Can I use the visualization code for result
moonseokha opened this issue · 5 comments
Thank you so much for sharing the code.
I would like to use the result visualization in HiVT code, but has the visualization code shown on the github page not been shared? Can you share it ?
Thank U!
Hi @moonseokha,
Sorry for the late reply.
def plot_single_vehicle(
avm: ArgoverseMap,
sample_past_trajectory: np.ndarray, # (20, 2)
sample_groundtruth: np.ndarray, # (20, 2)
sample_forecasted_trajectories: List[np.ndarray], # List[(30, 2)]
sample_city_name: str,
ls: str):
sample_groundtruth = np.concatenate((np.expand_dims(sample_past_trajectory[-1], axis=0), sample_groundtruth), axis=0)
for sample_forecasted_trajectory in sample_forecasted_trajectories:
sample_forecasted_trajectory = np.concatenate((np.expand_dims(sample_past_trajectory[-1], axis=0), sample_forecasted_trajectory), axis=0)
## Plot history
obs_len = sample_past_trajectory.shape[0]
pred_len = sample_groundtruth.shape[0]
plt.plot(
sample_past_trajectory[:, 0],
sample_past_trajectory[:, 1],
color="#ECA154",
label="Past Trajectory",
alpha=1,
linewidth=3,
zorder=15,
ls = ls
)
## Plot future
plt.plot(
sample_groundtruth[:, 0],
sample_groundtruth[:, 1],
color="#d33e4c",
label="Ground Truth",
alpha=1,
linewidth=3.0,
zorder=20,
ls = "--"
)
## Plot prediction
for j in range(len(sample_forecasted_trajectories)):
plt.plot(
sample_forecasted_trajectories[j][:, 0],
sample_forecasted_trajectories[j][:, 1],
color="#007672",
label="Forecasted Trajectory",
alpha=1,
linewidth=3.2,
zorder=15,
ls = "--"
)
# Plot the end marker for forcasted trajectories
plt.arrow(
sample_forecasted_trajectories[j][-2, 0],
sample_forecasted_trajectories[j][-2, 1],
sample_forecasted_trajectories[j][-1, 0] - sample_forecasted_trajectories[j][-2, 0],
sample_forecasted_trajectories[j][-1, 1] - sample_forecasted_trajectories[j][-2, 1],
color="#007672",
label="Forecasted Trajectory",
alpha=1,
linewidth=3.2,
zorder=15,
head_width=1.1,
)
## Plot the end marker for history
plt.arrow(
sample_past_trajectory[-2, 0],
sample_past_trajectory[-2, 1],
sample_past_trajectory[-1, 0] - sample_past_trajectory[-2, 0],
sample_past_trajectory[-1, 1] - sample_past_trajectory[-2, 1],
color="#ECA154",
label="Past Trajectory",
alpha=1,
linewidth=3,
zorder=25,
head_width=1.0,
)
## Plot the end marker for future
plt.arrow(
sample_groundtruth[-2, 0],
sample_groundtruth[-2, 1],
sample_groundtruth[-1, 0] - sample_groundtruth[-2, 0],
sample_groundtruth[-1, 1] - sample_groundtruth[-2, 1],
color="#d33e4c",
label="Ground Truth",
alpha=1,
linewidth=3.0,
zorder=25,
head_width=1.0,
)
## Plot history context
for j in range(obs_len):
lane_ids = avm.get_lane_ids_in_xy_bbox(
sample_past_trajectory[j, 0],
sample_past_trajectory[j, 1],
sample_city_name,
query_search_range_manhattan=65,
)
[avm.draw_lane(lane_id, sample_city_name) for lane_id in lane_ids]
## Plot future context
for j in range(pred_len):
lane_ids = avm.get_lane_ids_in_xy_bbox(
sample_groundtruth[j, 0],
sample_groundtruth[j, 1],
sample_city_name,
query_search_range_manhattan=65,
)
[avm.draw_lane(lane_id, sample_city_name) for lane_id in lane_ids]
Thank you for reply and good code. :)
Thank you for reply and good code. :)
Hi,
Could you please release the complete visualization code? Thanks a lot.
Hi, i've seen the code and i want to know how to get those samples in the code below
def plot_single_vehicle(
avm: ArgoverseMap,
sample_past_trajectory: np.ndarray, # (20, 2)
sample_groundtruth: np.ndarray, # (20, 2)
sample_forecasted_trajectories: List[np.ndarray], # List[(30, 2)]
sample_city_name: str,
ls: str):
there is no code generating sample_past_trajectory, sample_groundtruth, sample_forecasted_trajectories
in HiVT repository so i cant run that code.
any help and suggestions will be helping my project alot.
Thanks :)
Hi, have you solved this problem? Thank you!
@Joonki0111 @xinfu607 @moonseokha @ZikangZhou
Hi, i've seen the code and i want to know how to get those samples in the code below
def plot_single_vehicle( avm: ArgoverseMap, sample_past_trajectory: np.ndarray, # (20, 2) sample_groundtruth: np.ndarray, # (20, 2) sample_forecasted_trajectories: List[np.ndarray], # List[(30, 2)] sample_city_name: str, ls: str):
there is no code generating sample_past_trajectory, sample_groundtruth, sample_forecasted_trajectories in HiVT repository so i cant run that code.
any help and suggestions will be helping my project alot. Thanks :)