自动驾驶carla模拟器坐标系转换为icv坐标系[完整版源码]

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#!/usr/bin/env python

#
# Copyright (c) 2018-2019 Intel Corporation
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
#
"""
Tool functions to convert transforms from carla to icv coordinate system
"""

import math
import numpy

import transformations
from geometry_msgs.msg import Vector3,</