added object location in image to msg

douglasrizzo · Oct 24, 2018 · 145768b · 145768b
1 parent 42ca4b6
commit 145768b
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Showing 3 changed files with 14 additions and 6 deletions.
diff --git a/msg/DetectedObject.msg b/msg/DetectedObject.msg
@@ -1,2 +1,6 @@
 std_msgs/String type
-std_msgs/String tf_id
+std_msgs/String tf_id
+std_msgs/Int32 image_x
+std_msgs/Int32 image_y
+std_msgs/Int32 image_height
+std_msgs/Int32 image_width
diff --git a/package.xml b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>dodo_detector_ros</name>
-  <version>0.1.1</version>
+  <version>0.2.0</version>
   <description>A package for object detection and localization using computer vision and IR sensors.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
@@ -54,9 +54,9 @@
   <build_depend>rospy</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
-  
+
   <buildtool_depend>catkin</buildtool_depend>
-    
+
   <run_depend>cv_bridge</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>libfreenect</run_depend>

diff --git a/src/detector.py b/src/detector.py
@@ -145,12 +145,16 @@ def run(self):
 
                             detected_object = DetectedObject()
                             detected_object.type.data = obj_class
-
+                            detected_object.image_x.data = xmin
+                            detected_object.image_y.data = ymin
+                            detected_object.image_width.data = xmax - xmin
+                            detected_object.image_height.data = ymax - ymin
                             # TODO the timestamp of image, depth and point cloud should be checked
                             # to make sure we are using synchronized data...
 
+                            publish_tf = False
                             if self._current_pc is None:
-                                rospy.logwarn('No point cloud information available to track object in scene')
+                                rospy.loginfo('No point cloud information available to track current object in scene')
 
                             # if there is point cloud data, we'll try to place a tf
                             # in the object's location