ben comme ça dit dans la branche

catkin_ws/src/ball_tracking/src/aruco_area.py

@@ -109,11 +109,11 @@ def image_callback(msg):
 
             marker_pub.publish(marker)
 
-            cv2.circle(frame, (int(centerX), int(centerY)), 5, (0, 255, 0), -1)
-            aruco.drawDetectedMarkers(frame, corners, ids)
+            #cv2.circle(frame, (int(centerX), int(centerY)), 5, (0, 255, 0), -1)
+            #aruco.drawDetectedMarkers(frame, corners, ids)
 
-    cv2.imshow('Frame', frame)
-    cv2.waitKey(1)
+    #cv2.imshow('Frame', frame)
+    #cv2.waitKey(1)
 
 def main():
     global pub, marker_pub, side_pub, arucoDict, size_terrain

catkin_ws/src/ball_tracking/src/polygon_tester.py

@@ -35,7 +35,7 @@ class ArucoVisualizer:
         try:
             cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
             self.current_frame = cv_image
-            self.draw_visuals()
+            #self.draw_visuals()
         except CvBridgeError as e:
             print(e)
 

catkin_ws/src/ball_tracking/src/prediction_monitor.py

@@ -25,11 +25,11 @@ class BallPredictionVisualizer:
         self.aruco_origin = (int(msg.x), int(msg.y))
 
     def image_callback(self, msg):
-        cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8")
+        #cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8")
 
         if self.aruco_origin:
             # Draw the ArUco origin for verification
-            cv2.circle(cv_image, self.aruco_origin, 10, (0, 255, 0), -1)  # Green dot for the origin
+            #cv2.circle(cv_image, self.aruco_origin, 10, (0, 255, 0), -1)  # Green dot for the origin
 
         if self.forecasted_position_aruco and self.aruco_origin:
             # Adjust for the origin and possibly invert the y-axis
@@ -37,10 +37,10 @@ class BallPredictionVisualizer:
                 self.forecasted_position_aruco[0] + self.aruco_origin[0],
                 self.forecasted_position_aruco[1] + self.aruco_origin[1]
             )
-            cv2.circle(cv_image, adjusted_position, 10, (0, 0, 255), -1)  # Red dot for the predicted position
+            #cv2.circle(cv_image, adjusted_position, 10, (0, 0, 255), -1)  # Red dot for the predicted position
 
-        cv2.imshow("Ball Prediction", cv_image)
-        cv2.waitKey(1)
+        #cv2.imshow("Ball Prediction", cv_image)
+        #cv2.waitKey(1)
 
     def run(self):
         rospy.spin()

catkin_ws/src/ball_tracking/src/tracker_aruco.py

@@ -58,10 +58,10 @@ def image_callback(msg):
             coord_pub_mm.publish(ball_point_mm)
 
     # Display the frames for debugging
-    cv2.imshow('frame', frame)
+    #cv2.imshow('frame', frame)
 #    cv2.imshow('mask', mask)
 #    cv2.imshow('res', res)
-    cv2.waitKey(1)
+    #cv2.waitKey(1)
 
 origin = None  # Global variable to hold the origin