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Merged
LucasEby merged 2 commits into from
Feb 25, 2025
Merged

Perception b main #136

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5c6af6a
edge case fix
nvikramraj Feb 25, 2025
74acb15
Added exception to edge case and fixed return values for similar exce…
LucasEby Feb 25, 2025
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16 changes: 13 additions & 3 deletions GEMstack/onboard/perception/pedestrian_detection.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,6 @@
from copy import deepcopy
# ROS, CV
import rospy
import message_filters
import tf
from cv_bridge import CvBridge
from sensor_msgs.msg import Image, PointCloud2
Expand All @@ -52,7 +51,7 @@
from ..component import Component
from .IdTracker import IdTracker
from scipy.spatial.transform import Rotation as R
from septentrio_gnss_driver.msg import INSNavGeod


def box_to_fake_agent(box):
"""Creates a fake agent state from an (x,y,w,h) bounding box.
Expand Down Expand Up @@ -137,6 +136,7 @@ def update(self, vehicle : VehicleState) -> Dict[str,AgentState]:

# Edge cases

# Initial vehicle pose data
if(self.current_vehicle_state == None and self.previous_vehicle_state == None):
self.current_vehicle_state = vehicle
# We get vehicle state from GNSS in global state
Expand All @@ -150,8 +150,18 @@ def update(self, vehicle : VehicleState) -> Dict[str,AgentState]:
self.previous_vehicle_state = self.current_vehicle_state
self.current_vehicle_state = vehicle

# edge case to handle no pedestrian data
if(self.current_agent_obj_dims == {}):
return self.current_agents
return {}

# edge case to handle empty lists:
if(len(self.current_agent_obj_dims['pose']) == 0 or len(self.current_agent_obj_dims['dims']) == 0):
return {}

# Edge case to handle differently sized lists:
# TODO: Handle different lengths properly
if len(self.current_agent_obj_dims['pose']) != len(self.current_agent_obj_dims['dims']):
raise Exception( f"Length of extracted poses ({len(self.current_agent_obj_dims['pose'])}) and dimensions ({len(self.current_agent_obj_dims['dims'])}) are not equal")

# Update current time:
self.curr_time = vehicle.pose.t
Expand Down