Fix unittests

happypose_ros/test/happypose_testing_utils.py

@@ -352,13 +352,16 @@ def publish_image(
             height=bgr.shape[0],
             width=bgr.shape[1],
             k=K.reshape(-1),
-            roi=RegionOfInterest(
+        )
+        if bgr.shape != cropped_bgr.shape:
+            info_msg.roi = RegionOfInterest(
                 width=width,
                 height=height,
                 x_offset=x_offset,
                 y_offset=y_offset,
-            ),
-        )
+                do_rectify=True,
+            )
+
         # Publish messages
         self._cam_pubs[cam][0].publish(img_msg)
         self._cam_pubs[cam][1].publish(info_msg)

happypose_ros/test/single_view_base.py

@@ -445,17 +445,27 @@ def test_14_region_of_interest(self: ActiveIoHandler) -> None:
         detections = self.node.get_received_message("happypose/detections")
 
         self.assertGreaterEqual(
-            len(detections.detections), 1, "Incorrect number of detected objects!"
+            len(detections.detections), 2, "Incorrect number of detected objects!"
         )
 
+        # In compressed case pose of 05 object is not reliable
+        ycbv_02 = assert_and_find_detection(detections, "ycbv-obj_000002")
         ycbv_15 = assert_and_find_detection(detections, "ycbv-obj_000015")
 
         # Based on ground truth, object poses for image 629
+        ycbv_02_pose = Pose(
+            position=Point(**dict(zip("xyz", [0.0552, -0.0913, 1.0283]))),
+            orientation=Quaternion(
+                **dict(zip("xyzw", [0.2279, 0.1563, 0.0245, 0.9607]))
+            ),
+        )
+
         ycbv_15_pose = Pose(
             position=Point(**dict(zip("xyz", [-0.1013, 0.0329, 0.9138]))),
             orientation=Quaternion(
                 **dict(zip("xyzw", [0.2526, 0.4850, 0.7653, -0.3392]))
             ),
         )
 
+        assert_pose_equal(ycbv_02.results[0].pose.pose, ycbv_02_pose)
         assert_pose_equal(ycbv_15.results[0].pose.pose, ycbv_15_pose)