Transforms the depth image into meters Args: data ([type]): [description] Returns: [type]: [description]
(self, data)
| 864 | |
| 865 | |
| 866 | def _get_depth(self, data): |
| 867 | """Transforms the depth image into meters |
| 868 | |
| 869 | Args: |
| 870 | data ([type]): [description] |
| 871 | |
| 872 | Returns: |
| 873 | [type]: [description] |
| 874 | """ |
| 875 | |
| 876 | data = data.astype(np.float32) |
| 877 | |
| 878 | normalized = np.dot(data, [65536.0, 256.0, 1.0]) |
| 879 | normalized /= (256 * 256 * 256 - 1) |
| 880 | in_meters = 1000 * normalized |
| 881 | |
| 882 | return in_meters |
| 883 | |
| 884 | def _find_obstacle(self, obstacle_type='*traffic_light*'): |
| 885 | """Find all actors of a certain type that are close to the vehicle |