add comments for bug fixes

Author: KenC1014

GEMstack/onboard/perception/pedestrian_detection.py

@@ -163,6 +163,7 @@ def find_vels(self, track_ids: List[int], obj_centers: List[np.ndarray]) -> Dict
     def viz_object_states(self, cv_image, boxes, extracted_pts_all):
         # Extract 3D pedestrians points in lidar frame
         # ** These are camera frame after transform_lidar_points, right?
+        # ** It was in camera frame before. I fixed it. Now they are in lidar frame!
         pedestrians_3d_pts = [list(extracted_pts[:, -3:]) for extracted_pts in extracted_pts_all]
 
         # Object center viz
@@ -232,6 +233,7 @@ def update_object_states(self, track_result: List[Results], extracted_pts_all: L
 
         # Extract 3D pedestrians points in lidar frame
         # ** These are camera frame after transform_lidar_points, right?
+        # ** It was in camera frame before. I fixed it. Now they are in lidar frame!
         pedestrians_3d_pts = [list(extracted_pts[:, -3:]) for extracted_pts in extracted_pts_all] 
         if len(pedestrians_3d_pts) != num_objs:
             raise Exception('Perception - Camera detections, points clusters num. mismatch')
@@ -326,7 +328,6 @@ def ouster_oak_callback(self, rgb_image_msg: Image, lidar_pc2_msg: PointCloud2):
                 extracted_pts_all.append(extracted_pts)
             else: extracted_pts_all.append(np.array(()))
 
-        #if len(extracted_pts_all) > 0 and len(track_result) > 0:
         self.update_object_states(track_result, extracted_pts_all)
         if self.debug: self.viz_object_states(cv_image, boxes, extracted_pts_all)