--- a/trafficintelligence/storage.py	Thu Sep 07 16:20:28 2023 -0400
+++ b/trafficintelligence/storage.py	Fri Sep 08 17:09:12 2023 -0400
@@ -10,7 +10,7 @@
 from numpy import log, min as npmin, max as npmax, round as npround, array, sum as npsum, loadtxt, floor as npfloor, ceil as npceil, linalg, int32, int64, reshape, dot, vstack, transpose, ones, zeros_like, pi, NaN
 from pandas import read_csv, merge, concat, DataFrame
 
-from trafficintelligence import utils, moving, events, indicators, cvutils
+from trafficintelligence import utils, moving, events, indicators
 from trafficintelligence.base import VideoFilenameAddable
 
 
@@ -1307,6 +1307,7 @@
 
     Ref: https://github.com/pratikac/kitti/blob/master/readme.tracking.txt'''
     from pykitti.utils import roty
+    from trafficintelligence.cvutils import cartesian2Homogeneous
 
     invR0 = linalg.inv(reshape(kittiCalibration['R_rect'], (3, 3)))
     transCam2Velo = transpose(kittiCalibration['Tr_cam_velo'])
@@ -1371,16 +1372,16 @@
             # corners3d = transpose(corners3d)
             # box3d_pts_3d_velo = calib.project_rect_to_velo(box3d_pts_3d)
             refCorners = transpose(dot(invR0, corners3d)) # 8x3 avoid double transpose np.transpose(pts_3d_rect))) in pts_3d_ref = self.project_rect_to_ref(pts_3d_rect)
-            homRefCorners = cvutils.cartesian2Homogeneous(refCorners)
+            homRefCorners = cartesian2Homogeneous(refCorners)
             veloCorners = dot(homRefCorners, transCam2Velo)
 # self.project_ref_to_velo(pts_3d_ref)
             # boxes3d_world_single, flag_imu, flag_world = calib_function.project_velo_to_world(bboxes_3d_velo=boxes3d_velo_single, Tr_matrix=transfer_matrix)
             #Tr_velo_to_imu = transfer_matrix['Tr_velo_to_imu']
             #Tr_imu_to_world = transfer_matrix['Tr_imu_to_world']
-            homVeloCorners = cvutils.cartesian2Homogeneous(veloCorners)
+            homVeloCorners = cartesian2Homogeneous(veloCorners)
             imuCorners = dot(kittiCalibration['Tr_velo_imu'], homVeloCorners.T).T # 8x3
 
-            homImuCorners = cvutils.cartesian2Homogeneous(imuCorners)
+            homImuCorners = cartesian2Homogeneous(imuCorners)
             worldCorners = dot(Tr_imu_to_world, homImuCorners.T).T # 8x3
             
             # take first 4 lines of corners, x,y,_ # x0, y0, _ = boxes3d[0]
@@ -1415,12 +1416,12 @@
         corners3d[1, :] = corners3d[1, :]
         corners3d[2, :] = corners3d[2, :]
         refCorners = transpose(dot(invR0, corners3d)) # 8x3 avoid double transpose np.transpose(pts_3d_rect))) in pts_3d_ref = self.project_rect_to_ref(pts_3d_rect)
-        homRefCorners = cvutils.cartesian2Homogeneous(refCorners)
+        homRefCorners = cartesian2Homogeneous(refCorners)
         veloCorners = dot(homRefCorners, transCam2Velo)
-        homVeloCorners = cvutils.cartesian2Homogeneous(veloCorners)
+        homVeloCorners = cartesian2Homogeneous(veloCorners)
         imuCorners = dot(kittiCalibration['Tr_velo_imu'], homVeloCorners.T).T # 8x3
 
-        homImuCorners = cvutils.cartesian2Homogeneous(imuCorners)
+        homImuCorners = cartesian2Homogeneous(imuCorners)
         worldCorners = dot(Tr_imu_to_world, homImuCorners.T).T # 8x3
             
         # take first 4 lines of corners, x,y,_ # x0, y0, _ = boxes3d[0]