Refactor publisher initialization

src/soft_biometrics_estimation.py

@@ -99,6 +99,15 @@ class SoftBiometricsEstimation:
                     self._cropped_image_callback,
                     id,
                 )
+                self.faces[id]["topics"]["softbio"] = rospy.Publisher(
+                    self.topic_name_softbio(id),
+                    SoftBiometrics,
+                    queue_size=10,
+                    latch=True,
+                )
+
+                self.faces[id]["data"]["age"] = deque([], maxlen=15)
+                self.faces[id]["data"]["gender"] = deque([], maxlen=15)
             elif id not in face_ids and id in subscribed_ids:
                 self._unsubscribe_face(id)
 
@@ -128,21 +137,9 @@ class SoftBiometricsEstimation:
         # Pop embeddings and create the message
         embeddings = softbio_estimations.pop("encoded")
 
-        # Get topics and data for this
+        # Get topics and data for this face
         this_id_topics = self.faces[id]["topics"]
         this_id_data = self.faces[id]["data"]
-        if "softbio" not in this_id_topics.keys():
-            softbio_pub = rospy.Publisher(
-                self.topic_name_softbio(id),
-                SoftBiometrics,
-                queue_size=10,
-                latch=True,
-            )
-
-            self.faces[id]["topics"]["softbio"] = softbio_pub
-            self.faces[id]["data"]["age"] = deque([], maxlen=15)
-            self.faces[id]["data"]["gender"] = deque([], maxlen=15)
-
         softbio_pub = this_id_topics["softbio"]
         mov_avg_estimates = {
             "age": this_id_data["age"],
@@ -324,8 +321,12 @@ class SoftBiometricsEstimation:
                 continue
 
             age = this_face_data["age"]
-            age = round(sum(age) / len(age))
             gender = this_face_data["gender"]
+
+            if len(age) == 0 or len(gender) == 0:
+                continue
+
+            age = round(sum(age) / len(age))
             gender = round(sum(gender) / len(gender))
 
             gender_value = KeyValue(