Updated camera movement suggestions.

MBTMBTMBT · Jun 27, 2024 · 600435b · 600435b
1 parent 83d3329
commit 600435b
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Showing 2 changed files with 8 additions and 18 deletions.
diff --git a/skills/src/lasr_skills/adjust_camera.py b/skills/src/lasr_skills/adjust_camera.py
@@ -26,22 +26,12 @@
     'leftEye',
     'leftEar',
     'leftShoulder',
-    'leftElbow',
-    'leftWrist',
-    'leftHip',
-    'leftKnee',
-    'leftAnkle',
 }
 
 RIGHT = {
     'rightEye',
     'rightEar',
     'rightShoulder',
-    'rightElbow',
-    'rightWrist',
-    'rightHip',
-    'rightKnee',
-    'rightAnkle',
 }
 
 HEAD = {
@@ -80,12 +70,12 @@ def execute(self, userdata):
         miss_head = len(missing_keypoints.intersection(HEAD)) >= 3
         miss_middle = len(missing_keypoints.intersection(MIDDLE)) >= 2
         miss_torso = len(missing_keypoints.intersection(TORSO)) >= 3
-        miss_left = len(missing_keypoints.intersection(LEFT)) >= 5
-        miss_right = len(missing_keypoints.intersection(RIGHT)) >= 5
+        miss_left = len(missing_keypoints.intersection(LEFT)) >= 2
+        miss_right = len(missing_keypoints.intersection(RIGHT)) >= 2
         rospy.logwarn(f"Missing head: {miss_head}, middle: {miss_middle}, torso: {miss_torso}, left: {miss_left}, right: {miss_right}.")
         needs_to_move_up = miss_head and (not miss_torso or not miss_middle)
         needs_to_move_down = not miss_head and miss_torso and miss_middle
-        needs_to_move_left = miss_left
-        needs_to_move_right = miss_right
+        needs_to_move_left = miss_right
+        needs_to_move_right = miss_left
         rospy.logwarn(f"Needs to move up: {needs_to_move_up}, down: {needs_to_move_down}, left: {needs_to_move_left}, right: {needs_to_move_right}.")
         return "finished"
diff --git a/skills/src/lasr_skills/describe_people.py b/skills/src/lasr_skills/describe_people.py
@@ -56,7 +56,7 @@ def __init__(self):
                     object_name="person",
                     crop_method=crop_method,
                     rgb_topic=rgb_topic,
-                    use_mask=True,
+                    use_mask=False,
                 ),
                 transitions=transitions,
             )
@@ -85,8 +85,8 @@ def __init__(self):
                     ],
                 ),
                 transitions={
-                    "succeeded": "GET_IMAGE",
-                    "failed": "GET_IMAGE",
+                    "succeeded": "CONVERT_IMAGE",
+                    "failed": "ADJUST_CAMERA",
                 },
             )
 
@@ -96,7 +96,7 @@ def __init__(self):
                 }
             else:
                 transitions={
-                    "finished": "GET_IMAGE_AGAIN",
+                    "finished": "GET_IMAGE",
                 }
             smach.StateMachine.add(
                 "ADJUST_CAMERA",