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import numpy as np
from nuscenes.map_expansion.map_api import NuScenesMap, NuScenesMapExplorer
from nuscenes.eval.common.utils import quaternion_yaw, Quaternion
from shapely import affinity, ops
from shapely.geometry import LineString, box, MultiPolygon, MultiLineString
CLASS2LABEL = {
"road_divider": 0,
"lane_divider": 0,
"ped_crossing": 1,
"contours": 2,
"others": -1,
}
class VectorizedLocalMap(object):
def __init__(
self,
dataroot,
patch_size,
canvas_size,
line_classes=["road_divider", "lane_divider"],
ped_crossing_classes=["ped_crossing"],
contour_classes=["road_segment", "lane"],
sample_dist=1,
num_samples=250,
padding=False,
normalize=False,
fixed_num=-1,
):
"""
Args:
fixed_num = -1 : no fixed num
"""
super().__init__()
self.data_root = dataroot
self.MAPS = [
"boston-seaport",
"singapore-hollandvillage",
"singapore-onenorth",
"singapore-queenstown",
]
self.line_classes = line_classes
self.ped_crossing_classes = ped_crossing_classes
self.polygon_classes = contour_classes
self.nusc_maps = {}
self.map_explorer = {}
for loc in self.MAPS:
self.nusc_maps[loc] = NuScenesMap(dataroot=self.data_root, map_name=loc)
self.map_explorer[loc] = NuScenesMapExplorer(self.nusc_maps[loc])
self.patch_size = patch_size
self.canvas_size = canvas_size
self.sample_dist = sample_dist
self.num_samples = num_samples
self.padding = padding
self.normalize = normalize
self.fixed_num = fixed_num
def gen_vectorized_samples(
self, location, ego2global_translation, ego2global_rotation
):
map_pose = ego2global_translation[:2]
rotation = Quaternion(ego2global_rotation)
patch_box = (map_pose[0], map_pose[1], self.patch_size[0], self.patch_size[1])
patch_angle = quaternion_yaw(rotation) / np.pi * 180
line_geom = self.get_map_geom(
patch_box, patch_angle, self.line_classes, location
)
line_vector_dict = self.line_geoms_to_vectors(line_geom)
# print(len(line_vector_dict)) 2
ped_geom = self.get_map_geom(
patch_box, patch_angle, self.ped_crossing_classes, location
)
# ped_vector_list = self.ped_geoms_to_vectors(ped_geom)
ped_vector_list = self.line_geoms_to_vectors(ped_geom)["ped_crossing"]
# print(len(ped_vector_list)) 11
polygon_geom = self.get_map_geom(
patch_box, patch_angle, self.polygon_classes, location
)
poly_bound_list = self.poly_geoms_to_vectors(polygon_geom)
# print(len(poly_bound_list)) 4
# zxc
vectors = []
for line_type, vects in line_vector_dict.items():
for line, length in vects:
vectors.append(
(line.astype(float), length, CLASS2LABEL.get(line_type, -1))
)
for ped_line, length in ped_vector_list:
vectors.append(
(ped_line.astype(float), length, CLASS2LABEL.get("ped_crossing", -1))
)
# print(ped_line)
# print(length)
# zxc
for contour, length in poly_bound_list:
vectors.append(
(contour.astype(float), length, CLASS2LABEL.get("contours", -1))
)
# filter out -1
filtered_vectors = []
for pts, pts_num, type in vectors:
if type != -1:
filtered_vectors.append({"pts": pts, "pts_num": pts_num, "type": type})
return filtered_vectors
def get_map_geom(self, patch_box, patch_angle, layer_names, location):
map_geom = []
for layer_name in layer_names:
if layer_name in self.line_classes:
geoms = self.map_explorer[location]._get_layer_line(
patch_box, patch_angle, layer_name
)
map_geom.append((layer_name, geoms))
elif layer_name in self.polygon_classes:
geoms = self.map_explorer[location]._get_layer_polygon(
patch_box, patch_angle, layer_name
)
map_geom.append((layer_name, geoms))
elif layer_name in self.ped_crossing_classes:
geoms = self.get_ped_crossing_line(patch_box, patch_angle, location)
# geoms = self.map_explorer[location]._get_layer_polygon(patch_box, patch_angle, layer_name)
map_geom.append((layer_name, geoms))
return map_geom
def _one_type_line_geom_to_vectors(self, line_geom):
line_vectors = []
for line in line_geom:
if not line.is_empty:
if line.geom_type == "MultiLineString":
for single_line in line.geoms:
line_vectors.append(self.sample_pts_from_line(single_line))
elif line.geom_type == "LineString":
line_vectors.append(self.sample_pts_from_line(line))
else:
raise NotImplementedError
return line_vectors
def poly_geoms_to_vectors(self, polygon_geom):
roads = polygon_geom[0][1]
lanes = polygon_geom[1][1]
