saving change

Signed-off-by: Ken Haagh <[email protected]>

people_tracking/src/people_tracking/people_tracker.py

@@ -665,11 +665,11 @@ def plot_tracker(self):
         latest_image = self.latest_image
         cv_image = bridge.imgmsg_to_cv2(latest_image, desired_encoding='passthrough')
 
-        if not self.target_lost:
-            if len(self.approved_targets) > 0 and self.tracked_plottable:  # Plot latest approved measurement
-                x_approved = self.approved_targets[-1].x
-                y_approved = self.approved_targets[-1].y
-                cv2.circle(cv_image, (x_approved, y_approved), 5, (0, 0, 255, 50), -1)  # BGR
+        # if not self.target_lost:
+        if len(self.approved_targets) > 0 and self.tracked_plottable:  # Plot latest approved measurement
+            x_approved = self.approved_targets[-1].x
+            y_approved = self.approved_targets[-1].y
+            cv2.circle(cv_image, (x_approved, y_approved), 5, (0, 0, 255, 50), -1)  # BGR
 
         # # Get location with UKF
         # current_time = float(rospy.get_time())

people_tracking/src/people_tracking/person_detection.py

@@ -60,7 +60,7 @@ def request_depth_image(self, time_stamp):
             if time_stamp is not None:
                 response = self.depth_proxy(int(time_stamp))
                 return response
-                # rospy.loginfo(f"Depth: {response}")
+                rospy.loginfo(f"Depth: {response}")
         except rospy.ServiceException as e:
             rospy.logerr("Failed to get depth: %s", str(e))
 
@@ -114,6 +114,7 @@ def process_latest_image(self):
         # Save Image
         if save_data:
             cv2.imwrite(f"{save_path}{batch_nr}.jpg", cv_image)
+            cv2.imwrite(f"{save_path}{batch_nr}_depth.jpg", cv_image)
         # People detection
         classes, segmentations, bounding_box_corners = self.detect(self.model, cv_image)
         if classes is None or segmentations is None: