rename skel to skeletons, add human_ids field

jsk-ros-pkg · Apr 18, 2023 · 0aed5ab · 0aed5ab
1 parent f1aee7c
commit 0aed5ab
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/python/coral_usb/human_pose_estimator.py b/python/coral_usb/human_pose_estimator.py
@@ -35,6 +35,7 @@
 from jsk_recognition_msgs.msg import RectArray
 from jsk_recognition_msgs.msg import Segment
 from sensor_msgs.msg import CompressedImage
+from std_msgs.msg import Int32
 
 
 class EdgeTPUHumanPoseEstimator(EdgeTPUNodeBase):
@@ -63,7 +64,7 @@ def __init__(self, model_file=None, namespace='~'):
 
         # publishers
         self.pub_skel = self.advertise(
-            namespace + 'output/skels', HumanSkeletonArray, queue_size=1)
+            namespace + 'output/skeletons', HumanSkeletonArray, queue_size=1)
         self.pub_pose = self.advertise(
             namespace + 'output/poses', PeoplePoseArray, queue_size=1)
         self.pub_rects = self.advertise(
@@ -190,14 +191,14 @@ def image_cb(self, msg):
                 seg.start_point = pose_msg.poses[i - 1].position
                 seg.end_point = pose_msg.poses[i].position
                 skel_msg.bones.append(seg)
+                skels_msg.human_ids.append(Int32(data=i))
             skels_msg.skeletons.append(skel_msg)
             poses_msg.poses.append(pose_msg)
             y_min, x_min, y_max, x_max = bbox
             rect = Rect(
                 x=x_min, y=y_min,
                 width=x_max - x_min, height=y_max - y_min)
             rects_msg.rects.append(rect)
-
         cls_msg = ClassificationResult(
             header=msg.header,
             classifier=self.classifier_name,