How to generate the road map mask in the camera's perspective view?

[WangzcBruce]

`# Init nuScenes. Requires the dataset to be stored on disk.
from nuscenes.nuscenes import NuScenes
nusc = NuScenes( dataroot='/workspace/group_share/adc-perception-xbrain/public_dataset/nuscenes', version='v1.0-trainval', verbose=False)

Pick a sample and render the front camera image.

sample_token = nusc.sample[1000]['token']
layer_names = ['road_segment', 'lane', 'ped_crossing', 'walkway', 'stop_line', 'carpark_area']
camera_channel = 'CAM_FRONT'
nusc_map.render_map_in_image(nusc, sample_token, layer_names=layer_names, camera_channel=camera_channel)`

`# 先定义需要的内容
sample_token = nusc.sample[100]['token'] # 获取某个样本的token
layer_names = ['road_segment', 'lane', 'ped_crossing', 'walkway', 'stop_line', 'carpark_area'] # 需要渲染的图层
camera_channel = 'CAM_FRONT' # 摄像头通道

使用for循环依次显示每个图层

for layer in layer_names:
nusc_map.render_map_in_image(nusc, sample_token, layer_names=[layer], camera_channel=camera_channel)
`

The road segment, lane and walkway do not consist with the corresponding instances.