ros2_ws/src/find-pose/CMakeLists.txt

@@ -59,7 +59,7 @@ find_package(sensor_msgs REQUIRED)
 find_package(pcl_msgs REQUIRED)
 find_package(image_transport REQUIRED)
 find_package(message_filters REQUIRED)
-find_package(pipe_msgs REQUIRED)
+find_package(yolov3_msg REQUIRED)
 
 add_executable(convert_pointcloud_to_depth src/convert_pointcloud_to_depth.cpp)
 ament_target_dependencies(convert_pointcloud_to_depth ${Libraries} rclcpp_components rclcpp sensor_msgs cv_bridge pcl_conversions image_transport message_filters)
@@ -78,7 +78,7 @@ include_directories(${Qt5Core_INCLUDE_DIRS} ${Qt5Widgets_INCLUDE_DIRS})
 #ADD_LIBRARY(find_object ${SRC_FILES})
 add_executable(find_pose_node src/FindObjectROS.cpp src/find_pose_node.cpp)
 set_target_properties(find_pose_node PROPERTIES  OUTPUT_NAME find_pose_node)
-ament_target_dependencies(find_pose_node rclcpp rclcpp_components pipe_msgs cv_bridge sensor_msgs image_transport message_filters tf2_msgs tf2_geometry_msgs ${AMENT_LIBRARIES})
+ament_target_dependencies(find_pose_node rclcpp rclcpp_components yolov3_msg cv_bridge sensor_msgs image_transport message_filters tf2_msgs tf2_geometry_msgs ${AMENT_LIBRARIES})
 target_link_libraries(find_pose_node Qt5::Core Qt5::Widgets ${OpenCV_LIBRARIES} ${LIBRARIES})
 
 
@@ -89,13 +89,7 @@ install(TARGETS
   DESTINATION lib/${PROJECT_NAME})
 
 
-#############
-   ## Install ##
-   #############
-   install(DIRECTORY 
-      launch/.
-      DESTINATION share/${PROJECT_NAME}/launch
-   )
+
 
 
 

ros2_ws/src/find-pose/include/find-pose/FindObjectROS.h

@@ -49,8 +49,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <message_filters/sync_policies/approximate_time.h>
 #include <message_filters/sync_policies/exact_time.h>
 #include <sensor_msgs/msg/camera_info.hpp>
-#include "pipe_msgs/msg/bounding_boxes.hpp"
-#include "pipe_msgs/msg/bounding_box.hpp"
+#include "yolov3_msg/msg/bounding_boxes.hpp"
+#include "yolov3_msg/msg/bounding_box.hpp"
 
 class FindObjectROS 
 {
@@ -71,28 +71,31 @@ private:
 	void estimate_pose_on_bag(const sensor_msgs::msg::Image::ConstSharedPtr rgbMsg,
 		const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
 		const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
-		const pipe_msgs::msg::BoundingBoxes::ConstSharedPtr bboxes);
+		const yolov3_msg::msg::BoundingBoxes::ConstSharedPtr bboxes);
 	double distance(geometry_msgs::msg::TransformStamped point1, geometry_msgs::msg::TransformStamped point2);
-	double angular_distance(geometry_msgs::msg::TransformStamped point1, geometry_msgs::msg::TransformStamped point2);
-
 
 private:
 	rclcpp::Node * node_;
 	rclcpp::Publisher<std_msgs::msg::Float32MultiArray>::SharedPtr pub_;
+	// rclcpp::Publisher<find_object_2d::msg::ObjectsStamped>::SharedPtr pubStamped_;
+	// rclcpp::Publisher<find_object_2d::msg::DetectionInfo>::SharedPtr pubInfo_;
 
 	std::string objFramePrefix_;
+	bool usePnP_;
 	std::shared_ptr<tf2_ros::TransformBroadcaster> tfBroadcaster_;
+	unsigned int num_objects_;
+	std::vector<double> objectHeight_;
+	std::vector<double> objectWidth_;
 	image_transport::SubscriberFilter rgbSub_;
 	image_transport::SubscriberFilter depthSub_;
 	message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoSub_;
-	message_filters::Subscriber<pipe_msgs::msg::BoundingBoxes> bboxSub_;
-	bool tf_broadcast_;
+	message_filters::Subscriber<yolov3_msg::msg::BoundingBoxes> bboxSub_;
 
 	typedef message_filters::sync_policies::ApproximateTime<
 			sensor_msgs::msg::Image,
 			sensor_msgs::msg::Image,
 			sensor_msgs::msg::CameraInfo,
-			pipe_msgs::msg::BoundingBoxes> MyApproxSyncPolicy;
+			yolov3_msg::msg::BoundingBoxes> MyApproxSyncPolicy;
 	message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
 
