提交

script/trans_data.py

@@ -15,7 +15,7 @@ from utils.getloc_coll import get_loc, get_world_loc,get_loc_from_origin
 from easydict import EasyDict
 import yaml
 from jfxmap_lib.jfxmap import init_jfxmap, get_map_data 
-from utils.compute_yaw import compute_yaw
+from utils.compute_yaw import compute_yaw,car_yaw_cal
 
 
 def compute_pitch(A,B,C):
@@ -503,10 +503,11 @@ if __name__ == '__main__':
       savecloud = o3d.geometry.PointCloud()
       drawpointcloud = []
       merge_geos = [pcd]
+      exportDrawCloud = [g_pcd]
       for bbox in bboxes:
         out_center_BL = get_loc_from_origin([bbox[4][0], bbox[4][1], bbox[4][2]], 0, origin_Trans)
         print(out_center_BL)
-        angle = compute_yaw(bbox[2])
+        angle = car_yaw_cal(131.419987,bbox[2])
         mapInfo = get_map_data(out_center_BL[0],out_center_BL[1],angle)
         print("call get data isInMap = ",mapInfo)
         f1.write('%f,%f,%f,%f,%f,%f,%f,%f,%f\n'%(out_center_BL[0],out_center_BL[1],bbox[4][0], bbox[4][1], bbox[4][2],bbox[6][0], bbox[6][1], bbox[6][2],angle))