提交so库调用

script/jfxmap_lib/jfxmap.py

+import os
+import sys
+sys.path.append("./jfxmap_lib/")
+import libjfxmap_python
+# ret = libjfxmap_python.add(3,4)
+# print(ret)
+
+def init_jfxmap(path,cfg):
+    ret = libjfxmap_python.InitMap(path,cfg)
+    return ret
+
+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
\ No newline at end of file

script/trans_data.py

@@ -14,7 +14,7 @@ import scipy
 from utils.getloc_coll import get_loc, get_world_loc
 from easydict import EasyDict
 import yaml
-
+from jfxmap_lib.jfxmap import init_jfxmap, get_map_data 
 
 
 def compute_pitch(A,B,C):
@@ -445,6 +445,11 @@ if __name__ == '__main__':
     jsn_file = os.path.join(root_path, child_dir + ".json")
     print(jsn_file)
 
+    p_dir = "/home/oscar/ros/git/catkin_ws_xishan/src/jfx_traffic_events/thirdparty/jfxmap/"
+    f_path = "./maps/xishan/mapconfig.json"
+    ret = init_jfxmap(p_dir,f_path)
+    print(ret)
+
     vis = True
     with open(jsn_file, 'r',encoding='utf-8',errors='ignore') as fp:
       jsn = json.load(fp)
@@ -479,10 +484,13 @@ if __name__ == '__main__':
       for bbox in bboxes:
         lidar_loc, out_BL, out_center_BL = get_loc([bbox[4][0], bbox[4][1], bbox[4][2], bbox[6][0], bbox[6][1], bbox[6][2], bbox[2]], 0, Trans, kitti2origin)
         print(out_center_BL)
-        
+        angle = bbox[2]/np.pi*180
+        isInMap = get_map_data(out_center_BL[0],out_center_BL[1],angle)
+        print("call get data isInMap = ",isInMap)
+
         flag = in_hull(xyz,bbox[1])
         pickcloud = xyz[flag]
-        dz = np.array([0,0,10])
+        dz = np.array([0,0,0])
         addz = np.add(pickcloud,dz)
         print(pickcloud)
         print(addz)