(lyft, sample_data_token)
| 44 | |
| 45 | |
| 46 | def get_sample_data(lyft, sample_data_token): |
| 47 | sd_rec = lyft.get("sample_data", sample_data_token) |
| 48 | cs_rec = lyft.get("calibrated_sensor", sd_rec["calibrated_sensor_token"]) |
| 49 | |
| 50 | sensor_rec = lyft.get("sensor", cs_rec["sensor_token"]) |
| 51 | pose_rec = lyft.get("ego_pose", sd_rec["ego_pose_token"]) |
| 52 | |
| 53 | boxes = lyft.get_boxes(sample_data_token) |
| 54 | |
| 55 | box_list = [] |
| 56 | for box in boxes: |
| 57 | box.translate(-np.array(pose_rec["translation"])) |
| 58 | box.rotate(Quaternion(pose_rec["rotation"]).inverse) |
| 59 | |
| 60 | box.translate(-np.array(cs_rec["translation"])) |
| 61 | box.rotate(Quaternion(cs_rec["rotation"]).inverse) |
| 62 | |
| 63 | box_list.append(box) |
| 64 | |
| 65 | return box_list, pose_rec |
| 66 | |
| 67 | |
| 68 | def quaternion_yaw(q: Quaternion) -> float: |
no outgoing calls
no test coverage detected