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fix: resolve ValueError if there is no observed NavSatFix messages #175

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merged 2 commits into from
Dec 9, 2024
Merged

fix: resolve ValueError if there is no observed NavSatFix messages #175

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fix: resolve ValueError if there is no observed NavSatFix messages
ktro2828 Dec 2, 2024
d77d3f0
Merge branch 'main' into fix/ins-handler
miursh Dec 9, 2024
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10 changes: 7 additions & 3 deletions perception_dataset/ros2/oxts_msgs/ins_handler.py
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Original file line number Diff line number Diff line change
Expand Up @@ -418,19 +418,20 @@ def get_odometries(self) -> List[Odometry]:
def get_imus(self) -> List[Imu]:
return self._buffer["imu"]

def lookup_nav_sat_fixes(self, stamp: RosTime) -> NavSatFix:
def lookup_nav_sat_fixes(self, stamp: RosTime) -> Optional[NavSatFix]:
return self.interpolate_nav_sat_fixes(stamp)

def interpolate_nav_sat_fixes(
self, query_stamp: Union[RosTime, List[RosTime]]
) -> Union[NavSatFix | List[NavSatFix]]:
) -> Optional[Union[NavSatFix | List[NavSatFix]]]:
"""Interpolate NavSatFix.

Args:
query_stamp (RosTime | List[RosTime]): Query stamp(s).

Returns:
Union[NavSatFix, List[NavSatFix]]: Interpolated message(s).
Optional[Union[NavSatFix, List[NavSatFix]]]: Interpolated message(s).
Note that it returns `None`, if there is no observed NavSatFix messages.

Warnings:
If the value in `query_stamps` is out of range of the observed timestamps,
Expand All @@ -454,6 +455,9 @@ def interpolate_nav_sat_fixes(
timestamps.append(stamp_to_unix_timestamp(msg.header.stamp))
geo_coordinates.append((msg.latitude, msg.longitude, msg.altitude))

if len(timestamps) == 0:
return None

if min(query_timestamps) < min(timestamps) or max(timestamps) < max(query_timestamps):
warnings.warn(
"The value in `query_timestamps` is out of range of the observed timestamps, "
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14 changes: 9 additions & 5 deletions perception_dataset/rosbag2/rosbag2_to_non_annotated_t4_converter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -872,11 +872,15 @@ def _generate_ego_pose(self, stamp: builtin_interfaces.msg.Time) -> str:
"ay": ego_state.accel.y,
"az": ego_state.accel.z,
},
geocoordinate={
"latitude": geocoordinate.latitude,
"longitude": geocoordinate.longitude,
"altitude": geocoordinate.altitude,
},
geocoordinate=(
{
"latitude": geocoordinate.latitude,
"longitude": geocoordinate.longitude,
"altitude": geocoordinate.altitude,
}
if geocoordinate is not None
else None
),
)
else:
transform_stamped = self._bag_reader.get_transform_stamped(
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