From ec9005cbefce2df88a75d1db8bff2e639d1b570a Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Thu, 21 Jul 2022 16:50:28 +0200
Subject: [PATCH] [skip-ci] check number of channels of image on which to draw
---
src/publisher_vision.cpp | 16 ++++++++++++----
1 file changed, 12 insertions(+), 4 deletions(-)
diff --git a/src/publisher_vision.cpp b/src/publisher_vision.cpp
index 7452182..76e96b7 100644
--- a/src/publisher_vision.cpp
+++ b/src/publisher_vision.cpp
@@ -69,9 +69,11 @@ PublisherVisionDebug::PublisherVisionDebug(const std::string &_unique_name,
last_capture_(nullptr),
img_transport_(ros::NodeHandle())
{
+ WOLF_INFO("\n\n\n\n\n\n\n\nYOOOOOOOOOOOOOOOOOOOO PublisherVisionDebug")
+
// if user do not provide processor's name, first processor of type PublisherVisionDebug is taken
auto processor_name = getParamWithDefault<std::string>(_server, prefix_ + "/processor_name", "");
- topic_preprocessor_ = getParamWithDefault<std::string>(_server, prefix_ + "/topic_preprocessor", "/debug_image_prepocessor");
+ topic_preprocessor_ = getParamWithDefault<std::string>(_server, prefix_ + "/topic_preprocessor", "/image_vo_tracks_prepocessor");
//Tracks
tracks_.show_id_ = getParamWithDefault<bool>(_server, prefix_ + "/tracks/show_id", false);
tracks_.size_id_ = getParamWithDefault<double>(_server, prefix_ + "/tracks/size_id", 0.5);
@@ -142,6 +144,7 @@ bool PublisherVisionDebug::ready()
void PublisherVisionDebug::publishDerived()
{
+ WOLF_INFO("YO")
if (last_capture_ == processor_vision_->getLast() or not processor_vision_->getLast())
return;
@@ -157,9 +160,14 @@ void PublisherVisionDebug::publishDerived()
// Draw and publish debug image
try
{
- // Extract cv image
- cv::Mat cv_img_debug;
- cv::cvtColor(cap_img->getImage(), cv_img_debug, cv::COLOR_GRAY2BGR);
+ // Transform the image to RGB if grayscale so that we can draw detections in color for debugging
+ cv::Mat cv_img_debug;
+ if (cap_img->getImage().channels() == 1){
+ cv::cvtColor(cap_img->getImage(), cv_img_debug, cv::COLOR_GRAY2BGR);
+ }
+ else {
+ cv_img_debug = cap_img->getImage().clone();
+ }
// Draw all tracks
--
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