fixes addressing @Ezward review

autorope · Jul 1, 2024 · 435d3fb · 435d3fb
1 parent e526ce7
commit 435d3fb
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Showing 2 changed files with 6 additions and 13 deletions.
diff --git a/donkeycar/parts/lidar.py b/donkeycar/parts/lidar.py
@@ -737,10 +737,12 @@ def run(self, measurements):
         plot_polar_angle(draw, bounds, self.border_color, 0,
                          self.angle_direction, self.rotate_plot)
 
-        # handle no data yet
-        if measurements is None:
-            print("bruh")
-            return np.asarray(self.frame)
+        # data points
+        if measurements:
+          plot_polar_points(
+              draw, bounds, self.mark_fn, self.point_color, self.mark_px,
+              [(distance, angle) for distance, angle, _, _, _ in measurements],
+              self.max_distance, self.angle_direction, self.rotate_plot)
 
         # data points
         plot_polar_points(

diff --git a/donkeycar/templates/complete.py b/donkeycar/templates/complete.py
@@ -882,15 +882,6 @@ def add_camera(V, cfg, camera_type):
                        'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z'],
               threaded=False)
 
-    elif cfg.CAMERA_TYPE == "OAKD":
-        from donkeycar.parts.oak_d import OakD
-        cam = OakD(
-            enable_rgb=cfg.OAKD_RGB,
-            enable_depth=cfg.OAKD_DEPTH,
-            device_id=cfg.OAKD_ID)
-        V.add(cam, inputs=[],
-              outputs=['cam/image_array', 'cam/depth_array'],
-              threaded=True)
 
     elif cfg.CAMERA_TYPE == "LIDAR_PLOT":
         from donkeycar.parts.lidar import LidarPlot2