Commit e3ae85de authored by oscar's avatar oscar

修改角度

parent a4762200
...@@ -15,6 +15,7 @@ from utils.getloc_coll import get_loc, get_world_loc,get_loc_from_origin ...@@ -15,6 +15,7 @@ from utils.getloc_coll import get_loc, get_world_loc,get_loc_from_origin
from easydict import EasyDict from easydict import EasyDict
import yaml import yaml
from jfxmap_lib.jfxmap import init_jfxmap, get_map_data from jfxmap_lib.jfxmap import init_jfxmap, get_map_data
from utils.compute_yaw import compute_yaw
def compute_pitch(A,B,C): def compute_pitch(A,B,C):
...@@ -505,7 +506,7 @@ if __name__ == '__main__': ...@@ -505,7 +506,7 @@ if __name__ == '__main__':
for bbox in bboxes: for bbox in bboxes:
out_center_BL = get_loc_from_origin([bbox[4][0], bbox[4][1], bbox[4][2]], 0, origin_Trans) out_center_BL = get_loc_from_origin([bbox[4][0], bbox[4][1], bbox[4][2]], 0, origin_Trans)
print(out_center_BL) print(out_center_BL)
angle = bbox[2]/np.pi*180 angle = compute_yaw(bbox[2])
mapInfo = get_map_data(out_center_BL[0],out_center_BL[1],angle) mapInfo = get_map_data(out_center_BL[0],out_center_BL[1],angle)
print("call get data isInMap = ",mapInfo) 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)) 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))
......
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