Merge branch 'feat/drs_conversion' of github.com:tier4/tier4_percepti…

…on_dataset into feat/drs_conversion
tier4 · Dec 10, 2024 · bbe2154 · bbe2154
2 parents 7c485e4 + 73ee7b2
commit bbe2154
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Showing 2 changed files with 1 addition and 5 deletions.
diff --git a/perception_dataset/rosbag2/rosbag2_to_non_annotated_t4_converter.py b/perception_dataset/rosbag2/rosbag2_to_non_annotated_t4_converter.py
@@ -351,9 +351,6 @@ def _convert(self) -> None:
         if self._with_vehicle_status:
             self._convert_vehicle_state()
 
-        if self._with_vehicle_status:
-            self._convert_vehicle_state()
-
     def _calc_start_timestamp(self) -> float:
         if self._start_timestamp < sys.float_info.epsilon:
             start_timestamp = self._bag_reader.start_timestamp + self._skip_timestamp

diff --git a/perception_dataset/utils/rosbag2.py b/perception_dataset/utils/rosbag2.py
@@ -169,8 +169,7 @@ def pointcloud_msg_to_numpy(pointcloud_msg: PointCloud2) -> NDArray:
     points = point_cloud2_to_array(pointcloud_msg)
 
     # Extract the x, y, z coordinates and additional fields if available
-    xyz = points["xyz"]
-    points_arr = xyz
+    points_arr = points["xyz"]
     if "intensity" in points.keys():
         intensity = points["intensity"].astype(np.float32)
         points_arr = np.hstack((points_arr, intensity))