From 048877fa8de723ac5a3732079555220a5f5c6f57 Mon Sep 17 00:00:00 2001 From: lisiyi777 Date: Mon, 29 Jul 2024 22:10:20 -0400 Subject: [PATCH] Added multi-frame rendering and frame navigation --- flow_lab/flow_lab.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flow_lab/flow_lab.py b/flow_lab/flow_lab.py index 07bdbcd..2c6a322 100644 --- a/flow_lab/flow_lab.py +++ b/flow_lab/flow_lab.py @@ -430,12 +430,12 @@ def render_pc_and_boxes(self, vis): # Loop over the frames and display pointclouds for i in range(start_index, end_index): frame = self.frames[i] - ego_translation = frame.pc.global_pose.translation pc_color = [1, 0, 0] if i == current_frame_index else [0.75, 0.75, 0.75] vis.add_geometry(frame.pc.ego_pc.to_o3d().paint_uniform_color(pc_color)) # Render bounding boxes for the current frame only frame = self.frames[current_frame_index] + ego_translation = frame.pc.global_pose.translation for idx, box in enumerate(frame.boxes): box_translation = box.pose.transform_matrix[:3, 3] if np.linalg.norm(ego_translation - box_translation) < self.cropping_range: