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nvikramraj
requested review from
KenC1014,
LucasEby and
lukasdumasius
and removed request for
krishauser
LucasEby
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LucasEby
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I think there are a few bugs in here outside of what we've talked about. I was trying to be thorough.
I did not double check your transforms.
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| speed = np.sqrt(gnss_msg.ve**2 + gnss_msg.vn**2) | ||
| callback(cv_image,points,GNSSReading(pose,speed,('error' if gnss_msg.error else 'ok'))) | ||
| topic1 = self.ros_sensor_topics['front_camera'] |
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Can you label the topics with camera for example instead of numbering them? This is very minor just would be slightly easier to follow
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| # T World to Start | ||
| start_x, start_y, start_z = self.current_vehicle_state.pose.x, self.current_vehicle_state.pose.y, self.current_vehicle_state.pose.z |
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This line here is confusing which is why I think it might be a bug:
start_x, start_y, start_z implies that the variables are in the start frame
self.current_vehicle_state implies that the object grabs the pose of the current frame of the vehicle which would not be start frame
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This function will not be used
| self.current_vehicle_state.v = vehicle_state.speed | ||
| self.current_vehicle_state.to_frame(frame=ObjectFrameEnum.START, current_pose=self.current_vehicle_state.pose, start_pose_abs=self.start_pose_abs) | ||
| else: | ||
| raise Exception('Unable to get current pose of vehicle, lost GPS') |
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I love it that you used an exception here. I think there are a lot of places where we should be using them to check for edge cases. This might be a confusing exception for the other teams though.
It may potentially be a better idea to log this, print it to the console, and throw out the currently scanned in pedestrians because we can't calculate their positions relative to start frame. This might be a good question to ask your roommate what he thinks?
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LucasEby
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Code looks fine from what I can tell.
I'll refactor the find_vels_and_ids function to accept start frame data
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| # To be checked with Lucas | ||
| # self.prev_agents = self.current_agents.copy() | ||
| self.current_agents.clear() |
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This little bit here is good. I'll modify find_vels_and_ids to accept start frame data instead of current frame data
2 participants
Create a Transformation matrix to convert vehicle frame points to start frame for pedestrian tracking