added legend and more examples

app.py

@@ -24,7 +24,7 @@ description = """
     <a href="https://github.com/MapItAnywhere/MapItAnywhere" target="_blank">Code</a>
 </h3>
 <p align="center">
-Mapper generates birds-eye-view maps from in-the-wild monocular first-person view images. You can try our demo by uploading your images or using the examples provided. Tip: You can also try out images across the world using <a href="https://www.mapillary.com/app" target="_blank">Mapillary</a> &#128521;
+Mapper generates birds-eye-view maps from in-the-wild monocular first-person view images. You can try our demo by uploading your images or using the examples provided. Tip: You can also try out images across the world using <a href="https://www.mapillary.com/app" target="_blank">Mapillary</a> &#128521; Also try out some examples that are taken in cities we have not trained on!
 </p>
 """
 
@@ -119,7 +119,7 @@ def run(input_img):
     
      # TODO: add legend here
 
-    plot_images([image, rgb_prediction], titles=["Input Image", "Prediction"], pad=2, adaptive=True)
+    plot_images([image, rgb_prediction], titles=["Input Image", "Top-Down Prediction"], pad=2, adaptive=True)
 
     return plt.gcf()
 
@@ -128,6 +128,8 @@ examples = [
     ["examples/left_crossing.jpg"],
     ["examples/crossing.jpg"],
     ["examples/two_roads.jpg"],
+    ["examples/japan_narrow_road.jpeg"],
+    ["examples/zurich_crossing.jpg"],
     ["examples/night_road.jpg"],
     ["examples/night_crossing.jpg"],
 ]
@@ -142,4 +144,4 @@ demo = gr.Interface(
     ],
     description=description,
     examples=examples)
-demo.launch(share=False, server_name="0.0.0.0")
+demo.launch(share=True, server_name="0.0.0.0")

mapper/utils/viz_2d.py

@@ -7,7 +7,7 @@
 import numpy as np
 import torch 
 import matplotlib.pyplot as plt
-
+import matplotlib.patches as mpatches
 
 def features_to_RGB(*Fs, masks=None, skip=1):
     """Project a list of d-dimensional feature maps to RGB colors using PCA."""
@@ -133,4 +133,17 @@ def plot_images(imgs, titles=None, cmaps="gray", dpi=100, pad=0.5, adaptive=True
             spine.set_visible(False)
         if titles:
             ax[i].set_title(titles[i])
+    
+    # Create legend
+    class_colors = {
+        'Road': (68, 68, 68),           # 0: Black
+        'Crossing': (244, 162, 97),     # 1; Red
+        'Sidewalk': (233, 196, 106),  # 2: Yellow
+        'Building': (231, 111, 81),   # 5: Magenta
+        'Terrain': (42, 157, 143),    # 7: Cyan
+        'Parking': (204, 204, 204),  # 8: Dark Grey
+    }
+    patches = [mpatches.Patch(color=[c/255.0 for c in color], label=label) for label, color in class_colors.items()]
+    plt.legend(handles=patches, loc='upper center', bbox_to_anchor=(0.5, -0.05), ncol=3)
+
     fig.tight_layout(pad=pad)