提交修改

script/jfxmap_lib/jfxmap.py

@@ -11,4 +11,4 @@ def init_jfxmap(path,cfg):
 
 def get_map_data(lat,lon,heading):
     info = libjfxmap_python.GetMapData(lat,lon,heading)
-    return info.isInMap,info.lOutRaodId,info.vctlOutPreRoadId,info.vctlOutNxtRoadId,info.nLaneCnt,info.nOutLaneNum,info.nOutLaneType,info.nOutLeftEdgeCrossType,info.nOutRightEdgeCrossType,info.nOutSpeedLimit,info.dOutLaneAngle,info.ptOutFoot_lat,info.ptOutFoot_lon
+    return info.isInMap,info.lOutRaodId,info.vctlOutPreRoadId,info.vctlOutNxtRoadId,info.nLaneCnt,info.nOutLaneNum,info.nOutLaneType,info.nOutLeftEdgeCrossType,info.nOutRightEdgeCrossType,info.nOutSpeedLimit,info.dOutLaneAngle,info.ptOutFoot_lat,info.ptOutFoot_lon,info.isInCross
\ No newline at end of file

script/trans_and_export_data_multi.py

@@ -632,15 +632,22 @@ class pcdThread (threading.Thread):
                         # print("call get ex data isInMap = ",mapInfoExport)
                         if mapInfoExport[0] != 1:
                             continue;
-                        laneAngle = mapInfoExport[10];
-                        detaAngel = laneAngle - angle2;
+                        laneAngle = mapInfoExport[10]
+                        isInCross =  mapInfoExport[13]
+                        # if isInCross == 1:
+                        #     print("inCross pos = [",exportCenterBL[0],",",exportCenterBL[1],"]")
+                        detaAngel = laneAngle - angle2
                         while detaAngel > 180:
                             detaAngel -= 360
                         while detaAngel < -180:
                             detaAngel += 360
                         # print("angle = ",angle2," laneAngle = ",laneAngle," detaAngel = ",detaAngel)  
                         if bbox[0] != "pedestrian" and abs(detaAngel) > 30:
-                            continue;
+                            continue
+                        if bbox[0] == "pedestrian" and isInCross == 0:
+                            continue
+                        elif bbox[0] == "pedestrian":
+                            print("pedestrian in cross, pos = [",exportCenterBL[0],",",exportCenterBL[1],"]")
                         #获取到汽车点云符合条件，可以添加到新点云里
                         # f1.write('%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n'%(exportCenterBL[0],exportCenterBL[1],bbox[4][0], bbox[4][1], bbox[4][2],bbox[6][0], bbox[6][1], bbox[6][2],angle2,laneAngle))
                         name = pcd_file.split("/")[-1]