Comments (1)
whyekit-motional
commented on August 17, 2024
@AngelosSE yes, that seems like a reasonable thing to try
You could also try the discretize_lane method, e.g.:
from nuscenes.map_expansion.map_api import NuScenesMap
from nuscenes.map_expansion import arcline_path_utils
nusc_map = NuScenesMap(
dataroot='/data/sets/nuscenes',
map_name ='singapore-onenorth',
)
some_lane = nusc_map.lane[10]
some_lane_record = nusc_map.get_arcline_path(some_lane['token'])
poses = arcline_path_utils.discretize_lane(some_lane_record, resolution_meters=1)
print(poses)This would return a list of xyz co-ordinates which might be easier for you to work with, in determining the travel direction of a lane:
[(236.48801542477293, 1485.8349894063658, -2.040013106158251),
(236.0574527765101, 1484.982929915326, -2.0373685387930633),
(235.62914495996398, 1484.129734753223, -2.0347239714278755),
...
(227.08060252674574, 1467.0582241612608, -2.057082189381357)]
from nuscenes-devkit.
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