def callback(self, data):
try:
from timeit import default_timer as timer
start = timer()
res = self.detect_object_service(data)
end = timer()
print('Finished detection. (%f [sec])' % (end - start, ))
resdata = YoloRes() #resdata type -> rescustom
resdata.labels = str(res.labels)
kariname = str(res.names)
kariname = kariname.strip("[" "]")
karilist = kariname.split(',')
# add scripts
kariscore = str(res.scores)
scoreRemove = kariscore.strip(' ()')
scorelist = scoreRemove.split(',')
displayList = []
for i in range(len(karilist)):
displayData = karilist[i] + " | " + str(
round(float(scorelist[i]), 3))
displayList.append(displayData)
# resdata.names=['','','','','']
# resdata.scores=str()
i = 0
for region in res.regions:
resdata.x_offset[i] = int(region.x_offset)
resdata.y_offset[i] = int(region.y_offset)
resdata.width[i] = int(region.width)
resdata.height[i] = int(region.height)
resdata.names[i] = displayList[i]
i = i + 1
resdata.num = int(i)
#print(type(resdata.names[0]))
sys.stdout.flush()
except cv_bridge.CvBridgeError as e:
print(e)
return
cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
util.visualize_result_onto(cv_image, res, self.label_format)
try:
self.image_pub.publish(self.bridge.cv2_to_imgmsg(cv_image, "bgr8"))
self.YoloPub.publish(resdata) #publich resdata
except cv_bridge.CvBridgeError as e:
print(e)
def callback(self, data):
try:
from timeit import default_timer as timer
start = timer()
res = self.detect_object_service(data)
end = timer()
#print('Finished detection. (%f [sec])' % (end - start, ))
#print(res.labels)
#print('names: %s' % (res.names,))
#print('scores: %s' % (res.scores,))
resdata=rescustom()
resdata.labels=str(res.labels)
resdata.names=str(res.names)
resdata.scores=str(res.scores)
i=0;
for region in res.regions:
resdata.x_offset[i]=int(region.x_offset)
resdata.y_offset[i]=int(region.y_offset)
resdata.width[i]=int(region.width)
resdata.height[i]=int(region.height)
#print(resdata.regions[i])
i=i+1
resdata.num=i
#print(resdata.labels)
#print(resdata.names)
#print(resdata.scores)
#self.publ.publish(pu)
sys.stdout.flush()
except cv_bridge.CvBridgeError as e:
print(e)
return
cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
util.visualize_result_onto(cv_image, res, self.label_format)
try:
self.image_pub.publish(
self.bridge.cv2_to_imgmsg(cv_image, "bgr8")
)
self.publ.publish(resdata)
except cv_bridge.CvBridgeError as e:
print(e)
def callback(self, data):
try:
from timeit import default_timer as timer
start = timer()
res = self.detect_object_service(data)
end = timer()
print('Finished detection. (%f [sec])' % (end - start, ))
sys.stdout.flush()
except cv_bridge.CvBridgeError as e:
print(e)
return
cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
util.visualize_result_onto(cv_image, res, self.label_format)
try:
self.image_pub.publish(self.bridge.cv2_to_imgmsg(cv_image, "bgr8"))
except cv_bridge.CvBridgeError as e:
print(e)
for region in res.regions:
print(" "
"{'x_offset': %d, 'y_offset': %d, "
"'width': %d, 'height': %d}" % (
region.x_offset, region.y_offset,
region.width, region.height))
print('labels: %s' % (res.labels,))
print('names: %s' % (res.names,))
print('scores: %s' % (res.scores,))
else:
bboxes = []
for region in res.regions:
bboxes.append([
region.y_offset, region.x_offset,
region.y_offset + region.height - 1,
region.x_offset + region.width - 1
])
bboxes = np.array(bboxes)
labels = np.array(res.labels)
scores = np.array(res.scores)
names = np.array(res.names)
util.visualize_result_onto(img, res)
cv2.imshow(filename, img)
if args.display:
print('Press any key on an image window to finish the program.')
while True:
k = cv2.waitKey(1000)
if k != -1:
cv2.destroyAllWindows()
break
"'width': %d, 'height': %d}" %
(region.x_offset, region.y_offset, region.width,
region.height))
print('labels: %s' % (res.labels, ))
print('names: %s' % (res.names, ))
print('scores: %s' % (res.scores, ))
else:
bboxes = []
for region in res.regions:
bboxes.append([
region.y_offset, region.x_offset,
region.y_offset + region.height - 1,
region.x_offset + region.width - 1
])
bboxes = np.array(bboxes)
labels = np.array(res.labels)
scores = np.array(res.scores)
names = np.array(res.names)
bridge = cv_bridge.CvBridge()
cv_image = bridge.imgmsg_to_cv2(res.image, "bgr8")
util.visualize_result_onto(cv_image, res, args.label_format)
cv2.imshow(filename, cv_image)
if args.display:
print('Press any key on an image window to finish the program.')
while True:
k = cv2.waitKey(1000)
if k != -1:
cv2.destroyAllWindows()
break
