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translation from front-bumper to center

This commit is contained in:
Joel Moriana 2020-03-30 16:11:13 +02:00 committed by bernat
parent 4142fbb3a1
commit ab3314f661
2 changed files with 31 additions and 14 deletions
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6
Co-Simulation/PTV-Vissim/run_synchronization.py
View File

@ -102,7 +102,8 @@ class SimulationSynchronization(object):
vissim_actor = self.vissim.get_actor(vissim_actor_id)
carla_actor = self.carla.get_actor(carla_actor_id)
carla_transform = BridgeHelper.get_carla_transform(vissim_actor.get_transform())
carla_transform = BridgeHelper.get_carla_transform(vissim_actor.get_transform(),
carla_actor.bounding_box.extent)
carla_velocity = BridgeHelper.get_carla_velocity(vissim_actor.get_velocity())
self.carla.synchronize_vehicle(carla_actor_id, carla_transform, carla_velocity)
@ -137,7 +138,8 @@ class SimulationSynchronization(object):
if vissim_actor_id != INVALID_ACTOR_ID:
carla_actor = self.carla.get_actor(carla_actor_id)
vissim_transform = BridgeHelper.get_vissim_transform(carla_actor.get_transform())
vissim_transform = BridgeHelper.get_vissim_transform(
carla_actor.get_transform(), carla_actor.bounding_box.extent)
vissim_velocity = BridgeHelper.get_vissim_velocity(carla_actor.get_velocity())
self.vissim.synchronize_vehicle(vissim_actor_id, vissim_transform, vissim_velocity)

39
Co-Simulation/PTV-Vissim/vissim_integration/bridge_helper.py
View File

@ -12,6 +12,7 @@
# ==================================================================================================
import logging
import math
import random
import carla # pylint: disable=import-error
@ -30,38 +31,52 @@ class BridgeHelper(object):
vtypes = {}
@staticmethod
def get_carla_transform(in_vissim_transform):
def get_carla_transform(in_vissim_transform, extent=None):
"""
Returns carla transform based on vissim transform.
"""
in_location = in_vissim_transform.location
in_rotation = in_vissim_transform.rotation
# Transform to carla reference system (left-handed system).
out_location = (in_location.x, -in_location.y, in_location.z)
out_rotation = (in_rotation.pitch, -in_rotation.yaw, in_rotation.roll)
# From front-center-bumper to center (vissim reference system).
if extent is not None:
out_location = (in_location.x - math.cos(math.radians(in_rotation.yaw)) * extent.x,
in_location.y - math.sin(math.radians(in_rotation.yaw)) * extent.x,
in_location.z - math.sin(math.radians(in_rotation.pitch)) * extent.x)
else:
out_location = (in_location.x, in_location.y, in_location.z)
out_rotation = (in_rotation.pitch, in_rotation.yaw, in_rotation.roll)
# Transform to carla reference system (left-handed system).
out_transform = carla.Transform(
carla.Location(out_location[0], out_location[1], out_location[2]),
carla.Rotation(out_rotation[0], out_rotation[1], out_rotation[2]))
carla.Location(out_location[0], -out_location[1], out_location[2]),
carla.Rotation(out_rotation[0], -out_rotation[1], out_rotation[2]))
return out_transform
@staticmethod
def get_vissim_transform(in_carla_transform):
def get_vissim_transform(in_carla_transform, extent=None):
"""
Returns vissim transform based on carla transform.
"""
in_location = in_carla_transform.location
in_rotation = in_carla_transform.rotation
# Transform to vissim reference system (right-handed system).
out_location = (in_location.x, -in_location.y, in_location.z)
out_rotation = (in_rotation.pitch, -in_rotation.yaw, in_rotation.roll)
# From center to front-center-bumper (carla reference system).
if extent is not None:
yaw = -1 * in_rotation.yaw
pitch = in_rotation.pitch
out_location = (in_location.x + math.cos(math.radians(yaw)) * extent.x,
in_location.y - math.sin(math.radians(yaw)) * extent.x,
in_location.z - math.sin(math.radians(pitch)) * extent.x)
else:
out_location = (in_location.x, in_location.y, in_location.z)
out_rotation = (in_rotation.pitch, in_rotation.yaw, in_rotation.roll)
# Transform to vissim reference system (right-handed system).
out_transform = carla.Transform(
carla.Location(out_location[0], out_location[1], out_location[2]),
carla.Rotation(out_rotation[0], out_rotation[1], out_rotation[2]))
carla.Location(out_location[0], -out_location[1], out_location[2]),
carla.Rotation(out_rotation[0], -out_rotation[1], out_rotation[2]))
return out_transform