Visalizing segmented images

tue-robotics · May 27, 2024 · 29d79a1 · 29d79a1
1 parent 1d01bca
commit 29d79a1
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/people_tracking_v2/scripts/yolo_seg.py b/people_tracking_v2/scripts/yolo_seg.py
@@ -21,6 +21,7 @@ def __init__(self):
 
         self.image_sub = rospy.Subscriber("/Webcam/image_raw", Image, self.image_callback)
         self.segmented_images_pub = rospy.Publisher("/segmented_images", SegmentedImages, queue_size=10)
+        self.individual_segmented_image_pub = rospy.Publisher("/individual_segmented_images", Image, queue_size=10)
         self.bounding_box_image_pub = rospy.Publisher("/bounding_box_image", Image, queue_size=10)
         self.detection_pub = rospy.Publisher("/hero/predicted_detections", DetectionArray, queue_size=10)
 
@@ -121,6 +122,9 @@ def image_callback(self, data):
                 segmented_image_msg = self.bridge.cv2_to_imgmsg(segmented_image, "bgr8")
                 segmented_images_msg.images.append(segmented_image_msg)
 
+                # Publish individual segmented images
+                self.individual_segmented_image_pub.publish(segmented_image_msg)
+
         # Publish segmented images as a batch
         self.segmented_images_pub.publish(segmented_images_msg)