Merge remote-tracking branch 'upstream/main'

MBTMBTMBT · May 31, 2024 · a4222a9 · a4222a9
2 parents d1f4452 + 09bae51
commit a4222a9
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diff --git a/common/helpers/cv2_pcl/src/cv2_pcl/__init__.py b/common/helpers/cv2_pcl/src/cv2_pcl/__init__.py
@@ -2,12 +2,23 @@
 from sensor_msgs.msg import PointCloud2
 import ros_numpy as rnp
 import cv2
+from cv2_img import cv2_img_to_msg
 
 from typing import Tuple, Union
 
 Mat = np.ndarray
 
 
+def pcl_to_img_msg(pcl: PointCloud2) -> Mat:
+    """
+    Convert a given PointCloud2 message to img_msg
+    """
+    # keep the same timestamp
+    cv2 = pcl_to_cv2(pcl)
+
+    return cv2_img_to_msg(cv2, pcl.header.stamp)
+
+
 def pcl_to_cv2(
     pcl: PointCloud2, height: Union[int, None] = None, width: Union[int, None] = None
 ) -> Mat:

diff --git a/common/vision/lasr_vision_bodypix/src/lasr_vision_bodypix/bodypix.py b/common/vision/lasr_vision_bodypix/src/lasr_vision_bodypix/bodypix.py
@@ -114,7 +114,6 @@ def detect(
         keypoints_msg = []
 
         for i, keypoint in pose.keypoints.items():
-
             if camel_to_snake(keypoint.part) in request.masks[0].parts:
                 keypoint_msg = BodyPixKeypoint()
                 keypoint_msg.xy = [int(keypoint.position.x), int(keypoint.position.y)]

diff --git a/..._feature_extraction/src/lasr_vision_feature_extraction/image_with_masks_and_attributes.py b/..._feature_extraction/src/lasr_vision_feature_extraction/image_with_masks_and_attributes.py
@@ -194,7 +194,7 @@ def describe(self) -> str:
                 "hair_colour": hair_colour_str,
                 "hair_shape": hair_shape_str,
                 "male": male[0],
-                "facial_hair": facial_hair[0],
+                "facial_hair": facial_hair[0] != "No_Beard",
                 "hat": hat[0],
                 "glasses": glasses[0],
                 "earrings": earrings[0],

diff --git a/common/vision/lasr_vision_msgs/msg/BodyPixPose.msg b/common/vision/lasr_vision_msgs/msg/BodyPixPose.msg
@@ -1,2 +1 @@
-# keypoints
 BodyPixKeypoint[] keypoints
diff --git a/common/vision/lasr_vision_pointing/CMakeLists.txt b/common/vision/lasr_vision_pointing/CMakeLists.txt
diff --git a/common/vision/lasr_vision_pointing/images/.gitkeep b/common/vision/lasr_vision_pointing/images/.gitkeep
diff --git a/common/vision/lasr_vision_pointing/package.xml b/common/vision/lasr_vision_pointing/package.xml
diff --git a/common/vision/lasr_vision_pointing/requirements.in b/common/vision/lasr_vision_pointing/requirements.in
diff --git a/common/vision/lasr_vision_pointing/requirements.txt b/common/vision/lasr_vision_pointing/requirements.txt