 

ros2_ws/src/find-pose/launch/find-pose-node.launch.py

@@ -1,32 +0,0 @@
-
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-
-def generate_launch_description():
-   
-    return LaunchDescription([
-
-        SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
-        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '0'),
-
-        # Launch arguments
-        DeclareLaunchArgument('object_prefix', default_value='testingggggg', description='TF prefix of objects.'),
-       
-        DeclareLaunchArgument('rgb_topic', default_value='rgb_img', description='Image topic.'),
-        DeclareLaunchArgument('depth_topic', default_value='depth_img', description='Registered depth topic.'),
-        DeclareLaunchArgument('camera_info_topic', default_value='camera_info', description='Camera info topic.'),
-        DeclareLaunchArgument('bounding_box_topic', default_value='bboxes', description='Bouding box topic.'),
-
-        # Nodes to launch
-        Node(
-            package='find-pose', executable='find_pose_node', output='screen',
-            parameters=[{
-              'object_prefix':LaunchConfiguration('object_prefix'),
-            }],
-            remappings=[
-                ('rgb_img', LaunchConfiguration('rgb_topic')),
-                ('depth_img', LaunchConfiguration('depth_topic')),
-                ('camera_info', LaunchConfiguration('camera_info_topic'))]), 
-    ])

ros2_ws/src/find-pose/package.xml

@@ -22,15 +22,14 @@
   <exec_depend>cv_bridge</exec_depend>
   <build_depend>pcl_msgs</build_depend>
   <exec_depend>pcl_msgs</exec_depend>
-  <build_depend>pipe_msgs</build_depend>
-  <exec_depend>pipe_msgs</exec_depend>
+  <build_depend>yolov3_msg</build_depend>
+  <exec_depend>yolov3_msg</exec_depend>
   <build_depend>image_transport</build_depend>
   <exec_depend>image_transport</exec_depend>
   <build_depend>message_filters</build_depend>
   <exec_depend>message_filters</exec_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
-  <exec_depend>ros2launch</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

ros2_ws/src/find-pose/src/FindObjectROS.cpp

@@ -49,13 +49,15 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 FindObjectROS::FindObjectROS(rclcpp::Node * node) :
 	node_(node),
 	objFramePrefix_("object"),
-        tf_broadcast_(true)
+	usePnP_(true)
 {
         int queueSize = 10;
 	tfBroadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(node);
 
 	objFramePrefix_ = node->declare_parameter("object_prefix", objFramePrefix_);
+	usePnP_ = node->declare_parameter("pnp", usePnP_);
 	RCLCPP_INFO(node->get_logger(), "object_prefix = %s", objFramePrefix_.c_str());
+	RCLCPP_INFO(node->get_logger(), "pnp = %s", usePnP_?"true":"false");
         image_transport::TransportHints hints(node);
         rgbSub_.subscribe(node, "rgb_img", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)1).get_rmw_qos_profile());
         depthSub_.subscribe(node, "/depth_img", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)1).get_rmw_qos_profile());
@@ -64,6 +66,9 @@ FindObjectROS::FindObjectROS(rclcpp::Node * node) :
 
         approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), rgbSub_, depthSub_, cameraInfoSub_, bboxSub_);
 	approxSync_->registerCallback(std::bind(&FindObjectROS::estimate_pose_on_bag, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
+
+        num_objects_ = 2;
+        objectHeight_.resize(num_objects_);
 }
 
 
@@ -71,8 +76,9 @@ FindObjectROS::FindObjectROS(rclcpp::Node * node) :
 void FindObjectROS::estimate_pose_on_bag(const sensor_msgs::msg::Image::ConstSharedPtr rgbMsg,
 		const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
 		const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
-        const pipe_msgs::msg::BoundingBoxes::ConstSharedPtr bboxes)
+        const yolov3_msg::msg::BoundingBoxes::ConstSharedPtr bboxes)
 {
+    std::cout << "callback!!!!!!!!" << std::endl;
     if(depthMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1)!=0 &&
         depthMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)!=0)
     {
@@ -100,13 +106,12 @@ void FindObjectROS::estimate_pose_on_bag(const sensor_msgs::msg::Image::ConstSha
                 }
                 
