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()