Correct depth criterion used

people_tracking_v2/scripts/comparison_node.py

@@ -106,7 +106,7 @@ def sync_callback(self, hoc_array, pose_array):
 
                 head_feet_distance = pose_msg.head_feet_distance
                 if head_feet_distance < 0:
-                    rospy.loginfo(f"Skipping comparison for Detection ID {hoc_msg.id} due to negative pose distance")
+                    rospy.loginfo(f"Skipping pose comparison for Detection ID {hoc_msg.id} due to negative pose distance")
                     comparison_scores_msg.pose_distance_score = -1
                 else:
                     distance_score = self.compute_distance(head_feet_distance, self.operator_pose_median)

people_tracking_v2/scripts/decision_node.py

@@ -27,7 +27,7 @@ def sync_callback(self, comparison_msg, detection_msg):
         # Define thresholds
         iou_threshold = 0.8
         hoc_threshold = 0.45
-        pose_threshold = 0.5  # Example threshold for pose distance
+        pose_threshold =0.1  # Example threshold for pose distance
 
         iou_detections = []
         hoc_pose_detections = []

people_tracking_v2/scripts/yolo_seg.py

@@ -156,7 +156,8 @@ def image_callback(self, data):
                 x_center = int((box[0] + box[2]) / 2)
                 y_center = int((box[1] + box[3]) / 2)
                 depth_value = cv_depth_image[y_center, x_center]
-                detection.depth = float(depth_value) if depth_value <= 10 else -1.0
+                detection.depth = float(depth_value) if depth_value > 0 else -1.0
+                rospy.loginfo(f"Detection {detection.id}: Depth value: {depth_value}") 
             else:
                 detection.depth = -1.0  # Use -1.0 as a placeholder if depth is not available
 

people_tracking_v2/src/people_tracking/launchers/ppl_tracking_v2.launch

@@ -1,7 +1,7 @@
 <launch>
 
   <arg name="laptop" default="True" />
-  <arg name="depth_camera" default="False" />
+  <arg name="depth_camera" default="True" />
   <arg name="save_data" default="False"/>
 
   <node