fixing error in color encoding of yolov8 recognition

butia-bots · Oct 8, 2023 · d2e5410 · d2e5410
1 parent 29a6db5
commit d2e5410
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/butia_recognition/scripts/butia_recognition/yolov8_recognition/yolov8_recognition.py b/butia_recognition/scripts/butia_recognition/yolov8_recognition/yolov8_recognition.py
@@ -74,8 +74,7 @@ def callback(self, *args):
         description_header = img_rgb.header
         description_header.seq = 0
 
-        results = self.model.predict(cv_img, conf=self.threshold, imgsz=max(*cv_img.shape), verbose=False)
-        debug_img = cv_img
+        results = self.model.predict(cv_img[:, :, ::-1], conf=self.threshold, verbose=True)
         boxes_ = results[0].boxes.cpu().numpy()
 
         if len(results[0].boxes):
@@ -116,7 +115,7 @@ def callback(self, *args):
                     description.label = index + '/' + label_class if index is not None else label_class
                     objects_recognition.descriptions.append(description)
 
-                debug_img = results[0].plot()
+                debug_img = results[0].plot()[:, :, ::-1]
                 description_header.seq += 1
 
             self.debug_publisher.publish(ros_numpy.msgify(Image, debug_img, 'rgb8'))
@@ -127,7 +126,7 @@ def callback(self, *args):
             if len(people_recognition.descriptions) > 0:
                 self.people_detection_publisher.publish(people_recognition)       
         else:
-            debug_img = results[0].plot()            
+            debug_img = results[0].plot()[:, :, ::-1]          
             self.debug_publisher.publish(ros_numpy.msgify(Image, debug_img, 'rgb8'))
 
     def readParameters(self):