Cleaned some commented code.

MBTMBTMBT · Mar 11, 2024 · 8db1cb3 · 8db1cb3
1 parent 7d1d84b
commit 8db1cb3
Showing 1 changed file with 0 additions and 57 deletions.
diff --git a/skills/src/lasr_skills/describe_people.py b/skills/src/lasr_skills/describe_people.py
@@ -218,70 +218,13 @@ def execute(self, userdata):
                 head_mask_data, head_mask_shape, head_mask_dtype = numpy2message(head_mask)
 
                 full_frame = cv2_img.cv2_img_to_msg(img)
-                # features.extend(self.torch_face_features(
-                #     full_frame, 
-                #     head_mask_data, head_mask_shape, head_mask_dtype,
-                #     torso_mask_data, torso_mask_shape, torso_mask_dtype,
-                # ).detected_features)
 
                 rst = self.torch_face_features(
                     full_frame, 
                     head_mask_data, head_mask_shape, head_mask_dtype,
                     torso_mask_data, torso_mask_shape, torso_mask_dtype,
                 ).description
 
-                # # process part masks
-                # for (bodypix_mask, part) in zip(userdata.bodypix_masks, ['torso', 'head']):
-                #     part_mask = np.array(bodypix_mask.mask).reshape(
-                #         bodypix_mask.shape[0], bodypix_mask.shape[1])
-
-                #     # filter out part for current person segmentation
-                #     try:
-                #         part_mask[mask_bin == 0] = 0
-                #     except Exception:
-                #         rospy.logdebug('|> Failed to check {part} is visible')
-                #         continue
-
-                #     if part_mask.any():
-                #         rospy.logdebug(f'|> Person has {part} visible')
-                #     else:
-                #         rospy.logdebug(
-                #             f'|> Person does not have {part} visible')
-                #         continue
-
-                #     # do colour processing on the torso
-                #     if part == 'torso':
-                #         try:
-                #             features.append(FeatureWithColour("torso", [
-                #                 ColourPrediction(colour, distance)
-                #                 for colour, distance
-                #                 in closest_colours(np.median(img[part_mask == 1], axis=0), RGB_COLOURS)
-                #             ]))
-                #         except Exception as e:
-                #             rospy.logerr(f"Failed to process colour: {e}")
-
-                #     # do feature extraction on the head
-                #     if part == 'head':
-                #         try:
-                #             # crop out face
-                #             face_mask = np.array(userdata.bodypix_masks[1].mask).reshape(
-                #                 userdata.bodypix_masks[1].shape[0], userdata.bodypix_masks[1].shape[1])
-
-                #             mask_image_only_face = mask_image.copy()
-                #             mask_image_only_face[face_mask == 0] = 0
-
-                #             face_region = cv2_img.extract_mask_region(
-                #                 img, mask_image_only_face)
-                #             if face_region is None:
-                #                 raise Exception(
-                #                     "Failed to extract mask region")
-
-                #             msg = cv2_img.cv2_img_to_msg(face_region)
-                #             features.extend(self.torch_face_features(
-                #                 msg, False).detected_features)
-                #         except Exception as e:
-                #             rospy.logerr(f"Failed to process extraction: {e}")
-
                 people.append({
                     'detection': person,
                     'features': rst