448
Output:
traffic_heatmap.png in the current directory
"""
import sys
import os
import numpy as np
import matplotlib.pyplot as plt
from openautomatumdronedata.dataset import droneDataset
def generate_density_heatmap(dataset_path, output_filename="traffic_heatmap.png"):
print(f"Loading dataset from: {dataset_path}")
dataset = droneDataset(dataset_path)
dynWorld = dataset.dynWorld
print("Extracting position data...")
all_x, all_y = [], []
for dynObj in dynWorld.dynamicObjects.values():
x_valid = [x for x in dynObj.x_vec if not np.isnan(x)]
y_valid = [y for y in dynObj.y_vec if not np.isnan(y)]
all_x.extend(x_valid)
all_y.extend(y_valid)
if not all_x:
print("No position data found!")
return
print(f"Extracted {len(all_x)} data points. Creating heatmap...")
plt.figure(figsize=(16, 6))
plt.style.use("dark_background")
plt.hist2d(all_x, all_y, bins=(300, 100), cmap="inferno", cmin=1)
plt.colorbar(label="Traffic density (data points)")
plt.title("Highway Traffic Density Heatmap (Top-View)")
plt.xlabel("X-Position [m]")
plt.ylabel("Y-Position [m]")
plt.gca().set_aspect("equal", adjustable="box")
plt.tight_layout()
plt.savefig(output_filename, dpi=300)
print(f"Heatmap saved: {os.path.abspath(output_filename)}")
if __name__ == "__main__":
if len(sys.argv) < 2:
print("Usage: python 02_heatmap_density.py <path_to_recording_folder>")
else:
generate_density_heatmap(sys.argv[1])
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