Pedestrians with WalkerAIController causes crash

[Qi-Zha0]

If there are pedestrians spawned with AI controllers, this line will return a bounding box with x and y being -Inf for the AI controllers and causes an cannot convert float NaN to integer error. Seems like it's because the segregated pedestrian actors group contain a mix of carla.libcarla.WalkerAIController and carla.libcarla.Walker.

[Morphlng]

This can be solved by changing the following to check their type_id:

carla-birdeye-view/carla_birdeye_view/mask.py

Lines 302 to 306 in f666b0f

	def pedestrians_mask(self, pedestrians: List[carla.Actor]) -> Mask:
	canvas = self.make_empty_mask()
	for ped in pedestrians:
	if not hasattr(ped, "bounding_box"):
	continue

I.e.:

if "controller" in ped.type_id:
    continue

This problem is probably due to the change of carla's api. I think a more robust way is to filter out pedestrians with more accurate blueprints.

[Qi-Zha0]

That solves the problem. I also tried checking for NaN values, which works too. Thank you!