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Fix last_pose bug in nuscenes_converter.py #244

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Fix last_pose bug in nuscenes_converter.py #244

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2 changes: 1 addition & 1 deletion docs/can_bus.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -125,7 +125,7 @@
" can_bus.extend(rotation) # [3:7] is the orientation\n",
" \n",
" for key in last_pose.keys():\n",
" can_bus.extend(pose[key]) # accel: [7, 10], rotation_rate: [10: 13], velocity: [13: 16]\n",
" can_bus.extend(last_pose[key]) # accel: [7, 10], rotation_rate: [10: 13], velocity: [13: 16]\n",
" \n",
" # the last two numbers are reserved for later calculation of rotation angle.\n",
" can_bus.extend([0., 0.])\n",
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2 changes: 1 addition & 1 deletion tools/data_converter/nuscenes_converter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -171,7 +171,7 @@ def _get_can_bus_info(nusc, nusc_can_bus, sample):
can_bus.extend(pos)
can_bus.extend(rotation)
for key in last_pose.keys():
can_bus.extend(pose[key]) # 16 elements
can_bus.extend(last_pose[key]) # 16 elements
can_bus.extend([0., 0.])
return np.array(can_bus)

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