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update face_detect

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This commit is contained in:
zhangwanjie 2023-05-11 21:47:32 +08:00
parent 37cdc07d15
commit dbe944d2c1
2 changed files with 15 additions and 1 deletions
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7
wpb_home_behaviors/src/wpb_home_face_detect_3d.cpp
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@ -225,10 +225,17 @@ void callbackPointCloud(const sensor_msgs::PointCloud2 &input)
int rgb_face_x = face_iter->x + face_iter->width/2;
int rgb_face_y = face_iter->y + face_iter->height/2;
int index_pc = rgb_face_y*input.width + rgb_face_x;
if(index_pc >= cloud_src.points.size())
continue;
float face_x = cloud_src.points[index_pc].x;
float face_y = cloud_src.points[index_pc].y;
float face_z = cloud_src.points[index_pc].z;
if(isnanf(face_x) || isnanf(face_y) || isnanf(face_z))
continue;
p.x = 0.2; p.y = 0; p.z = 1.37; line_face.points.push_back(p);
//p.x = -0.1; p.y = 0; p.z = 1.25; line_face.points.push_back(p);
p.x = face_x; p.y = face_y; p.z = face_z; line_face.points.push_back(p);

7
wpb_home_tutorials/src/wpb_home_face_detect.cpp
View File

@ -193,10 +193,17 @@ void callbackPointCloud(const sensor_msgs::PointCloud2 &input)
int rgb_face_x = face_iter->x + face_iter->width/2;
int rgb_face_y = face_iter->y + face_iter->height/2;
int index_pc = rgb_face_y*input.width + rgb_face_x;
if(index_pc >= cloud_src.points.size())
continue;
float face_x = cloud_src.points[index_pc].x;
float face_y = cloud_src.points[index_pc].y;
float face_z = cloud_src.points[index_pc].z;
if(isnanf(face_x) || isnanf(face_y) || isnanf(face_z))
continue;
p.x = 0.2; p.y = 0; p.z = 1.37; line_face.points.push_back(p);
//p.x = -0.1; p.y = 0; p.z = 1.25; line_face.points.push_back(p);
p.x = face_x; p.y = face_y; p.z = face_z; line_face.points.push_back(p);