From fe63727c964a51fef5f9d36e12266bf54344cc9c Mon Sep 17 00:00:00 2001 From: LucasEby Date: Wed, 26 Feb 2025 13:54:59 -0500 Subject: [PATCH] modified time slightly to fix tiny bug --- GEMstack/onboard/perception/pedestrian_detection.py | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/GEMstack/onboard/perception/pedestrian_detection.py b/GEMstack/onboard/perception/pedestrian_detection.py index b69b0ae4f..3663d44c5 100644 --- a/GEMstack/onboard/perception/pedestrian_detection.py +++ b/GEMstack/onboard/perception/pedestrian_detection.py @@ -163,9 +163,6 @@ def update(self, vehicle : VehicleState) -> Dict[str,AgentState]: 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 - # (f"Global state : {vehicle}") # Convert pose to start state. Need to use previous_vehicle state as pedestrian info is delayed @@ -536,10 +533,9 @@ def create_agent_states(self, obj_centers: List[np.ndarray], obj_dims: List[np.n # return vels def ouster_oak_callback(self, cv_image: cv2.Mat, lidar_points: np.ndarray): - # Update times for basic velocity calculation - # self.prev_time = self.curr_t - # self.curr_time = datetime.now() # Updating in update function now + self.prev_time = self.curr_time + self.curr_time = self.current_vehicle_state.pose.t self.cv_image = cv_image self.lidar_points = lidar_points