Merge branch '78-fix-bbox-bugs' into 'master'

fixes issue where negative bboxes from yolo gets wrapped to 65536 or something with uint

Closes #78

See merge request !16

src/lhw_interfaces/msg_vision/Entity.msg

@@ -4,7 +4,7 @@ VisualSources sources_types
 uint8[] sources # Previous sources
 uint32[] sources_ids # The id which was originally given to this entity (same order as above)
 
-uint16[4] bbox # [x1, y1, x2, y2]
+int32[4] bbox # [x1, y1, x2, y2]
 float32[3] xyz [0.0,0.0,0.0]
 string type # Ex. person, apple, book
 float32 confidence
\ No newline at end of file

src/lhw_vision/lhw_vision/tracker/reid.py

@@ -87,7 +87,6 @@ class ReID:
         people = detections['person']
         for person in people:
             if 'target_tracked_id' in person:
-                self.log.info('Already found target')
                 continue
             #embed the person
             z = self.embed(person['bbox'],image)

src/lhw_vision/lhw_vision/tracker_node.py

@@ -39,7 +39,6 @@ class Tracker(Node):
         """
         timestamp = image_msg.header.stamp
         image = self.bridge.imgmsg_to_cv2(image_msg,desired_encoding='rgb8')
-        self.log.info(str(timestamp))
         if timestamp not in self.entities:
             self.images[timestamp] = image
         else:
@@ -47,8 +46,6 @@ class Tracker(Node):
             self.track(entities, image, timestamp)
             
     def yolo_callback(self,entities_msg):
-        self.log.info("In yolo callback")
-        #FIXME: the timestamps dict may grow indefinitely if not all images are turned into yolo entities, should have some way of dealing with it
         timestamp = entities_msg.time
         entities = {ent.type:[] for ent in entities_msg.entities}
         self.log.info(f"Yolo detected {len(entities_msg.entities)} targets")

src/lhw_vision/lhw_vision/yolo_node.py

@@ -135,7 +135,7 @@ class YoloDetector(Node):
             scale_diff = self.original_size/self.rescale_size
             #Note that original_size and rescale size is height,width while preds are xyxy
             true_bbox = np.array((det[0]*scale_diff[1], det[1]*scale_diff[0],
-                                  det[2]*scale_diff[1], det[3]*scale_diff[0])).astype(np.uint16)
+                                  det[2]*scale_diff[1], det[3]*scale_diff[0])).astype(np.int32)
 
             entity = Entity()
             entity.id = i