Fixed various errors and failing test cases

Signed-off-by: wittenator <[email protected]>
gazebosim · Oct 30, 2023 · 5ddf1ea · 5ddf1ea
1 parent 33f0cd9
commit 5ddf1ea
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Showing 3 changed files with 30 additions and 20 deletions.
diff --git a/ros_gz_bridge/src/convert/vision_msgs.cpp b/ros_gz_bridge/src/convert/vision_msgs.cpp
@@ -27,17 +27,22 @@ convert_ros_to_gz(
 {
   convert_ros_to_gz(ros_msg.header, (*gz_msg.mutable_header()));
 
-  ignition::msgs::AxisAligned2DBox box = gz_msg.box();
-  ignition::msgs::Vector2d min_corner = box.min_corner();
-  ignition::msgs::Vector2d max_corner = box.max_corner();
+  ignition::msgs::AxisAligned2DBox * box = new ignition::msgs::AxisAligned2DBox();
+  ignition::msgs::Vector2d * min_corner = new ignition::msgs::Vector2d();
+  ignition::msgs::Vector2d * max_corner = new ignition::msgs::Vector2d();
 
-  auto id = ros_msg.results.at(0).hypothesis.class_id;
-  gz_msg.set_label(std::stoi(id));
+  if (ros_msg.results.size() != 0) {
+    auto id = ros_msg.results.at(0).hypothesis.class_id;
+    gz_msg.set_label(std::stoi(id));
+  }
 
-  min_corner.set_x(ros_msg.bbox.center.position.x - ros_msg.bbox.size_x / 2);
-  min_corner.set_y(ros_msg.bbox.center.position.y - ros_msg.bbox.size_y / 2);
-  max_corner.set_x(ros_msg.bbox.center.position.x + ros_msg.bbox.size_x / 2);
-  max_corner.set_y(ros_msg.bbox.center.position.y + ros_msg.bbox.size_y / 2);
+  min_corner->set_x(ros_msg.bbox.center.position.x - ros_msg.bbox.size_x / 2);
+  min_corner->set_y(ros_msg.bbox.center.position.y - ros_msg.bbox.size_y / 2);
+  max_corner->set_x(ros_msg.bbox.center.position.x + ros_msg.bbox.size_x / 2);
+  max_corner->set_y(ros_msg.bbox.center.position.y + ros_msg.bbox.size_y / 2);
+  box->set_allocated_min_corner(min_corner);
+  box->set_allocated_max_corner(max_corner);
+  gz_msg.set_allocated_box(box);
 }
 
 template<>
@@ -48,7 +53,8 @@ convert_gz_to_ros(
 {
   convert_gz_to_ros(gz_msg.header(), ros_msg.header);
 
-  ros_msg.results.at(0).hypothesis.class_id = gz_msg.label();
+  ros_msg.results.resize(1);
+  ros_msg.results.at(0).hypothesis.class_id = std::to_string(gz_msg.label());
   ros_msg.results.at(0).hypothesis.score = 1.0;
 
   ros_msg.bbox.center.position.x = (
@@ -87,4 +93,5 @@ convert_gz_to_ros(
     ros_msg.detections.push_back(ros_box);
   }
 }
+
 }  // namespace ros_gz_bridge
diff --git a/ros_gz_bridge/test/utils/gz_test_msg.cpp b/ros_gz_bridge/test/utils/gz_test_msg.cpp
@@ -1471,14 +1471,17 @@ void createTestMsg(ignition::msgs::AnnotatedAxisAligned2DBox & _msg)
 
   _msg.set_label(1);
 
-  ignition::msgs::AxisAligned2DBox box = _msg.box();
-  ignition::msgs::Vector2d min_corner = box.min_corner();
-  ignition::msgs::Vector2d max_corner = box.max_corner();
-
-  min_corner.set_x(1.0);
-  min_corner.set_y(2.0);
-  max_corner.set_x(4.0);
-  max_corner.set_y(6.0);
+  ignition::msgs::AxisAligned2DBox * box = new ignition::msgs::AxisAligned2DBox();
+  ignition::msgs::Vector2d * min_corner = new ignition::msgs::Vector2d();
+  ignition::msgs::Vector2d * max_corner = new ignition::msgs::Vector2d();
+
+  min_corner->set_x(2.0);
+  min_corner->set_y(2.0);
+  max_corner->set_x(4.0);
+  max_corner->set_y(6.0);
+  box->set_allocated_min_corner(min_corner);
+  box->set_allocated_max_corner(max_corner);
+  _msg.set_allocated_box(box);
 }
 
 void compareTestMsg(const std::shared_ptr<ignition::msgs::AnnotatedAxisAligned2DBox> & _msg)

diff --git a/ros_gz_bridge/test/utils/ros_test_msg.cpp b/ros_gz_bridge/test/utils/ros_test_msg.cpp
@@ -1351,8 +1351,8 @@ void createTestMsg(vision_msgs::msg::Detection2D & _msg)
   _msg.header = header_msg;
 
   vision_msgs::msg::ObjectHypothesisWithPose class_prob;
-  class_prob.hypothesis.class_id = std::to_string(1);
-  class_prob.hypothesis.score = 0.1;
+  class_prob.hypothesis.class_id = "1";
+  class_prob.hypothesis.score = 1.0;
   _msg.results.push_back(class_prob);
 
   _msg.bbox.size_x = 2.0;