From d082649d1bff27c829a7332617dc00b89bb4b17e Mon Sep 17 00:00:00 2001
From: Miguelmelon <m.colera.borras@student.tue.nl>
Date: Sat, 29 Jun 2024 18:04:03 +0200
Subject: [PATCH] Somethings wrong

---
 people_tracking_v2/scripts/decision_node.py              | 2 +-
 people_tracking_v2/scripts/yolo_seg.py                   | 5 ++---
 .../src/people_tracking/launchers/ppl_tracking_v2.launch | 2 +-
 people_tracking_v2/testing/depth_publisher.py            | 9 ++++-----
 people_tracking_v2/testing/launchers/test_videos.launch  | 4 ++--
 people_tracking_v2/testing/rgb_publisher.py              | 4 ++--
 6 files changed, 12 insertions(+), 14 deletions(-)

diff --git a/people_tracking_v2/scripts/decision_node.py b/people_tracking_v2/scripts/decision_node.py
index b629af9..cf209aa 100755
--- a/people_tracking_v2/scripts/decision_node.py
+++ b/people_tracking_v2/scripts/decision_node.py
@@ -33,7 +33,7 @@ def __init__(self):
 
         # Publisher for decision results and marked images
         self.decision_pub = rospy.Publisher('/decision/result', DecisionResult, queue_size=10)
-        self.marked_image_pub = rospy.Publisher('/marked_image', Image, queue_size=10)
+        #self.marked_image_pub = rospy.Publisher('/marked_image', Image, queue_size=10)
 
         # Initialize variables for saving data
         self.save_data = save_data
diff --git a/people_tracking_v2/scripts/yolo_seg.py b/people_tracking_v2/scripts/yolo_seg.py
index b65049f..42edb88 100755
--- a/people_tracking_v2/scripts/yolo_seg.py
+++ b/people_tracking_v2/scripts/yolo_seg.py
@@ -11,7 +11,6 @@
 import sys
 import os
 import rospkg
-import time
 from datetime import datetime
 
 # Add the path to the `kalman_filter.py` module
@@ -20,8 +19,8 @@
 
 laptop = sys.argv[1]
 name_subscriber_RGB = 'Webcam/image_raw' if laptop == "True" else '/hero/head_rgbd_sensor/rgb/image_raw'
-depth_camera = False if sys.argv[2] == "False" else True
-save_data = False if sys.argv[3] == "False" else True
+depth_camera = False #if sys.argv[2] == "False" else True
+save_data = False #if sys.argv[3] == "False" else True
 
 class YoloSegNode:
     def __init__(self):
diff --git a/people_tracking_v2/src/people_tracking/launchers/ppl_tracking_v2.launch b/people_tracking_v2/src/people_tracking/launchers/ppl_tracking_v2.launch
index 1e23210..71c4b1e 100644
--- a/people_tracking_v2/src/people_tracking/launchers/ppl_tracking_v2.launch
+++ b/people_tracking_v2/src/people_tracking/launchers/ppl_tracking_v2.launch
@@ -1,7 +1,7 @@
 <launch>
 
   <arg name="laptop" default="True" />
-  <arg name="depth_camera" default="True" />
+  <arg name="depth_camera" default="False" />
   <arg name="save_data" default="False"/>
 
   <node
diff --git a/people_tracking_v2/testing/depth_publisher.py b/people_tracking_v2/testing/depth_publisher.py
index c2ef5e5..b1987ed 100755
--- a/people_tracking_v2/testing/depth_publisher.py
+++ b/people_tracking_v2/testing/depth_publisher.py
@@ -6,7 +6,7 @@
 import os
 import numpy as np
 
-def publish_depth_images_from_folder(folder_path, topic_name, video_duration):
+def publish_depth_images_from_folder(folder_path, topic_name):
     pub = rospy.Publisher(topic_name, Image, queue_size=10)
     bridge = CvBridge()
 
@@ -14,7 +14,7 @@ def publish_depth_images_from_folder(folder_path, topic_name, video_duration):
     image_files = sorted([f for f in os.listdir(folder_path) if f.endswith(('.png', '.jpg', '.jpeg'))])
     total_frames = len(image_files)
 
-    rate = rospy.Rate(15.4)  # Set the desired rate
+    rate = rospy.Rate(18.7)  # Set the desired rate
 
     for image_file in image_files:
         if rospy.is_shutdown():
@@ -42,10 +42,9 @@ def publish_depth_images_from_folder(folder_path, topic_name, video_duration):
 
 if __name__ == '__main__':
     rospy.init_node('depth_publisher_node', anonymous=True)
-    folder_path = '/home/miguel/Documents/BEP-Testing/Test Case 1/Frames Sat Jun 29 Test Case 1/depth'
+    folder_path = '/home/miguel/Documents/BEP-Testing/Old/Aboud/Frames Fri Jun 28 Test case 4/depth' #/home/miguel/Documents/BEP-Testing/Test Case 1/Frames Sat Jun 29 Test Case 1/depth
     topic_name = '/hero/head_rgbd_sensor/depth_registered/image_raw'
-    video_duration = 122  # Duration of the video in seconds, modify as needed
     try:
-        publish_depth_images_from_folder(folder_path, topic_name, video_duration)
+        publish_depth_images_from_folder(folder_path, topic_name)
     except rospy.ROSInterruptException:
         pass
diff --git a/people_tracking_v2/testing/launchers/test_videos.launch b/people_tracking_v2/testing/launchers/test_videos.launch
index 899307e..d628b4f 100644
--- a/people_tracking_v2/testing/launchers/test_videos.launch
+++ b/people_tracking_v2/testing/launchers/test_videos.launch
@@ -1,8 +1,8 @@
 <launch>
 
   <arg name="laptop" default="False" />
-  <arg name="depth_camera" default="True" />
-  <arg name="save_data" default="True"/>
+  <arg name="depth_camera" default="False" />
+  <arg name="save_data" default="False"/>
 
 <node
     pkg="people_tracking_v2"
diff --git a/people_tracking_v2/testing/rgb_publisher.py b/people_tracking_v2/testing/rgb_publisher.py
index 20ed1d3..f05a67a 100755
--- a/people_tracking_v2/testing/rgb_publisher.py
+++ b/people_tracking_v2/testing/rgb_publisher.py
@@ -16,7 +16,7 @@ def publish_images_from_folder(folder_path):
         rospy.logerr(f"No image files found in {folder_path}")
         return
 
-    rate = rospy.Rate(15.4)  # Set the desired rate
+    rate = rospy.Rate(18.7)  # Set the desired rate
 
     for image_file in image_files:
         if rospy.is_shutdown():
@@ -38,7 +38,7 @@ def publish_images_from_folder(folder_path):
 
 if __name__ == '__main__':
     rospy.init_node('rgb_image_folder_publisher_node', anonymous=True)
-    folder_path = '/home/miguel/Documents/BEP-Testing/Test Case 1/Frames Sat Jun 29 Test Case 1/rgb'
+    folder_path = '/home/miguel/Documents/BEP-Testing/Old/Aboud/Frames Fri Jun 28 Test case 4/rgb' #/home/miguel/Documents/BEP-Testing/Test Case 1/Frames Sat Jun 29 Test Case 1/rgb
     try:
         publish_images_from_folder(folder_path)
     except rospy.ROSInterruptException: