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Update tracker_node.py #15

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Update tracker_node.py #15

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6 changes: 6 additions & 0 deletions script/tracker_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,12 @@ def image_callback(self, msg):
header = msg.header
encoding = msg.encoding
numpy_image = ros_numpy.numpify(msg)

# Convert RGBA to RGB
if numpy_image.shape[2] == 4: # Check if the image has 4 channels
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This section assumes that all 4-channel images are RGBA. If the original encoding is bgra8 or bgra16, this could lead to bugs.

numpy_image = cv2.cvtColor(numpy_image, cv2.COLOR_RGBA2RGB)
encoding = "bgr8"
Comment on lines +46 to +47
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  • Your code uses tab for indentation, but please unify it with 4 spaces.
  • cv2.COLOR_RGBA2RGB converts from RGBA to RGB and outputs in RGB order. However, encoding = "bgr8" indicates BGR order.
Suggested change
numpy_image = cv2.cvtColor(numpy_image, cv2.COLOR_RGBA2RGB)
encoding = "bgr8"
numpy_image = cv2.cvtColor(numpy_image, cv2.COLOR_RGBA2RGB)
encoding = "rgb8"


results = self.model.track(
source=numpy_image,
conf=self.conf_thres,
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