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4d534793 · oscar · f5bfbd62 · 4d534793 · 4d534793
Commit 4d534793 authored Jan 19, 2022 by oscar
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Showing with 9 additions and 1 deletion

anno_process.py script/anno_process.py +0 -0

trans_data.py script/trans_data.py +9 -1

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--- a/script/anno_process.py
+++ b/script/anno_process.py
--- a/script/trans_data.py
+++ b/script/trans_data.py
@@ -516,7 +516,15 @@ if __name__ == '__main__':
        angle = car_yaw_cal(79.89299572540227,bbox[2])
        mapInfoExport = get_map_data(exportCenterBL[0],exportCenterBL[1],angle)
        print("call get ex data isInMap = ",mapInfoExport)
-        if mapInfo[0] != 1 or mapInfoExport[0] != 1:
+        if mapInfoExport[0] != 1:
+          continue;
+        laneAngle = mapInfoExport[10];
+        detaAngel = laneAngle - angle;
+        while detaAngel > 180:
+          detaAngel -= 360
+        while detaAngel < -180:
+          detaAngel +=- 360
+        if( abs(detaAngel) > 30)
          continue;
        flag = in_hull(xyz,bbox[1])
        pickcloud = xyz[flag]