Added visualization thread with rois

MarlonRiv · Apr 17, 2024 · b68b51c · b68b51c
1 parent 07b29f6
commit b68b51c
Showing 1 changed file with 6 additions and 5 deletions.
diff --git a/src/detector.cpp b/src/detector.cpp
@@ -584,9 +584,6 @@ class UVDARDetector : public nodelet::Nodelet{
         //ROS_INFO_STREAM("[UVDARDetector]: Processing image with tracking points only.");
         processAdaptive(image, image_index, trackingPointsPerCamera[image_index]);
 
-        cv::Mat white_background = cv::Mat::ones(image->image.size(), image->image.type()) * 255;
-        uvda_[image_index]->generateVisualizationAdaptive(white_background,visualization_image,adaptive_detected_points_[image_index]);
-        //publishVisualizationImage(visualization_image); 
       }
 
     }
@@ -661,7 +658,12 @@ class UVDARDetector : public nodelet::Nodelet{
   void VisualizationThread([[maybe_unused]] const ros::TimerEvent& te) {
     if (initialized_){
       //generateVisualization(image_visualization_);
-      if ((image_visualization_.cols != 0) && (image_visualization_.rows != 0)){
+        int image_index = 0;
+        cv::Mat visualization_image;
+        cv::Mat white_background = cv::Mat::ones(images_current_[image_index].size(),images_current_[image_index].type()) * 255;
+        uvda_[image_index]->generateVisualizationAdaptive(white_background,visualization_image,adaptive_detected_points_[image_index]);
+        //publishVisualizationImage(visualization_image); 
+      if ((visualization_image.cols != 0) && (visualization_image.rows != 0)){
         if (_publish_visualization_){
           ROS_INFO_STREAM("[UVDARDetector]: Publishing visualization.");
           pub_visualization_->publish("uvdar_detection_visualization", 0.01, visualization_image, true);
@@ -804,7 +806,6 @@ class UVDARDetector : public nodelet::Nodelet{
   ros::Time initial_delay_start_;
 
 
-  cv::Mat visualization_image;
 
   std::vector<ros::Timer> timer_process_tracking_;