def publish_object_ids(self, ids, y):
msg = ObjectIds()
msg.ids = ids
idx = np.argsort(y)
msg.header = self.last_header
msg.ids = np.array(ids)[idx]
msg.offsets = [0]
msg.labels = [y[idx[0]]]
for i in range(1, len(y)):
if (y[idx[i]] != y[idx[i - 1]]):
msg.labels.append(y[idx[i]])
msg.offsets.append(i)
msg.offsets.append(len(y))
self.pub_objs.publish(msg)
