fix(perception_benchmark_tool): fix ci

Signed-off-by: Kaan Colak <kcolak@leodrive.ai>
autowarefoundation · Apr 21, 2022 · c920d44 · c920d44
1 parent 4368544
commit c920d44
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diff --git a/...hmark_tool/perception_benchmark_tool/benchmark_tools/waymo_ros_formatter/waymo_handler.py b/...hmark_tool/perception_benchmark_tool/benchmark_tools/waymo_ros_formatter/waymo_handler.py
@@ -6,14 +6,12 @@
 import tensorflow as tf
 from waymo_open_dataset import dataset_pb2
 from waymo_open_dataset import dataset_pb2 as open_dataset
-from waymo_open_dataset.utils import frame_utils
 from waymo_open_dataset.utils import range_image_utils
 from waymo_open_dataset.utils import transform_utils
 
 
 class WaymoHandler:
     def __init__(self, segment_path):
-        start = time.time()
 
         self.lidars_tf = {}
         self.cameras_tf = {}
@@ -121,7 +119,6 @@ def get_decoded_point_cloud(self, frame):
                 camera_projections[laser.name].append(cp)
 
         calibrations = sorted(frame.context.laser_calibrations, key=lambda c: c.name)
-        lasers = sorted(frame.lasers, key=lambda laser: laser.name)
         points = []
 
         frame_pose = tf.convert_to_tensor(np.reshape(np.array(frame.pose.transform), [4, 4]))

diff --git a/...hmarking/perception_benchmark_tool/perception_benchmark_tool/perception_benchmark_node.py b/...hmarking/perception_benchmark_tool/perception_benchmark_tool/perception_benchmark_node.py
@@ -257,7 +257,6 @@ def create_camera_info(self, frame_id, camera_calibration, ros_time):
         camera_info.header.stamp = ros_time.to_msg()
         camera_info.width = camera_calibration["width"]
         camera_info.height = camera_calibration["height"]
-        t_cam_to_vehicle = camera_calibration["cam_to_vehicle"]
         camera_info.p = (
             np.array(camera_calibration["vehicle_to_image"]).astype(float).flatten().tolist()
         )