                 size_t num_detections = bboxes->bounding_boxes.size();
-                std::cout << "Number of detections: " << num_detections << std::endl;
+                std::cout << "num_detections: " << num_detections << std::endl;
                 geometry_msgs::msg::TransformStamped left_trail;
                 geometry_msgs::msg::TransformStamped right_trail;
-                std::vector<geometry_msgs::msg::TransformStamped> transforms;
                 for(size_t i = 0; i < num_detections ; i++)
                 {
-                    pipe_msgs::msg::BoundingBox object_bbox = bboxes->bounding_boxes[i];
+                    yolov3_msg::msg::BoundingBox object_bbox = bboxes->bounding_boxes[i];
                     float object_width = object_bbox.xmax - object_bbox.xmin;
                     float object_height = object_bbox.ymax - object_bbox.ymin;
                     // top left is the 0,0
@@ -122,15 +127,10 @@ void FindObjectROS::estimate_pose_on_bag(const sensor_msgs::msg::Image::ConstSha
                     if (object_class == std::string("r_trail"))
                         right_trail = pose;
                     std::cout << "Pose for "<<  object_class << " x: " << pose.transform.translation.x << " y: " << pose.transform.translation.y << " z: " << pose.transform.translation.z << std::endl;
-                    transforms.push_back(pose);
                 }
-                if(tf_broadcast_ && transforms.size())
-                {
-                        std::cout << "broadcast tf" << std::endl;
-                        tfBroadcaster_->sendTransform(transforms);
-                }
-                std::cout << "Euclidean distance between two pipes in meters !!!!!!" << distance(left_trail, right_trail) << std::endl;
-                std::cout << "Angular distance between two pipes in radians !!!!!!" << angular_distance(left_trail, right_trail) << std::endl;
+                // geometry_msgs::msg::TransformStamped right_trail = estimate_pose(image, ptrDepth->image, 115, 116, cv::Point2f(819,600), cv::Point2f(974,600), cv::Point2f(974,716), cv::Point2f(819,716));
+                // geometry_msgs::msg::TransformStamped left_trail = estimate_pose(image, ptrDepth->image, 160, 168, cv::Point2f(350,548), cv::Point2f(510,548), cv::Point2f(510,716), cv::Point2f(350,716));
+                std::cout << "Distance in meters !!!!!!" << distance(left_trail, right_trail) << std::endl;
                 std::cout << std::endl;
         }
         catch(const cv_bridge::Exception & e)
@@ -142,6 +142,16 @@ void FindObjectROS::estimate_pose_on_bag(const sensor_msgs::msg::Image::ConstSha
 
 geometry_msgs::msg::TransformStamped FindObjectROS::estimate_pose(cv::Mat rgb_image, cv::Mat depth, float objectWidth, float objectHeight, cv::Point2f point_1, cv::Point2f point_2, cv::Point2f point_3, cv::Point2f point_4)
 {
+
+
+    std::vector<geometry_msgs::msg::TransformStamped> transforms;
+    // store bounding boxes. (This should come from yolo ideally)
+//     float objectWidth = 160; // width of bounding box in pixels
+//     float objectHeight = 168; // height of bounding box in pixels
+//     float objectWidth = 155; // width of bounding box in pixels
+//     float objectHeight = 116; // height of bounding box in pixels
+
+
     geometry_msgs::msg::TransformStamped transform;
     transform.transform.rotation.x=0;
     transform.transform.rotation.y=0;
@@ -150,10 +160,12 @@ geometry_msgs::msg::TransformStamped FindObjectROS::estimate_pose(cv::Mat rgb_im
     transform.transform.translation.x=0;
     transform.transform.translation.y=0;
     transform.transform.translation.z=0;
-    transform.child_frame_id = "";
+    transform.child_frame_id = "l_trail";
     transform.header.frame_id =  "camera_link";
+    // transform.header.stamp.sec = ros::Time::now();
     tf2::Quaternion q;
     float depthConstant = 1.0f/640.8887939453125; // 0.00156033 // 1.0f/cameraInfoMsg->K[4];
+//     std::cout << "depthconstant: " << depthConstant << std::endl;
     std::vector<cv::Point3f> objectPoints(4);
     std::vector<cv::Point2f> imagePoints(4);
     objectPoints[0] = cv::Point3f(-0.5, -(objectHeight/objectWidth)/2.0f,0);
@@ -161,6 +173,14 @@ geometry_msgs::msg::TransformStamped FindObjectROS::estimate_pose(cv::Mat rgb_im
     objectPoints[2] = cv::Point3f(0.5,(objectHeight/objectWidth)/2.0f,0);
     objectPoints[3] = cv::Point3f(-0.5,(objectHeight/objectWidth)/2.0f,0);
     // QPointF pt = iter->map(QPointF(0, 0));
+//     imagePoints[0] = cv::Point2f(350,548);
+//     // pt = iter->map(QPointF(objectWidth, 0));
+//     imagePoints[1] = cv::Point2f(510,548);
+//     // pt = iter->map(QPointF(objectWidth, objectHeight));
+//     imagePoints[2] = cv::Point2f(510,716);
+//     // pt = iter->map(QPointF(0, objectHeight));
+//     imagePoints[3] = cv::Point2f(350,716);
+       // QPointF pt = iter->map(QPointF(0, 0));
     imagePoints[0] = point_1;
     // pt = iter->map(QPointF(objectWidth, 0));
     imagePoints[1] = point_2;
@@ -180,7 +200,7 @@ geometry_msgs::msg::TransformStamped FindObjectROS::estimate_pose(cv::Mat rgb_im
     cv::Mat tvec(1,3, CV_64FC1);
     cv::solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec);
 
