def saveBEVImageWithAxes(data, outputname, cmap = None, xlabel = 'x [m]', ylabel = 'z [m]', rangeX = [-10, 10], rangeXpx = None, numDeltaX = 5, rangeZ = [7, 62], rangeZpx = None, numDeltaZ = 5, fontSize = 16):
    '''
    
    :param data:
    :param outputname:
    :param cmap:
    '''
    aspect_ratio = float(data.shape[1])/data.shape[0]
    fig = pylab.figure()
    Scale = 8
    # add +1 to get axis text
    fig.set_size_inches(Scale*aspect_ratio+1,Scale*1)
    ax = pylab.gca()
    #ax.set_axis_off()
    #fig.add_axes(ax)
    if cmap != None:
        pylab.set_cmap(cmap)
    
    #ax.imshow(data, interpolation='nearest', aspect = 'normal')
    ax.imshow(data, interpolation='nearest')
    
    if rangeXpx == None:
        rangeXpx = (0, data.shape[1])
    
    if rangeZpx == None:
        rangeZpx = (0, data.shape[0])
        
    modBev_plot(ax, rangeX, rangeXpx, numDeltaX, rangeZ, rangeZpx, numDeltaZ, fontSize, xlabel = xlabel, ylabel = ylabel)
    #plt.savefig(outputname, bbox_inches='tight', dpi = dpi)
    pylab.savefig(outputname, dpi = data.shape[0]/Scale)
    pylab.close()
    fig.clear()

    
    :param data:
    :param outputname:
    :param cmap:
    
submodules/evaluation/kitti_devkit/seg_utils.py