def setUp(self):
self.FRC = OSIRulesChecker()
sv1 = SensorView()
linked_sv1 = LinkedProtoField(sv1, name="SensorView")
gt1 = sv1.global_ground_truth
linked_gt1 = LinkedProtoField(gt1,
name="global_ground_truth",
parent=linked_sv1)
gt1.host_vehicle_id.value = 0
hvid1 = gt1.host_vehicle_id
self.linked_hvid1 = LinkedProtoField(hvid1,
name="host_vehicle_id",
parent=linked_gt1)
sv2 = SensorView()
linked_sv2 = LinkedProtoField(sv2, name="SensorView")
gt2 = sv2.global_ground_truth
linked_gt2 = LinkedProtoField(gt2,
name="global_ground_truth",
parent=linked_sv2)
gt2.host_vehicle_id.value = 1
hvid1 = gt2.host_vehicle_id
self.linked_hvid2 = LinkedProtoField(hvid1,
name="host_vehicle_id",
parent=linked_gt2)
def setUp(self):
self.FRC = OSIRulesChecker()
sv1 = SensorView()
linked_sv1 = LinkedProtoField(sv1, name="SensorView")
gt1 = sv1.global_ground_truth
linked_gt1 = LinkedProtoField(gt1,
name="global_ground_truth",
parent=linked_sv1)
gtlb1 = gt1.lane_boundary.add()
linked_gtlb1 = LinkedProtoField(gtlb1,
name="lane_boundary",
parent=linked_gt1)
bladd1 = gtlb1.boundary_line.add()
bladd1.position.x = 1699.2042678176733
bladd1.position.y = 100.16895580204906
bladd1.position.z = 0.0
bladd1.width = 0.13
bladd1.height = 0.0
self.lb1 = LinkedProtoField(bladd1,
name="boundary_line",
parent=linked_gtlb1)
self.lb1.path = 'SensorView.global_ground_truth.lane_boundary.boundary_line'
# self.lb1.parent =
sv2 = SensorView()
linked_sv2 = LinkedProtoField(sv2, name="SensorView")
gt2 = sv2.global_ground_truth
linked_gt2 = LinkedProtoField(gt2,
name="global_ground_truth",
parent=linked_sv2)
gtlb2 = gt2.lane_boundary.add()
linked_gtlb2 = LinkedProtoField(gtlb2,
name="lane_boundary",
parent=linked_gt2)
bladd2 = gtlb2.boundary_line.add()
bladd2.position.x = 1699.2042678176733
bladd2.position.y = 100.16895580204906
bladd2.position.z = 0.0
bladd2.width = 0.14
bladd2.height = 0.13
self.lb2 = LinkedProtoField(bladd2,
name="boundary_line",
parent=linked_gtlb2)
self.lb2.path = 'SensorView.global_ground_truth.lane_boundary.boundary_line'
def setUp(self):
self.FRC = OSIRulesChecker()
sv = SensorView()
linked_sv = LinkedProtoField(sv, name="SensorView")
sid = sv.sensor_id
sid.value = 0
self.linked_sid = LinkedProtoField(sid,
name="sensor_id",
parent=linked_sv)
sv2 = SensorView()
linked_sv2 = LinkedProtoField(sv2, name="SensorView")
sid2 = sv2.sensor_id
sid2.value = 2
self.linked_sid2 = LinkedProtoField(sid2,
name="sensor_id",
parent=linked_sv2)
def main():
"""Initialize SensorView"""
f = open("test_trace.osi", "ab")
sensorview = SensorView()
sv_ground_truth = sensorview.global_ground_truth
sv_ground_truth.version.version_major = 3
sv_ground_truth.version.version_minor = 0
sv_ground_truth.version.version_patch = 0
sv_ground_truth.timestamp.seconds = 0
sv_ground_truth.timestamp.nanos = 0
moving_object = sv_ground_truth.moving_object.add()
moving_object.id.value = 114
# Generate 10 OSI messages for 9 seconds
for i in range(10):
# Increment the time
sv_ground_truth.timestamp.seconds += 1
sv_ground_truth.timestamp.nanos += 100000
moving_object.vehicle_classification.type = 2
moving_object.base.dimension.length = 5
moving_object.base.dimension.width = 2
moving_object.base.dimension.height = 1
moving_object.base.position.x = 0.0 + i
moving_object.base.position.y = 0.0
moving_object.base.position.z = 0.0
moving_object.base.orientation.roll = 0.0
moving_object.base.orientation.pitch = 0.0
moving_object.base.orientation.yaw = 0.0
"""Serialize SensorData which can be send"""
bbuffer = sensorview.SerializeToString()
f.write(struct.pack("<L", len(bbuffer)) + bbuffer)
f.close()