feat: make tasks & skills use masked cropped image (LASR-at-Home#227)

m-barker · Jun 21, 2024 · 5026ebf · 5026ebf
1 parent e458425
commit 5026ebf
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Showing 3 changed files with 12 additions and 4 deletions.
diff --git a/skills/src/lasr_skills/describe_people.py b/skills/src/lasr_skills/describe_people.py
@@ -38,7 +38,9 @@ def __init__(self):
             )
             smach.StateMachine.add(
                 "GET_IMAGE",
-                GetCroppedImage(object_name="person", crop_method="closest"),
+                GetCroppedImage(
+                    object_name="person", crop_method="closest", use_mask=True
+                ),
                 transitions={
                     "succeeded": "CONVERT_IMAGE",
                     "failed": "SAY_GET_IMAGE_AGAIN",
@@ -57,7 +59,9 @@ def __init__(self):
             )
             smach.StateMachine.add(
                 "GET_IMAGE_AGAIN",
-                GetCroppedImage(object_name="person", crop_method="closest"),
+                GetCroppedImage(
+                    object_name="person", crop_method="closest", use_mask=True
+                ),
                 transitions={"succeeded": "CONVERT_IMAGE", "failed": "SAY_CONTINUE"},
             )
 

diff --git a/skills/src/lasr_skills/detect_gesture.py b/skills/src/lasr_skills/detect_gesture.py
@@ -145,7 +145,9 @@ def __init__(self, gesture_to_detect: Optional[str] = None):
         with self:
             smach.StateMachine.add(
                 "GET_IMAGE",
-                GetCroppedImage("person", "centered", rgb_topic="/usb_cam/image_raw"),
+                GetCroppedImage(
+                    "person", "centered", use_mask=True, rgb_topic="/usb_cam/image_raw"
+                ),
                 transitions={"succeeded": "BODY_PIX_DETECTION", "failed": "failed"},
             )
 

diff --git a/tasks/carry_my_luggage/src/carry_my_luggage/state_machine.py b/tasks/carry_my_luggage/src/carry_my_luggage/state_machine.py
@@ -56,7 +56,9 @@ def __init__(self):
 
             smach.StateMachine.add(
                 "GET_IMAGE",
-                GetCroppedImage(object_name="person", crop_method="closest"),
+                GetCroppedImage(
+                    object_name="person", crop_method="closest", use_mask=True
+                ),
                 transitions={
                     "succeeded": "DETECT_POINTING_DIRECTION",
                     "failed": "failed",