str(subMultipId) + '.jpg',
rectImg)
mulmsg = CompressedImage()
mulmsg.data = np.array(
cv2.imencode(
'.jpg', rectImg)
[1]).tostring()
mulmsg.header.frame_id = submsg + '/' + str(
multiPicId) + '/' + str(
subMultipId
) + '-' + str(
subSingleId
) + '-' + box[0]
record_pub.publish(mulmsg)
img, prex, prey, lagerfacter, testid = ct.get_singleimage(
submsg, ser_dev1,
ipstream_dev1, msg,
single_image, picId)
singleBox = yolo_surface.detect(
img)
single_img = img
resList = []
subSingleId = 0
if len(singleBox) > 0:
for res in singleBox:
sig = Roi_cam()
x1 = getXY(res[2])
y1 = getXY(res[3])
x2 = getXY(res[4])
y2 = getXY(res[5])
rectImg=captureimg
if len(surfaceBox)>0:
global subMultipId
global submsg
subMultipId=0
for box in surfaceBox:
subMultipId+=1
msg = Roi_cam()
msg.begin_x = [box[2]]
msg.begin_y = [box[3]]
msg.end_x = [box[4]]
msg.end_y = [box[5]]
cv2.rectangle(rectImg,(int(box[2]),int(box[3])),(int(box[4]),int(box[5])),(0,0,255),5)
cv2.imwrite(MulboardPath+str(multiPicId)+str(subMultipId)+'.jpg',rectImg)
global picId
img = ct.get_singleimage(submsg,ser_dev1,ipstream_dev1,msg,single_image,picId,1)
singleBox=yolo_surface.detect(img)
single_img=img
resList=[]
global subSingleId
subSingleId=0
print("singleBox:",singleBox);
if len(singleBox)>0:
for res in singleBox:
subSingleId+=1
sig=Roi_cam()
x1=getXY(res[2])
y1=getXY(res[3])
x2=getXY(res[4])
y2=getXY(res[5])