remov e/ from tf

MoscowskyAnton · MoscowskyAnton · commit ec45c884133c · 2023-02-08T17:35:16.000+03:00
diff --git a/src/extended_object_detection_node/eod_node.cpp b/src/extended_object_detection_node/eod_node.cpp
@@ -239,6 +239,9 @@ void EOD_ROS::detect(const eod::InfoImage& rgb, const eod::InfoImage& depth, std
     }
     prev_detected_time = ros::Time::now();
     
+    if( header.frame_id[0] == '/')
+        header.frame_id.erase(0,1);
+    
     cv::Mat image_to_draw;                
     if(publish_image_output)
         image_to_draw = rgb.clone();
@@ -341,7 +344,8 @@ void EOD_ROS::detect(const eod::InfoImage& rgb, const eod::InfoImage& depth, std
         sensor_msgs::ImagePtr detected_image_msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_to_draw).toImageMsg();
         output_image_pub_.publish(detected_image_msg);
     }        
-    frame_sequence++;    
+    frame_sequence++;  
+    cv::waitKey(1);
 }
 
 extended_object_detection::BaseObject EOD_ROS::eoi_to_base_object( std::string name, int id,  eod::ExtendedObjectInfo* eoi, const cv::Mat& K){
diff --git a/src/lib b/src/lib
@@ -1 +1 @@
-Subproject commit e85940d26cb46e5ab305f400580771186b2403af
+Subproject commit f33f47309ae3fcdc4475415b79400029b386fdf5

Original file line number	Diff line number	Diff line change
`@@ -239,6 +239,9 @@ void EOD_ROS::detect(const eod::InfoImage& rgb, const eod::InfoImage& depth, std`
`239`	`239`	`}`
`240`	`240`	`prev_detected_time = ros::Time::now();`
`241`	`241`
	`242`	`+ if( header.frame_id[0] == '/')`
	`243`	`+ header.frame_id.erase(0,1);`
	`244`	`+`
`242`	`245`	`cv::Mat image_to_draw;`
`243`	`246`	`if(publish_image_output)`
`244`	`247`	`image_to_draw = rgb.clone();`
`@@ -341,7 +344,8 @@ void EOD_ROS::detect(const eod::InfoImage& rgb, const eod::InfoImage& depth, std`
`341`	`344`	`sensor_msgs::ImagePtr detected_image_msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_to_draw).toImageMsg();`
`342`	`345`	`output_image_pub_.publish(detected_image_msg);`
`343`	`346`	`}`
`344`		`- frame_sequence++;`
	`347`	`+ frame_sequence++;`
	`348`	`+ cv::waitKey(1);`
`345`	`349`	`}`
`346`	`350`
`347`	`351`	`extended_object_detection::BaseObject EOD_ROS::eoi_to_base_object( std::string name, int id, eod::ExtendedObjectInfo* eoi, const cv::Mat& K){`