added conditional topic and crop method back for testing.

LASR-at-Home · Jun 21, 2024 · 5954f51 · 5954f51
1 parent 901f2c1
commit 5954f51
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/skills/src/lasr_skills/describe_people.py b/skills/src/lasr_skills/describe_people.py
@@ -15,6 +15,7 @@
 from numpy2message import numpy2message
 from .vision import GetCroppedImage, ImageMsgToCv2
 import numpy as np
+from validate_keypoints import ValidateKeypoints
 
 
 class DescribePeople(smach.StateMachine):
@@ -38,7 +39,7 @@ def __init__(self):
             )
             smach.StateMachine.add(
                 "GET_IMAGE",
-                GetCroppedImage(object_name="person", crop_method="closest"),
+                GetCroppedImage(object_name="person", crop_method=crop_method, rgb_topic=rgb_topic),
                 transitions={
                     "succeeded": "CONVERT_IMAGE",
                     "failed": "SAY_GET_IMAGE_AGAIN",
@@ -57,7 +58,7 @@ def __init__(self):
             )
             smach.StateMachine.add(
                 "GET_IMAGE_AGAIN",
-                GetCroppedImage(object_name="person", crop_method="closest"),
+                GetCroppedImage(object_name="person", crop_method=crop_method, rgb_topic=rgb_topic),
                 transitions={"succeeded": "CONVERT_IMAGE", "failed": "SAY_CONTINUE"},
             )