Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Bugfix - lidarview pose3d #984

Merged
merged 4 commits into from
Apr 3, 2024
Merged

Bugfix - lidarview pose3d #984

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
d429221
lidarview.py: fix keyframe indent if no lidar or camera
tajgr Mar 13, 2024
6b63d16
Revert "lidarview.py: fix keyframe indent if no lidar or camera"
tajgr Apr 2, 2024
ab447a3
lidarview.py: fix pose3d draw if no onother step streams
tajgr Apr 2, 2024
47bb435
Merge branch 'master' into bugfix/lidarview_pose3d
tajgr Apr 3, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
21 changes: 11 additions & 10 deletions osgar/tools/lidarview.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -406,16 +406,17 @@ def _step(self, direction):
return timestamp, self.frame, self.pose, self.pose3d, self.scan, self.scan2, self.image, self.image2, self.bbox, self.joint, keyframe, self.title, False
elif stream_id == self.joint_id:
self.joint = deserialize(data)
elif stream_id == self.pose3d_id:
pose3d, orientation = deserialize(data)
assert len(pose3d) == 3
assert len(orientation) == 4
self.pose = [pose3d[0], pose3d[1], quaternion.heading(orientation)]
self.pose3d = [pose3d, orientation]
elif stream_id == self.pose2d_id:
arr = deserialize(data)
assert len(arr) == 3
self.pose = (arr[0]/1000.0, arr[1]/1000.0, math.radians(arr[2]/100.0))
elif stream_id in [self.pose2d_id, self.pose3d_id]:
if stream_id == self.pose3d_id:
pose3d, orientation = deserialize(data)
assert len(pose3d) == 3
assert len(orientation) == 4
self.pose = [pose3d[0], pose3d[1], quaternion.heading(orientation)]
self.pose3d = [pose3d, orientation]
else:
arr = deserialize(data)
assert len(arr) == 3
self.pose = (arr[0] / 1000.0, arr[1] / 1000.0, math.radians(arr[2] / 100.0))
x, y, heading = self.pose
self.pose = (x * math.cos(g_rotation_offset_rad) - y * math.sin(g_rotation_offset_rad),
x * math.sin(g_rotation_offset_rad) + y * math.cos(g_rotation_offset_rad),
Expand Down
Loading