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SE 2601 #1

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82f225a
Modified topics to bottlenose published topics
treideme Jan 30, 2024
31ca33e
foxy support and bottlenose topics
treideme Jan 31, 2024
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4 changes: 2 additions & 2 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -8,8 +8,8 @@ The output topic can be visualized in rviz.

# Topics

* `~/images` (Type `sensor_msgs/msg/Image`) - Input topic with images that have been given to a computer vision node
* `~/detections` (Type `vision_msgs/msg/Detection2DArray`) - Input topic with detections on the given image
* `/image_color` (Type `sensor_msgs/msg/Image`) - Input topic with images that have been given to a computer vision node
* `/detections` (Type `vision_msgs/msg/Detection2DArray`) - Input topic with detections on the given image
* `~/dbg_image` (Type `sensor_msgs/msg/Image`) - Output topic which has bounding boxes drawn on it

It is assumed the image message and detections message have identical timestamps.
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28 changes: 19 additions & 9 deletions detection_visualizer/__init__.py
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Expand Up @@ -40,10 +40,10 @@ def __init__(self):
reliability=QoSReliabilityPolicy.RELIABLE,
depth=1)

self._image_pub = self.create_publisher(Image, '~/dbg_images', output_image_qos)
self._image_pub = self.create_publisher(Image, '/dbg_images', output_image_qos)

self._image_sub = message_filters.Subscriber(self, Image, '~/images')
self._detections_sub = message_filters.Subscriber(self, Detection2DArray, '~/detections')
self._image_sub = message_filters.Subscriber(self, Image, '/image_color')
self._detections_sub = message_filters.Subscriber(self, Detection2DArray, '/detections')

self._synchronizer = message_filters.ApproximateTimeSynchronizer(
(self._image_sub, self._detections_sub), 5, 0.01)
Expand All @@ -57,16 +57,26 @@ def on_detections(self, image_msg, detections_msg):
max_class = None
max_score = 0.0
for result in detection.results:
hypothesis = result.hypothesis
if hypothesis.score > max_score:
max_score = hypothesis.score
max_class = hypothesis.class_id
if hasattr(result, 'hypothesis'): # humble
hypothesis = result.hypothesis
if hypothesis.score > max_score:
max_score = hypothesis.score
max_class = hypothesis.class_id
else: # foxy fallback
score = result.score
if score > max_score:
max_score = score
max_class = result.id
if max_class is None:
print("Failed to find class with highest score", file=sys.stderr)
return

cx = detection.bbox.center.position.x
cy = detection.bbox.center.position.y
if hasattr(detection.bbox.center, 'position'): # humble
cx = detection.bbox.center.position.x
cy = detection.bbox.center.position.y
else: # foxy fallback
cx = detection.bbox.center.x
cy = detection.bbox.center.y
sx = detection.bbox.size_x
sy = detection.bbox.size_y

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