created map waypoint generator.

log-analysis/Training_analysis.ipynb

@@ -196,6 +196,47 @@
     "road_poly"
    ]
   },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Create Boarders\n",
+    "one_poly = plt.Polygon(l_inner_border, closed=True, fill=None, edgecolor=\"black\")\n",
+    "two_poly = plt.Polygon(l_outer_border, closed=True, fill=None, edgecolor=\"black\")\n",
+    "fig, ax = plt.subplots()\n",
+    "ax.add_patch(one_poly)\n",
+    "ax.add_patch(two_poly)\n",
+    "\n",
+    "# Get number of waypoints\n",
+    "number_of_waypoints = str(l_center_line.shape[0])\n",
+    "\n",
+    "# Plot waypoints\n",
+    "\n",
+    "for i, point in enumerate(l_center_line):\n",
+    "    waypoint = (point[0], point[1])\n",
+    "    #check if it the 10th waypoint\n",
+    "    if i % 10 == 0 or i == int(number_of_waypoints) - 1:\n",
+    "        #check if it is the first or last waypoint. they are the same\n",
+    "        if i == 0 or i == int(number_of_waypoints) - 1:\n",
+    "            plt.scatter(point[0], point[1], color='Green', marker=\"*\")\n",
+    "            if i == 0:\n",
+    "                plt.annotate(i,(point[0], point[1]), textcoords=\"offset points\", xytext=(0,3),\n",
+    "                        ha=\"right\")\n",
+    "        else:\n",
+    "            plt.scatter(point[0], point[1], color='red', marker=\".\")\n",
+    "            plt.annotate(i,(point[0], point[1]), textcoords=\"offset points\", xytext=(3,5),\n",
+    "                        ha=\"center\")\n",
+    "    else:\n",
+    "            plt.scatter(point[0], point[1], color='blue',  marker=\".\")\n",
+    "    #print(\"Waypoint \" + str(i) + \": \" + str(waypoint))\n",
+    "\n",
+    "# Saves image to running directory\n",
+    "plt.savefig('waypoints.png', dpi=250)\n",
+    "plt.show()"
+   ]
+  },
   {
    "cell_type": "markdown",
    "metadata": {},
@@ -2594,14 +2635,14 @@
   "language_info": {
    "codemirror_mode": {
     "name": "ipython",
-    "version": 3
+    "version": 2
    },
    "file_extension": ".py",
    "mimetype": "text/x-python",
    "name": "python",
    "nbconvert_exporter": "python",
-   "pygments_lexer": "ipython3",
-   "version": "3.6.8"
+   "pygments_lexer": "ipython2",
+   "version": "2.7.15+"
   }
  },
  "nbformat": 4,