提交更新

script/trans_data.py

@@ -511,6 +511,13 @@ if __name__ == '__main__':
         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))
+        exportCenterBL = get_loc_from_origin([bbox[4][0], bbox[4][1], bbox[4][2]], 0, generate_Trans)
+        print(exportCenterBL)
+        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:
+          continue;
         flag = in_hull(xyz,bbox[1])
         pickcloud = xyz[flag]
         dz = np.array([0,0,0])
@@ -522,9 +529,11 @@ if __name__ == '__main__':
         point_cloud.colors = o3d.utility.Vector3dVector(color_)
         point_cloud.points = o3d.utility.Vector3dVector(addz)
         drawpointcloud += [point_cloud]
+        exportDrawCloud += [point_cloud]
         savecloud += point_cloud
         drawboxes = gen_o3d_3dbboxes(bbox[1])
         drawpointcloud += [drawboxes]
+        exportDrawCloud += [drawboxes]
         #渲染bbox
         merge_geos += [drawboxes]
         heading_point = (bbox[3][0] + bbox[3][2]) / 2
@@ -535,6 +544,7 @@ if __name__ == '__main__':
         #渲染车辆形式方向的点
         merge_geos += [heading_pcd]
         drawpointcloud += [heading_pcd]
+        exportDrawCloud += [heading_pcd]
         savecloud += heading_pcd
       
       f1.close()
@@ -542,12 +552,14 @@ if __name__ == '__main__':
         axis_pcd = o3d.geometry.TriangleMesh.create_coordinate_frame(size=5, origin=[0, 0, 0])
         merge_geos += [axis_pcd]
         drawpointcloud += [axis_pcd]
+        exportDrawCloud += [axis_pcd]
         #pcd.paint_uniform_color([1.00, 0, 0])
         # savefile = "D:/pointcloud" + str(num) + ".pcd"
         # o3d.io.write_point_cloud(savefile,savecloud)
         num += 1
         # custom_draw_geometry_with_key_callback(merge_geos, file_path)
-        custom_draw_geometry_with_key_callback(drawpointcloud, file_path)
+        # custom_draw_geometry_with_key_callback(drawpointcloud, file_path)
+        custom_draw_geometry_with_key_callback(exportDrawCloud, file_path)
         
     # pcd_list = glob.glob("D:/work/git_workspace/jfxmap_python/script/data_aug_samples/10-1_pcds/*.pcd")
     # print(pcd_list)
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