-//  std::cout << "Pose tvec x: " << tvec.at<double>(0) << " y: " << tvec.at<double>(1) << " z: " << tvec.at<double>(2) << std::endl;
+//     std::cout << "Pose tvec x: " << tvec.at<double>(0) << " y: " << tvec.at<double>(1) << " z: " << tvec.at<double>(2) << std::endl;
 
     cv::Mat R;
     cv::Rodrigues(rvec, R);
@@ -196,8 +216,8 @@ geometry_msgs::msg::TransformStamped FindObjectROS::estimate_pose(cv::Mat rgb_im
             center.x()+0.5f, center.y()+0.5f,
             float(depth.cols/2)-0.5f, float(depth.rows/2)-0.5f,
             1.0f/depthConstant, 1.0f/depthConstant);
-//  std::cout << "center x: " << center.x() << " y: " << center.y() << std::endl;
-//  std::cout << "center 3D x: " << center3D[0] << " y: " << center3D[1] <<" z: " << center3D[1] << std::endl;
+//     std::cout << "center x: " << center.x() << " y: " << center.y() << std::endl;
+//     std::cout << "center 3D x: " << center3D[0] << " y: " << center3D[1] <<" z: " << center3D[1] << std::endl;
     
     transform.transform.translation.x = tvec.at<double>(0)*(center3D.val[2]/tvec.at<double>(2));
     transform.transform.translation.y = tvec.at<double>(1)*(center3D.val[2]/tvec.at<double>(2));
@@ -208,7 +228,12 @@ geometry_msgs::msg::TransformStamped FindObjectROS::estimate_pose(cv::Mat rgb_im
     q2.setRPY(CV_PI/2.0, CV_PI/2.0, 0);
     q *= q2;
     transform.transform.rotation = tf2::toMsg(q.normalized());
+    transforms.push_back(transform);
     return transform;
+//     if(transforms.size())
+//     {
+//         tfBroadcaster_->sendTransform(transforms);
+//     }
 }
 
 cv::Vec3f FindObjectROS::getDepth(const cv::Mat & depthImage,
@@ -248,6 +273,7 @@ cv::Vec3f FindObjectROS::getDepth(const cv::Mat & depthImage,
 	bool isValid;
 	if(isInMM)
 	{
+        // std::cout << "depth is in mm!!" << std::endl;
 		depth = (float)depthImage.at<uint16_t>(y,x);
 		isValid = depth != 0.0f;
 	}
@@ -256,12 +282,14 @@ cv::Vec3f FindObjectROS::getDepth(const cv::Mat & depthImage,
         
 		depth = depthImage.at<float>(y,x);
 		isValid = std::isfinite(depth) && depth > 0.0f;
+        // std::cout << "depth is NOT in mm!! " << depth << std::endl;
 	}
 
