Add Object Detection as Interface Node

rbs_perception/scripts/detector.py

@@ -7,6 +7,7 @@ Contains the following classes:
    - ModelData - High level information encapsulation
    - ObjectDetector - Greedy algorithm to build cuboids from belief maps 
 """
+# 14.06.2024 @shalenikol find_object_poses: remove "cuboid2d"
 
 import time
 
@@ -555,8 +556,8 @@ class ObjectDetector(object):
         for obj in objects:
             # Run PNP
             points = obj[1] + [(obj[0][0] * scale_factor, obj[0][1] * scale_factor)]
-            print(points)
-            cuboid2d = np.copy(points)
+            # print(points)
+            # cuboid2d = np.copy(points)
             location, quaternion, projected_points = pnp_solver.solve_pnp(points)
 
             # run multiple sample
@@ -612,7 +613,7 @@ class ObjectDetector(object):
                         "name": obj_name,
                         "location": location,
                         "quaternion": quaternion,
-                        "cuboid2d": cuboid2d,
+                        # "cuboid2d": cuboid2d,
                         "projected_points": projected_points,
                         "confidence": obj[-1],
                         "raw_points": points,