From 174cb7e59f87b3cd0500646901e636460210a7db Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 19 Jan 2023 17:22:59 +0100
Subject: [PATCH] Publish distance image despite detections size
---
get_obj_dist/src/human_2d_to_3d.py | 8 ++++++--
1 file changed, 6 insertions(+), 2 deletions(-)
diff --git a/get_obj_dist/src/human_2d_to_3d.py b/get_obj_dist/src/human_2d_to_3d.py
index c533f72..d251b08 100755
--- a/get_obj_dist/src/human_2d_to_3d.py
+++ b/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
--
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