remove viz

Author: nvikramraj

GEMstack/onboard/perception/pedestrian_detection.py

@@ -401,6 +401,9 @@ def create_agent_states(self, obj_centers: List[np.ndarray], obj_dims: List[np.n
             if (obj_centers[idx].size == 0) or (obj_dims[0].size == 0):
                 del obj_centers[idx]
                 del obj_dims[idx]
+            elif (obj_centers[idx].size != obj_dims[0].size):
+                del obj_centers[idx]
+                del obj_dims[idx]
 
         # Create list of agent states in current vehicle frame:
         agents = []

GEMstack/onboard/visualization/mpl_visualization.py

@@ -5,7 +5,6 @@
 import matplotlib.animation as animation
 import time
 from collections import deque
-from ...state.agent import AgentEnum
 
 class MPLVisualization(Component):
     """Runs a matplotlib visualization at 10Hz. 
@@ -77,14 +76,7 @@ def update(self, state):
             return
         self.num_updates += 1
         self.debug("vehicle","velocity",state.vehicle.v)
-        self.debug("vehicle","front wheel angle",state.vehicle.front_wheel_angle)
-        
-        # Add pedestrian tracking
-        for agent_id, agent in state.agents.items():
-            if agent.type == AgentEnum.PEDESTRIAN:
-                self.debug(f"ped_{agent_id}", "x", agent.pose.x)
-                self.debug(f"ped_{agent_id}", "y", agent.pose.y)
-        
+        self.debug("vehicle","front wheel angle",state.vehicle.front_wheel_angle)        
         time_str = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(state.t))
         #frame=ObjectFrameEnum.CURRENT
         #state = state.to_frame(frame)

launch/fixed_route.yaml

@@ -74,7 +74,6 @@ variants:
                     agent_detection : OmniscientAgentDetector
             visualization: !include "klampt_visualization.yaml"
             #visualization: !include "mpl_visualization.yaml"
-            visualization: [!include "klampt_visualization.yaml", !include "mpl_visualization.yaml"]
     log_ros:
         log:
             ros_topics : !include "../GEMstack/knowledge/defaults/standard_ros_topics.yaml"

launch/pedestrian_detection.yaml

@@ -57,10 +57,9 @@ variants:
     detector_only:
         run:
             description: "Run the pedestrian detection code"
-            drive:
-                planning:
-                    trajectory_tracking:
-            visualization: !include "mpl_visualization.yaml"
+        drive:
+            planning:
+                trajectory_tracking:
     real_sim:
         run:
             description: "Run the pedestrian detection code with real detection and fake simulation"