Publish distance image despite detections size

get_obj_dist/src/human_2d_to_3d.py

@@ -101,9 +101,10 @@ class obj_dist:
         detections.header = depth.header
 
         #print('working lol')
+        cv_image = self.bridge.imgmsg_to_cv2(image, 'bgr8')
         if len(det2d.detections) > 0:
             cv_depth = self.bridge.imgmsg_to_cv2(depth, 'passthrough')
-            cv_image = self.bridge.imgmsg_to_cv2(image, 'bgr8')
+            #cv_image = self.bridge.imgmsg_to_cv2(image, 'bgr8')
 
             for i in range(0, 5):
                 if i <= len(det2d.detections) - 1:
@@ -123,6 +124,9 @@ class obj_dist:
                 else:
                     self.set_model_coordinates((-1, -1, -1), i)
 
+
+
+        self.image_pub.publish(self.bridge.cv2_to_imgmsg(cv_image))
         self.marker_pub.publish(self.marker_array)
         self.detections_pub.publish(detections)
 
@@ -173,7 +177,7 @@ class obj_dist:
                         font_scale,
                         font_color,
                         line_type)
-            self.image_pub.publish(self.bridge.cv2_to_imgmsg(cv_image))
+            #self.image_pub.publish(self.bridge.cv2_to_imgmsg(cv_image))
 
             # TODO: Add dynamic find floor
             return x_meter, 0.0, current_avg