union_roads = ops.unary_union(roads)
union_lanes = ops.unary_union(lanes)
union_segments = ops.unary_union([union_roads, union_lanes])
max_x = self.patch_size[1] / 2
max_y = self.patch_size[0] / 2
local_patch = box(-max_x + 0.2, -max_y + 0.2, max_x - 0.2, max_y - 0.2)
exteriors = []
interiors = []
if union_segments.geom_type != "MultiPolygon":
union_segments = MultiPolygon([union_segments])
for poly in union_segments.geoms:
exteriors.append(poly.exterior)
for inter in poly.interiors:
interiors.append(inter)
results = []
for ext in exteriors:
if ext.is_ccw:
ext.coords = list(ext.coords)[::-1]
lines = ext.intersection(local_patch)
if isinstance(lines, MultiLineString):
lines = ops.linemerge(lines)
results.append(lines)
for inter in interiors:
if not inter.is_ccw:
inter.coords = list(inter.coords)[::-1]
lines = inter.intersection(local_patch)
if isinstance(lines, MultiLineString):
lines = ops.linemerge(lines)
results.append(lines)
return self._one_type_line_geom_to_vectors(results)
def line_geoms_to_vectors(self, line_geom):
line_vectors_dict = dict()
for line_type, a_type_of_lines in line_geom:
one_type_vectors = self._one_type_line_geom_to_vectors(a_type_of_lines)
line_vectors_dict[line_type] = one_type_vectors
return line_vectors_dict
def ped_geoms_to_vectors(self, ped_geom):
ped_geom = ped_geom[0][1]
union_ped = ops.unary_union(ped_geom)
if union_ped.geom_type != "MultiPolygon":
union_ped = MultiPolygon([union_ped])
max_x = self.patch_size[1] / 2
max_y = self.patch_size[0] / 2
local_patch = box(-max_x + 0.2, -max_y + 0.2, max_x - 0.2, max_y - 0.2)
results = []
for ped_poly in union_ped:
# rect = ped_poly.minimum_rotated_rectangle
ext = ped_poly.exterior
if not ext.is_ccw:
ext.coords = list(ext.coords)[::-1]
lines = ext.intersection(local_patch)
results.append(lines)
return self._one_type_line_geom_to_vectors(results)
def get_ped_crossing_line(self, patch_box, patch_angle, location):
def add_line(poly_xy, idx, patch, patch_angle, patch_x, patch_y, line_list):
points = [
(p0, p1)
for p0, p1 in zip(poly_xy[0, idx : idx + 2], poly_xy[1, idx : idx + 2])
]
line = LineString(points)
line = line.intersection(patch)
if not line.is_empty:
line = affinity.rotate(
line, -patch_angle, origin=(patch_x, patch_y), use_radians=False
)
line = affinity.affine_transform(
line, [1.0, 0.0, 0.0, 1.0, -patch_x, -patch_y]
)
line_list.append(line)
patch_x = patch_box[0]
patch_y = patch_box[1]
patch = NuScenesMapExplorer.get_patch_coord(patch_box, patch_angle)
line_list = []
records = getattr(self.nusc_maps[location], "ped_crossing")
for record in records:
polygon = self.map_explorer[location].extract_polygon(
record["polygon_token"]
)
poly_xy = np.array(polygon.exterior.xy)
dist = np.square(poly_xy[:, 1:] - poly_xy[:, :-1]).sum(0)
x1, x2 = np.argsort(dist)[-2:]
add_line(poly_xy, x1, patch, patch_angle, patch_x, patch_y, line_list)
add_line(poly_xy, x2, patch, patch_angle, patch_x, patch_y, line_list)
return line_list
def sample_pts_from_line(self, line):
if self.fixed_num < 0:
distances = np.arange(0, line.length, self.sample_dist)
sampled_points = np.array(
[list(line.interpolate(distance).coords) for distance in distances]
).reshape(-1, 2)
else:
# fixed number of points, so distance is line.length / self.fixed_num
distances = np.linspace(0, line.length, self.fixed_num)
sampled_points = np.array(
[list(line.interpolate(distance).coords) for distance in distances]
).reshape(-1, 2)
if self.normalize:
sampled_points = sampled_points / np.array(
[self.patch_size[1], self.patch_size[0]]
)
num_valid = len(sampled_points)
if not self.padding or self.fixed_num > 0:
# fixed num sample can return now!
return sampled_points, num_valid
# fixed distance sampling need padding!
num_valid = len(sampled_points)
if self.fixed_num < 0:
if num_valid < self.num_samples:
padding = np.zeros((self.num_samples - len(sampled_points), 2))
sampled_points = np.concatenate([sampled_points, padding], axis=0)
else:
sampled_points = sampled_points[: self.num_samples, :]
num_valid = self.num_samples
if self.normalize:
sampled_points = sampled_points / np.array(
[self.patch_size[1], self.patch_size[0]]
)
num_valid = len(sampled_points)
return sampled_points, num_valid
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