(self, max_distance=50)
| 410 | return affordances |
| 411 | |
| 412 | def _get_3d_bbs(self, max_distance=50): |
| 413 | |
| 414 | bounding_boxes = { |
| 415 | "traffic_lights": [], |
| 416 | "stop_signs": [], |
| 417 | "vehicles": [], |
| 418 | "pedestrians": [] |
| 419 | } |
| 420 | |
| 421 | bounding_boxes['traffic_lights'] = self._find_obstacle_3dbb('*traffic_light*', max_distance) |
| 422 | bounding_boxes['stop_signs'] = self._find_obstacle_3dbb('*stop*', max_distance) |
| 423 | bounding_boxes['vehicles'] = self._find_obstacle_3dbb('*vehicle*', max_distance) |
| 424 | bounding_boxes['pedestrians'] = self._find_obstacle_3dbb('*walker*', max_distance) |
| 425 | |
| 426 | return bounding_boxes |
| 427 | |
| 428 | def _get_2d_bbs(self, seg_cam, affordances, bb_3d, seg_img): |
| 429 | """Returns a dict of all 2d boundingboxes given a camera position, affordances and 3d bbs |
nothing calls this directly
no test coverage detected