Fixed a stupid naming issue of feature extractor.

LASR-at-Home · Apr 23, 2024 · 8e867d1 · 8e867d1
1 parent a89b50c
commit 8e867d1
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Showing 6 changed files with 5 additions and 4 deletions.
diff --git a/...raction/src/lasr_vision_torch/__init__.py → ...asr_vision_feature_extraction/__init__.py b/...raction/src/lasr_vision_torch/__init__.py → ...asr_vision_feature_extraction/__init__.py
diff --git a/...vision_torch/categories_and_attributes.py → ...e_extraction/categories_and_attributes.py b/...vision_torch/categories_and_attributes.py → ...e_extraction/categories_and_attributes.py
diff --git a/..._torch/image_with_masks_and_attributes.py → ...action/image_with_masks_and_attributes.py b/..._torch/image_with_masks_and_attributes.py → ...action/image_with_masks_and_attributes.py
@@ -137,7 +137,7 @@ def describe(self) -> str:
                 wearables.append('a necktie')
             description += ", ".join(wearables[:-2] + [" and ".join(wearables[-2:])]) + '. '
 
-        if description != "This customer has ":
+        if description == "This customer has ":
             description = "I didn't manage to get any attributes from this customer, I'm sorry."
 
         result = {

diff --git a/skills/launch/unit_test_describe_people.launch b/skills/launch/unit_test_describe_people.launch
@@ -9,7 +9,7 @@
         <arg name="preload" value="['resnet50']" />
     </include>
 
-    <include file="$(find lasr_vision_feature_extraction)/launch/service.launch" />
+    <node pkg="lasr_vision_feature_extraction" type="service" name="torch_service" output="screen"/>
 
     <node name="image_view_yolo" pkg="rqt_image_view" type="rqt_image_view" respawn="false" output="screen" args="/yolov8/debug/yolov8nsegpt" />
     <node name="image_view_bodypix" pkg="rqt_image_view" type="rqt_image_view" respawn="false" output="screen" args="/bodypix/debug/resnet50" />

diff --git a/skills/src/lasr_skills/describe_people.py b/skills/src/lasr_skills/describe_people.py
@@ -173,6 +173,7 @@ def execute(self, userdata):
                     'detection': person,
                     'features': rst
                 })
+                print(people)
 
             # Userdata:
             # - people

diff --git a/skills/src/lasr_skills/vision/image_msg_to_cv2.py b/skills/src/lasr_skills/vision/image_msg_to_cv2.py
@@ -11,10 +11,10 @@ class ImageMsgToCv2(smach.State):
 
     def __init__(self):
         smach.State.__init__(
-            self, outcomes=['succeeded'], input_keys=['img_msg_2d'], output_keys=['img'])
+            self, outcomes=['succeeded'], input_keys=['img_msg'], output_keys=['img'])
 
     def execute(self, userdata):
-        userdata.img = cv2_img.msg_to_cv2_img(userdata.img_msg_2d)
+        userdata.img = cv2_img.msg_to_cv2_img(userdata.img_msg)
         return 'succeeded'