Moved visualization functionality inside of required data condition

carnegiemellonracing · Nov 30, 2023 · 4b29158 · 4b29158
1 parent afe7c21
commit 4b29158
Showing 1 changed file with 5 additions and 6 deletions.
diff --git a/driverless_ws/src/perceptions/perceptions/ros/utils/DataNode.py b/driverless_ws/src/perceptions/perceptions/ros/utils/DataNode.py
@@ -29,14 +29,9 @@ class DataNode(Node):
     def __init__(self, required_data=list(DataType), name="data_node", visualize=False):
         super().__init__(name)
 
-        self.visualize = visualize 
-        if self.visualize:
-            # setup point cloud visualization window
-            self.window = vis.init_visualizer_window()
-            self.xyz_image_window = vis.init_visualizer_window()
-
         # subscribe to each piece of data that we want to collect on
         self.required_data = required_data
+        self.visualize = visualize 
 
         if DataType.ZED_LEFT_COLOR in self.required_data:
             self.left_color_subscriber = self.create_subscription(Image, LEFT_IMAGE_TOPIC, self.left_color_callback, qos_profile=BEST_EFFORT_QOS_PROFILE)
@@ -46,12 +41,16 @@ def __init__(self, required_data=list(DataType), name="data_node", visualize=Fal
 
         if DataType.ZED_XYZ_IMG in self.required_data:
             self.xyz_image_subscriber = self.create_subscription(Image, XYZ_IMAGE_TOPIC, self.xyz_image_callback, qos_profile=BEST_EFFORT_QOS_PROFILE)
+            if self.visualize:
+                self.xyz_image_window = vis.init_visualizer_window()
 
         if DataType.ZED_DEPTH_IMG in self.required_data:
             self.depth_subscriber = self.create_subscription(Image, DEPTH_IMAGE_TOPIC, self.depth_image_callback, qos_profile=BEST_EFFORT_QOS_PROFILE)
 
         if DataType.HESAI_POINTCLOUD in self.required_data:
             self.point_subscriber = self.create_subscription(PointCloud2, POINT_TOPIC, self.points_callback, qos_profile=BEST_EFFORT_QOS_PROFILE)
+            if self.visualize:
+                self.window = vis.init_visualizer_window()
 
         # define dictionary to store the data
         # TODO: convert data representation to DataInstance type