Merge pull request #134 from tkmtnt7000/always-subscribe

README.md

@@ -491,6 +491,10 @@ rosrun image_view image_view image:=/edgetpu_panorama_semantic_segmenter/output/
 
   - Set `compressed` to subscribe compressed image
 
+- `~always_subscribe` (`Bool`, default: `True`)
+
+  - Set false to publish when an object is detected.
+
 #### Dynamic parameters
 
 - `~score_thresh`: (`Float`, default: `0.6`)
@@ -551,6 +555,10 @@ rosrun image_view image_view image:=/edgetpu_panorama_semantic_segmenter/output/
 
   - Set `compressed` to subscribe compressed image
 
+- `~always_subscribe` (`Bool`, default: `True`)
+
+  - Set false to publish when a face is detected.
+
 #### Dynamic parameters
 
 - `~score_thresh`: (`Float`, default: `0.6`)
@@ -615,6 +623,10 @@ rosrun image_view image_view image:=/edgetpu_panorama_semantic_segmenter/output/
 
   - Set `compressed` to subscribe compressed image
 
+- `~always_subscribe` (`Bool`, default: `True`)
+
+  - Set false to publish when a human pose is detected.
+
 #### Dynamic parameters
 
 - `~score_thresh`: (`Float`, default: `0.2`)
@@ -713,6 +725,10 @@ rosrun image_view image_view image:=/edgetpu_panorama_semantic_segmenter/output/
 
   - Set `compressed` to subscribe compressed image
 
+- `~always_subscribe` (`Bool`, default: `True`)
+
+  - Set false to publish when an object is detected.
+
 #### Dynamic parameters
 
 - `~score_thresh`: (`Float`, default: `0.6`)
@@ -789,6 +805,10 @@ rosrun image_view image_view image:=/edgetpu_panorama_semantic_segmenter/output/
 
   - Set `compressed` to subscribe compressed image
 
+- `~always_subscribe` (`Bool`, default: `True`)
+
+  - Set false to publish when a face is detected.
+
 #### Dynamic parameters
 
 - `~score_thresh`: (`Float`, default: `0.6`)
@@ -869,6 +889,10 @@ rosrun image_view image_view image:=/edgetpu_panorama_semantic_segmenter/output/
 
   - Set `compressed` to subscribe compressed image
 
+- `~always_subscribe` (`Bool`, default: `True`)
+
+  - Set false to publish when a human pose is detected.
+
 #### Dynamic parameters
 
 - `~score_thresh`: (`Float`, default: `0.2`)

python/coral_usb/detector_base.py

@@ -131,9 +131,6 @@ def image_cb(self, msg):
             label_names=[self.label_names[lbl] for lbl in labels],
             label_proba=scores)
 
-        self.pub_rects.publish(rect_msg)
-        self.pub_class.publish(cls_msg)
-
         if self.enable_visualization:
             with self.lock:
                 self.img = img
@@ -143,6 +140,11 @@ def image_cb(self, msg):
                 self.labels = labels
                 self.scores = scores
 
+        if not self.always_publish and len(cls_msg.labels) <= 0:
+            return
+        self.pub_rects.publish(rect_msg)
+        self.pub_class.publish(cls_msg)
+
     def visualize_cb(self, event):
         if (not self.visualize or self.img is None or self.encoding is None
                 or self.header is None or self.bboxes is None

python/coral_usb/human_pose_estimator.py

@@ -191,10 +191,6 @@ def image_cb(self, msg):
             label_proba=[np.average(score) for score in scores]
         )
 
-        self.pub_pose.publish(poses_msg)
-        self.pub_rects.publish(rects_msg)
-        self.pub_class.publish(cls_msg)
-
         if self.enable_visualization:
             with self.lock:
                 self.img = img
@@ -203,6 +199,12 @@ def image_cb(self, msg):
                 self.points = points
                 self.visibles = visibles
 
+        if not self.always_publish and len(cls_msg.label_names) <= 0:
+            return
+        self.pub_pose.publish(poses_msg)
+        self.pub_rects.publish(rects_msg)
+        self.pub_class.publish(cls_msg)
+
     def visualize_cb(self, event):
         if (not self.visualize or self.img is None or self.encoding is None
                 or self.points is None or self.visibles is None):

python/coral_usb/node_base.py

@@ -124,6 +124,11 @@ def __init__(self, model_file=None, label_file=None, namespace='~'):
             self.timer = rospy.Timer(
                 rospy.Duration(self.duration), self.visualize_cb)
 
+        self.always_publish = rospy.get_param("~always_publish", True)
+        rospy.loginfo(
+            "Publish even if object/human_pose is not found : {}".format(
+                self.always_publish))
+
     def subscribe(self):
         if self.transport_hint == 'compressed':
             self.sub_image = rospy.Subscriber(