docs/notebooks/example.ipynb

{
 "cells": [
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Anchor Generation Tutorial "
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Download the example lanelet2 map used in this tutorial"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "%%capture\n",
    "%pip install requests==2.31.0\n",
    "\n",
    "import requests\n",
    "from pathlib import Path\n",
    "\n",
    "osm_file = \"mapping_example.osm\"\n",
    "response = requests.get(\n",
    "    \"https://raw.githubusercontent.com/fzi-forschungszentrum-informatik/Lanelet2/master/lanelet2_maps/res/mapping_example.osm\"\n",
    ")\n",
    "Path(osm_file).write_text(response.text)"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Load the lanelet2 map as follows:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "from lanelet2anchors import AnchorGenerator\n",
    "\n",
    "lanelet_map = AnchorGenerator(\n",
    "    osm_file=osm_file, origin_latitude=49.00345654351, origin_longitude=8.42427590707\n",
    ")"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Starting from a given lanelet id, we create all possible anchors within the map up until a fixed length of 100 meters. The resulting anchors are sorted based on their diversity. "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "anchors = lanelet_map.create_anchors_for_lanelet(\n",
    "    lanelet_id=lanelet_map.lanelet_ids[0], anchor_length=100\n",
    ")"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Utility tools"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Examples for lanelet interpolation at given ratios:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
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      ],
      "text/plain": [
       "<shapely.geometry.multilinestring.MultiLineString at 0x7f461f468460>"
      ]
     },
     "execution_count": 4,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "from shapely.ops import unary_union\n",
    "\n",
    "unary_union(\n",
    "    [\n",
    "        lanelet_map.interpolate_lanelet(\n",
    "            lanelet_id=lanelet_map.lanelet_ids[0], ratio=0.0\n",
    "        ),\n",
    "        lanelet_map.interpolate_lanelet(\n",
    "            lanelet_id=lanelet_map.lanelet_ids[0], ratio=0.5\n",
    "        ),\n",
    "        lanelet_map.interpolate_lanelet(\n",
    "            lanelet_id=lanelet_map.lanelet_ids[0], ratio=0.8\n",
    "        ),\n",
    "        lanelet_map.interpolate_lanelet(\n",
    "            lanelet_id=lanelet_map.lanelet_ids[0], ratio=1.0\n",
    "        ),\n",
    "    ]\n",
    ")"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Example for detecting vehicles ahead. In this case, we use a dummy vehicle ahead mapping with zero vehicles in total."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "from lanelet2anchors import find_vehicle_ahead\n",
    "from shapely.geometry import Point\n",
    "\n",
    "lanelet2vehicle = {lanelet: [] for anchor in anchors for lanelet in anchor.lanelets}\n",
    "\n",
    "find_vehicle_ahead(\n",
    "    anchors=anchors, lanelet2vehicle=lanelet2vehicle, current_position=Point(0, 0)\n",
    ")\n",
    "pass"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Example usage of the anchor2linestring method. The ouput shows the left and right boundaries, as well as the centerline."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/svg+xml": [
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      ],
      "text/plain": [
       "<shapely.geometry.multilinestring.MultiLineString at 0x7f478bce4280>"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "from lanelet2anchors import anchor2linestring\n",
    "from shapely.ops import unary_union\n",
    "\n",
    "unary_union(\n",
    "    [\n",
    "        anchor2linestring(anchor=anchors[0], line_type=\"left\"),\n",
    "        anchor2linestring(anchor=anchors[0], line_type=\"right\"),\n",
    "        anchor2linestring(anchor=anchors[0], line_type=\"center\"),\n",
    "    ]\n",
    ")"
   ]
  }
 ],
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   "display_name": "nuscenes-anchor-generation",
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