add desqueeze parameter

botsandus · Sep 30, 2024 · d7a8919 · d7a8919
1 parent 99f181f
commit d7a8919
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/nn/detection.hpp b/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/nn/detection.hpp
@@ -66,11 +66,12 @@ class Detection : public BaseNode {
         if(ph->getParam<bool>("i_disable_resize")) {
             width = ph->getOtherNodeParam<int>(socketName, "i_preview_width");
             height = ph->getOtherNodeParam<int>(socketName, "i_preview_height");
-        } else {
+        } else if(ph->getParam<bool>("i_desqueeze_output")) {
             width = ph->getOtherNodeParam<int>(socketName, "i_width");
             height = ph->getOtherNodeParam<int>(socketName, "i_height");
-            // width = imageManip->initialConfig.getResizeConfig().width;
-            // height = imageManip->initialConfig.getResizeConfig().height;
+        } else {
+            width = imageManip->initialConfig.getResizeConfig().width;
+            height = imageManip->initialConfig.getResizeConfig().height;
         }
 
         detConverter = std::make_unique<dai::ros::ImgDetectionConverter>(tfPrefix, width, height, false, ph->getParam<bool>("i_get_base_device_timestamp"));

diff --git a/depthai_ros_driver/include/depthai_ros_driver/param_handlers/nn_param_handler.hpp b/depthai_ros_driver/include/depthai_ros_driver/param_handlers/nn_param_handler.hpp
@@ -40,6 +40,7 @@ class NNParamHandler : public BaseParamHandler {
     template <typename T>
     void declareParams(std::shared_ptr<T> nn, std::shared_ptr<dai::node::ImageManip> imageManip) {
         declareAndLogParam<bool>("i_disable_resize", false);
+        declareAndLogParam<bool>("i_desqueeze_output", false);
         declareAndLogParam<bool>("i_enable_passthrough", false);
         declareAndLogParam<bool>("i_enable_passthrough_depth", false);
         declareAndLogParam<bool>("i_get_base_device_timestamp", false);