filters fix (#264)

luxonis · Mar 28, 2023 · ae5aa58 · ae5aa58
1 parent f25effe
commit ae5aa58
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Showing 3 changed files with 7 additions and 3 deletions.
diff --git a/depthai_bridge/src/ImageConverter.cpp b/depthai_bridge/src/ImageConverter.cpp
@@ -95,7 +95,11 @@ void ImageConverter::toRosMsgFromBitStream(std::shared_ptr<dai::ImgFrame> inData
 }
 
 void ImageConverter::toRosMsg(std::shared_ptr<dai::ImgFrame> inData, std::deque<ImageMsgs::Image>& outImageMsgs) {
-    auto tstamp = inData->getTimestampDevice();
+    std::chrono::_V2::steady_clock::time_point tstamp;
+    if(_getBaseDeviceTimestamp)
+        tstamp = inData->getTimestampDevice();
+    else
+        tstamp = inData->getTimestamp();
     ImageMsgs::Image outImageMsg;
     StdMsgs::Header header;
     header.frame_id = _frameName;

diff --git a/depthai_filters/src/detection2d_overlay.cpp b/depthai_filters/src/detection2d_overlay.cpp
@@ -29,7 +29,7 @@ void Detection2DOverlay::overlayCB(const sensor_msgs::msg::Image::ConstSharedPtr
         auto x2 = detection.bbox.center.position.x + detections->detections[0].bbox.size_x / 2.0;
         auto y1 = detection.bbox.center.position.y - detections->detections[0].bbox.size_y / 2.0;
         auto y2 = detection.bbox.center.position.y + detections->detections[0].bbox.size_y / 2.0;
-        auto labelStr = detection.results[0].hypothesis.class_id;
+        auto labelStr = labelMap[stoi(detection.results[0].hypothesis.class_id)];
         auto confidence = detection.results[0].hypothesis.score;
         cv::putText(previewMat, labelStr, cv::Point(x1 + 10, y1 + 20), cv::FONT_HERSHEY_TRIPLEX, 0.5, white, 3);
         cv::putText(previewMat, labelStr, cv::Point(x1 + 10, y1 + 20), cv::FONT_HERSHEY_TRIPLEX, 0.5, black);

diff --git a/depthai_ros_driver/launch/example_segmentation.launch.py b/depthai_ros_driver/launch/example_segmentation.launch.py
@@ -30,7 +30,7 @@ def generate_launch_description():
     declared_arguments = [
         DeclareLaunchArgument("name", default_value="oak"),
         DeclareLaunchArgument("params_file", default_value=os.path.join(depthai_prefix, 'config', 'segmentation.yaml')),
-        DeclareLaunchArgument("use_rviz", default_value="True"),
+        DeclareLaunchArgument("use_rviz", default_value="False"),
     ]
 
     return LaunchDescription(