| 102 | return heading |
| 103 | |
| 104 | def load_scene_map(self): |
| 105 | map_file = f'{self.data_root}/map_{self.map_version}/{self.seq_name}.png' |
| 106 | map_vis_file = f'{self.data_root}/map_{self.map_version}/vis_{self.seq_name}.png' |
| 107 | map_meta_file = f'{self.data_root}/map_{self.map_version}/meta_{self.seq_name}.txt' |
| 108 | self.scene_map = np.transpose(cv2.imread(map_file), (2, 0, 1)) |
| 109 | self.scene_vis_map = np.transpose(cv2.cvtColor(cv2.imread(map_vis_file), cv2.COLOR_BGR2RGB), (2, 0, 1)) |
| 110 | self.meta = np.loadtxt(map_meta_file) |
| 111 | self.map_origin = self.meta[:2] |
| 112 | self.map_scale = scale = self.meta[2] |
| 113 | homography = np.array([[scale, 0., 0.], [0., scale, 0.], [0., 0., scale]]) |
| 114 | self.geom_scene_map = GeometricMap(self.scene_map, homography, self.map_origin) |
| 115 | self.scene_vis_map = GeometricMap(self.scene_vis_map, homography, self.map_origin) |
| 116 | |
| 117 | def PreMotion(self, DataTuple, valid_id): |
| 118 | motion = [] |