 	// Check for invalid measurements
 	if (!isValid)
 	{
 		pt.val[0] = pt.val[1] = pt.val[2] = bad_point;
+        // std::cout << "depth pt: " << pt.val[0] << " y: " << pt.val[1] << " z: " << pt.val[2] << std::endl;
 	}
 	else
 	{
@@ -269,7 +297,7 @@ cv::Vec3f FindObjectROS::getDepth(const cv::Mat & depthImage,
 		pt.val[0] = (float(x) - center_x) * depth * constant_x;
 		pt.val[1] = (float(y) - center_y) * depth * constant_y;
 		pt.val[2] = depth*unit_scaling;
-                // std::cout << "depth pt: " << pt.val[0] << " y: " << pt.val[1] << " z: " << pt.val[2] << std::endl;
+        // td::cout << "depth pt: " << pt.val[0] << " y: " << pt.val[1] << " z: " << pt.val[2] << std::endl;
 	}
 	return pt;
 }
@@ -282,21 +310,3 @@ double FindObjectROS::distance(geometry_msgs::msg::TransformStamped point1, geom
   vector.z = point2.transform.translation.z - point1.transform.translation.z;
   return std::sqrt(vector.x*vector.x + vector.y*vector.y + vector.z*vector.z);
 }
-
-double FindObjectROS::angular_distance(geometry_msgs::msg::TransformStamped point1, geometry_msgs::msg::TransformStamped point2) 
-{
-  tf2::Quaternion quat1(point1.transform.rotation.x, point1.transform.rotation.y, point1.transform.rotation.z, point1.transform.rotation.w);
-  tf2::Quaternion quat2(point2.transform.rotation.x, point2.transform.rotation.y, point2.transform.rotation.z, point2.transform.rotation.w);
-
-  // Assume that 'pos1' and 'pos2' are the positions of the two points
-  // and 'quat1' and 'quat2' are their corresponding quaternions
-  tf2::Vector3 diff;
-  diff[0] = point2.transform.translation.x - point1.transform.translation.x;
-  diff[1] = point2.transform.translation.y - point1.transform.translation.y;
-  diff[2] = point2.transform.translation.z - point1.transform.translation.z;
-  tf2::Quaternion rot = quat2 * quat1.inverse();
-  tf2::Quaternion diff_quat(0, diff.getX(), diff.getY(), diff.getZ());
-  tf2::Quaternion result = rot * diff_quat * rot.inverse();
-  double angle = 2 * std::acos(result.getW());
-  return angle;
-}

ros2_ws/src/pipe_msgs/CMakeLists.txt

@@ -1,36 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(pipe_msgs)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-
-find_package(std_msgs REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/BoundingBox.msg"
-  "msg/BoundingBoxes.msg"
-  DEPENDENCIES std_msgs # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg
-)
-
-ament_package()

ros2_ws/src/pipe_msgs/package.xml

@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>pipe_msgs</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="eic.apoorva@gmail.com">parallels</maintainer>
-  <license>TODO: License declaration</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-  <depend>std_msgs</depend>
-  <build_depend>rosidl_default_generators</build_depend>
-  <exec_depend>rosidl_default_runtime</exec_depend>
-  <member_of_group>rosidl_interface_packages</member_of_group>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>

ros2_ws/src/yolov3/detect_on_bag.py

@@ -131,15 +131,11 @@ def run(weights=ROOT / 'yolov3.pt',  # model.pt path(s)
             # Rescale boxes from img_size to im0 size
             det[:, :4] = scale_coords(im.shape[2:], det[:, :4], im0.shape).round()
             # Print results
-            number_of_uniq_det = {}
             for c in det[:, -1].unique():
                 n = (det[:, -1] == c).sum()  # detections per class
                 s += f"{n} {names[int(c)]}{'s' * (n > 1)}, "  # add to string
-                number_of_uniq_det[names[int(c)]] = int(n)
             
             # Write results
-            append_count = 0
-            last_name = ""
             for *xyxy, conf, cls in reversed(det):
                 bounding_box = BoundingBox()
                 c = int(cls)  # integer class
@@ -151,15 +147,7 @@ def run(weights=ROOT / 'yolov3.pt',  # model.pt path(s)
                 bounding_box.xmax = int(xyxy[2])
                 bounding_box.ymax = int(xyxy[3])
                 bounding_box.id = c
-                if last_name != names[c]:
-                    append_count = 0
-                if number_of_uniq_det[names[c]] > 1:
-                    bounding_box.class_id = names[c] + "_" + str(append_count)
-                    append_count+=1
-                    last_name = names[c]
-                else:
-                    bounding_box.class_id = names[c]
-                    append_count = 0
+                bounding_box.class_id = names[c]
                 bounding_boxes_msg.bounding_boxes.append(bounding_box)
         # Print time (inference-only)
         LOGGER.info(f'{s}Done. ({t3 - t2:.3f}s)')