Check len(0) ouster points pedestrian_detection.py

Author: lukasdumasius

GEMstack/onboard/perception/pedestrian_detection.py

@@ -318,10 +318,11 @@ def ouster_oak_callback(self, rgb_image_msg: Image, lidar_pc2_msg: PointCloud2):
                 extracted_pts = filter_ground_points(extracted_pts, self.ground_threshold)
                 extracted_pts = filter_depth_points(extracted_pts)
                 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)
+        #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)
 
 
     def rate(self):