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CAS-LRJ / ISS

Intelligent Self-driving System
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Fix: GroundTruth Class now works well #12

Closed Ep11phany closed 10 months ago

Ep11phany commented 10 months ago

All dataexchange data classes are and will be defined in sensorutils/geometry_types.pyx, self-written; and by running python example/visualize_groundtruth_procedure.py, you shall reproduce the output below:

(ISS) PS C:\Users\NINGMEI\Documents\ISS> python .\examples\visualize_groundtruth_process.py
BoundingBox(Location(x=0.029220, y=-0.000000, z=0.735860), Extent(x=2.395890, y=1.081725, z=0.743830), Rotation(pitch=0.000000, yaw=0.000000, roll=0.000000))
BoundingBox(Location(x=0.000000, y=0.000000, z=0.000000), Extent(x=0.187679, y=0.187679, z=0.930000), Rotation(pitch=0.000000, yaw=0.000000, roll=0.000000))
BoundingBox(Location(x=0.029220, y=0.000001, z=0.735860), Extent(x=2.395890, y=1.081725, z=0.743830), Rotation(pitch=0.000000, yaw=0.000000, roll=0.000000))
BoundingBox(Location(x=0.000000, y=0.000000, z=0.000000), Extent(x=0.187679, y=0.187679, z=0.930000), Rotation(pitch=0.000000, yaw=0.000000, roll=0.000000))
BoundingBox(Location(x=0.029220, y=0.000000, z=0.735861), Extent(x=2.395890, y=1.081725, z=0.743830), Rotation(pitch=0.000000, yaw=0.000000, roll=0.000000))
BoundingBox(Location(x=0.000000, y=0.000000, z=0.000000), Extent(x=0.187679, y=0.187679, z=0.930000), Rotation(pitch=0.000000, yaw=0.000000, roll=0.000000))
WALKER:walker.pedestrian.0003
VEHICLE: vehicle.tesla.model3
WALKER:walker.pedestrian.0001
VEHICLE: vehicle.tesla.model3
WALKER:walker.pedestrian.0002
VEHICLE: vehicle.tesla.model3
RES:
walker
BoundingBox(Location(x=0.0, y=-0.0, z=0.0), Extent(x=0.18767888844013214, y=0.18767888844013214, z=0.9300000071525574), Rotation(pitch=-0.0, yaw=-0.0, roll=0.0))
vehicle
BoundingBox(Location(x=0.029219772666692734, y=2.145767119543507e-08, z=0.7358604073524475), Extent(x=2.3958897590637207, y=1.081725001335144, z=0.7438300251960754), Rotation(pitch=-0.0, yaw=-0.0, roll=0.0))
walker
BoundingBox(Location(x=0.0, y=-0.0, z=0.0), Extent(x=0.18767888844013214, y=0.18767888844013214, z=0.9300000071525574), Rotation(pitch=-0.0, yaw=-0.0, roll=0.0))
vehicle
BoundingBox(Location(x=0.029219839721918106, y=-1.2071855053363834e-06, z=0.7358604073524475), Extent(x=2.3958897590637207, y=1.081725001335144, z=0.7438300251960754), Rotation(pitch=-0.0, yaw=-0.0, roll=0.0))
walker
BoundingBox(Location(x=0.0, y=-0.0, z=0.0), Extent(x=0.18767888844013214, y=0.18767888844013214, z=0.9300000071525574), Rotation(pitch=-0.0, yaw=-0.0, roll=0.0))
vehicle
BoundingBox(Location(x=0.029219774529337883, y=-2.8371809435157047e-07, z=0.7358605265617371), Extent(x=2.3958897590637207, y=1.081725001335144, z=0.7438300251960754), Rotation(pitch=-0.0, yaw=-0.0, roll=0.0))

which demonstrates gt.pyx is working on collecting bounding boxes of the vehicles and walkers in a CARLA world. There is a bug in a carla.TrafficLight invoking get_light_boxes(), as referenced here: https://github.com/carla-simulator/carla/issues/4553. This is actually the version I wrote last day qwq