fix: avoid the case if transforms is None

Signed-off-by: ktro2828 <[email protected]>
tier4 · May 14, 2024 · 340679a · 340679a
1 parent 8c0f97b
commit 340679a
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/perception_eval/perception_eval/common/dataset_utils.py b/perception_eval/perception_eval/common/dataset_utils.py
@@ -91,7 +91,7 @@ def _sample_to_frame(
         raise ValueError("lidar data isn't found")
 
     object_boxes = _get_sample_boxes(nusc, sample_data_token, frame_id)
-    transforms = _get_transforms(nusc, sample_data_token, evaluation_task, label_converter.label_type)
+    transforms = _get_transforms(nusc, sample_data_token)
     raw_data = _load_raw_data(nusc, sample_token) if load_raw_data else None
 
     objects_: List[DynamicObject] = []

diff --git a/perception_eval/perception_eval/evaluation/matching/objects_filter.py b/perception_eval/perception_eval/evaluation/matching/objects_filter.py
@@ -544,7 +544,10 @@ def _is_target_object(
         )
         is_target = is_target and dynamic_object.semantic_score > confidence_threshold
 
-    if dynamic_object.state.position is not None:
+    if transforms is None and dynamic_object.frame_id == FrameID.BASE_LINK:
+        position_ = dynamic_object.state.position
+        bev_distance_ = dynamic_object.get_distance_bev()
+    elif dynamic_object.state.position is not None and transforms is not None:
         position_ = transforms.transform((dynamic_object.frame_id, FrameID.BASE_LINK), dynamic_object.state.position)
         bev_distance_ = dynamic_object.get_distance_bev(transforms)
     else: