save data fix

Signed-off-by: Ken Haagh <[email protected]>
tue-robotics · Dec 14, 2023 · 9f63c61 · 9f63c61
1 parent 8168c44
commit 9f63c61
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/people_tracking/src/people_tracking/depth_image.py b/people_tracking/src/people_tracking/depth_image.py
@@ -66,7 +66,7 @@ def get_depth_data(self, data):
         #     rospy.logwarn("No depth image available.")
         #     return Image()
 
-        return self.bridge.cv2_to_imgmsg(self.depth_images[-1][1], encoding="passthrough")
+        return self.depth_images[-1][1]
 
 
 if __name__ == '__main__':

diff --git a/people_tracking/src/people_tracking/person_detection.py b/people_tracking/src/people_tracking/person_detection.py
@@ -114,7 +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:
@@ -127,6 +127,9 @@ def process_latest_image(self):
             depth_image = self.request_depth_image(self.latest_image_time)#self.request_depth_image(self.latest_image_time).image
             cv_depth_image = self.bridge.imgmsg_to_cv2(depth_image, desired_encoding='passthrough')
             cv_depth_image = cv2.GaussianBlur(cv_depth_image, (5, 5), 0)
+
+            if save_data:
+                cv2.imwrite(f"{save_path}{batch_nr}_depth.jpg", cv_depth_image)
         else:
             cv_depth_image = None