fixed that torsal and head frames were inversed.

MBTMBTMBT · Feb 5, 2024 · 77feadb · 77feadb
1 parent e8b2012
commit 77feadb
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Showing 5 changed files with 15 additions and 2 deletions.
diff --git a/common/vision/lasr_vision_torch/full_frame.jpg b/common/vision/lasr_vision_torch/full_frame.jpg
diff --git a/common/vision/lasr_vision_torch/head_frame.jpg b/common/vision/lasr_vision_torch/head_frame.jpg
diff --git a/common/vision/lasr_vision_torch/src/lasr_vision_torch/__init__.py b/common/vision/lasr_vision_torch/src/lasr_vision_torch/__init__.py
@@ -11,6 +11,7 @@
 import rospkg
 import lasr_vision_torch
 from os import path
+# import matplotlib.pyplot as plt
 
 
 def load_face_classifier_model():
@@ -122,8 +123,9 @@ def process_head(head_frame, model, thresholds_mask, erosion_iterations, dilatio
 
     if head_frame is not None:
         # try:
+        #     r = rospkg.RosPack()
         #     _head_frame_bgr = cv2.cvtColor(head_frame, cv2.COLOR_RGB2BGR)
-        #     cv2.imshow('Head Frame', _head_frame_bgr)
+        #     cv2.imwrite(path.join(r.get_path("lasr_vision_torch"), 'head_frame.jpg'), _head_frame_bgr)
         # except Exception as ignore:
         #     pass
 
@@ -228,6 +230,17 @@ def predict_frame(head_frame, torso_frame, full_frame, head_mask, torso_mask, mo
 
     head_frame = pad_image_to_even_dims(head_frame)
     torso_frame = pad_image_to_even_dims(torso_frame)
+
+    try:
+        r = rospkg.RosPack()
+        _full_frame_bgr = cv2.cvtColor(full_frame, cv2.COLOR_RGB2BGR)
+        cv2.imwrite(path.join(r.get_path("lasr_vision_torch"), 'full_frame.jpg'), _full_frame_bgr)
+        _head_frame_bgr = cv2.cvtColor(head_frame, cv2.COLOR_RGB2BGR)
+        cv2.imwrite(path.join(r.get_path("lasr_vision_torch"), 'head_frame.jpg'), _head_frame_bgr)
+        _torso_frame_bgr = cv2.cvtColor(torso_frame, cv2.COLOR_RGB2BGR)
+        cv2.imwrite(path.join(r.get_path("lasr_vision_torch"), 'torso_frame.jpg'), _torso_frame_bgr)
+    except Exception as ignore:
+        pass
 
     # Process head and cloth separately for the single frame
     head_class_count, head_class_colours = process_head(head_frame, model, thresholds_mask, erosion_iterations, dilation_iterations, thresholds_pred)

diff --git a/common/vision/lasr_vision_torch/torso_frame.jpg b/common/vision/lasr_vision_torch/torso_frame.jpg
diff --git a/skills/src/lasr_skills/describe_people.py b/skills/src/lasr_skills/describe_people.py
@@ -167,8 +167,8 @@ def execute(self, userdata):
                 full_frame = cv2_img.cv2_img_to_msg(img)
                 features.extend(self.torch_face_features(
                     full_frame, 
-                    torso_mask_data, torso_mask_shape, torso_mask_dtype,
                     head_mask_data, head_mask_shape, head_mask_dtype,
+                    torso_mask_data, torso_mask_shape, torso_mask_dtype,
                 ).detected_features)
 
                 # # process part masks