def calc_tfl_dist(prev_container: FrameContainer, curr_container: FrameContainer,
focal: np.float, pp: np.ndarray) -> FrameContainer:
norm_prev_pts, norm_curr_pts, R, foe, t_z = \
prepare_3d_data(prev_container, curr_container, focal, pp)
if abs(t_z) < 10e-6:
print('t_z = ', t_z)
elif norm_prev_pts.size == 0:
print('no prev points')
elif norm_prev_pts.size == 0:
print('no curr points')
else:
curr_container.corresponding_ind, curr_container.traffic_lights_3d_location \
, curr_container.valid = calc_3d_data(norm_prev_pts, norm_curr_pts, R, foe, t_z)
return curr_container
