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comparison trafficintelligence/storage.py @ 1213:3f2214125164

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work in progress
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 03 May 2023 14:58:26 -0400
parents af329f3330ba
children 1b472cddf9b1
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1212:af329f3330ba 1213:3f2214125164
1387 featureNum += 4 1387 featureNum += 4
1388 1388
1389 # ego vehicle 1389 # ego vehicle
1390 t = moving.Trajectory() 1390 t = moving.Trajectory()
1391 featureTrajectories = [moving.Trajectory() for i in range(4)] 1391 featureTrajectories = [moving.Trajectory() for i in range(4)]
1392 interval = moving.TimeInterval(int(data.frame.min()), int(data.frame.max())) 1392 interval = moving.TimeInterval(0, len(oxts)-1)#int(data.frame.min()), int(data.frame.max()))
1393 R = roty(pi/2) 1393 R = roty(pi/2)
1394 for frame in interval: 1394 #for frame in interval:
1395 _, Tr_imu_to_world = oxts[frame] 1395 for _, Tr_imu_to_world in oxts:
1396
1397 l = 4.5 # m 1396 l = 4.5 # m
1398 w = 1.8 # m 1397 w = 1.8 # m
1399 h = 0. 1398 h = 0.
1400 # 3d bounding box corners 1399 # 3d bounding box corners
1401 x_corners = [l / 2, l / 2, -l / 2, -l / 2, l / 2, l / 2, -l / 2, -l / 2] 1400 x_corners = [l / 2, l / 2, -l / 2, -l / 2, l / 2, l / 2, -l / 2, -l / 2]