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