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modified time slightly to fix tiny bug #144

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Merged
LucasEby merged 1 commit into from
Feb 26, 2025
Merged

modified time slightly to fix tiny bug #144

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8 changes: 2 additions & 6 deletions GEMstack/onboard/perception/pedestrian_detection.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down
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