From ea07cf868c6895a4a90d36bee68a841ad0ca72f9 Mon Sep 17 00:00:00 2001
From: Jerry Kuo <jerrykuo820@gmail.com>
Date: Tue, 15 Oct 2019 01:23:51 -0700
Subject: [PATCH] Minor Changes
---
get_obj_dist/src/object_to_distance.py | 31 ++++++++++++--------------
1 file changed, 14 insertions(+), 17 deletions(-)
diff --git a/get_obj_dist/src/object_to_distance.py b/get_obj_dist/src/object_to_distance.py
index 3070d15..8e492dd 100755
--- a/get_obj_dist/src/object_to_distance.py
+++ b/get_obj_dist/src/object_to_distance.py
@@ -19,7 +19,6 @@ font_scale = 0.75
font_color = (255, 255, 255)
line_type = 2
-counter = 0
class obj_dist:
def __init__(self):
@@ -41,25 +40,23 @@ class obj_dist:
ts.registerCallback(self.callback)
def callback(self, bbx, image, depth):
- print('Called!')
- global counter
if bbx.length:
cv_depth = self.bridge.imgmsg_to_cv2(depth, 'passthrough')
cv_image = self.bridge.imgmsg_to_cv2(image, 'bgr8')
- box = bbx.people_list[0]
- roi_depth = cv_depth[box.xmin:box.xmax, box.ymin:box.ymax]
- x = box.xmax - box.xmin
- y = box.ymax - box.ymin
-
- avg_distance = roi_depth[roi_depth <= 2500].sum() / (x*y) / 1000
- cv2.putText(cv_image, '{} meters'.format(avg_distance),
- (box.xmin, box.ymax-100),
- font,
- font_scale,
- font_color,
- line_type)
- self.dist_pub.publish(self.bridge.cv2_to_imgmsg(cv_image))
- counter += 1
+ for box in bbx.people_list:
+ roi_depth = cv_depth[box.xmin:box.xmax, box.ymin:box.ymax]
+
+ filtered_depth = roi_depth[roi_depth <= 2900]
+ _size = len(filtered_depth)
+
+ avg_distance = filtered_depth.sum() / _size / 1000
+ cv2.putText(cv_image, '{} meters'.format(avg_distance),
+ (box.xmin, box.ymax-100),
+ font,
+ font_scale,
+ font_color,
+ line_type)
+ self.dist_pub.publish(self.bridge.cv2_to_imgmsg(cv_image))
def main(args):
--
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