Adding numerical ID and launch param for image

HeikoE · Oct 4, 2019 · b6432e7 · b6432e7
1 parent 687d8f9
commit b6432e7
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Showing 4 changed files with 7 additions and 2 deletions.
diff --git a/darknet_ros/launch/darknet_ros.launch b/darknet_ros/launch/darknet_ros.launch
@@ -3,6 +3,7 @@
 <launch>
   <!-- Console launch prefix -->
   <arg name="launch_prefix" default=""/>
+  <arg name="image" default="/camera/rgb/image_raw" />
 
   <!-- Config and weights folder. -->
   <arg name="yolo_weights_path"          default="$(find darknet_ros)/yolo_network_config/weights"/>
@@ -20,6 +21,7 @@
   <node pkg="darknet_ros" type="darknet_ros" name="darknet_ros" output="screen" launch-prefix="$(arg launch_prefix)">
     <param name="weights_path"          value="$(arg yolo_weights_path)" />
     <param name="config_path"           value="$(arg yolo_config_path)" />
+    <remap from="camera/rgb/image_raw"  to="$(arg image)" />
   </node>
 
  <!--<node name="republish" type="republish" pkg="image_transport" output="screen" 	args="compressed in:=/front_camera/image_raw raw out:=/camera/image_raw" /> -->

diff --git a/darknet_ros/launch/yolo_v3.launch b/darknet_ros/launch/yolo_v3.launch
@@ -4,11 +4,13 @@
 
   <!-- Use YOLOv3 -->
   <arg name="network_param_file"         default="$(find darknet_ros)/config/yolov3.yaml"/>
+  <arg name="image" default="camera/rgb/image_raw" />
 
 
   <!-- Include main launch file -->
   <include file="$(find darknet_ros)/launch/darknet_ros.launch">
     <arg name="network_param_file"    value="$(arg network_param_file)"/>
+    <arg name="image" value="$(arg image)" />
   </include>
 
 </launch>
diff --git a/darknet_ros/src/YoloObjectDetector.cpp b/darknet_ros/src/YoloObjectDetector.cpp
@@ -614,6 +614,7 @@ void *YoloObjectDetector::publishInThread()
           int ymax = (rosBoxes_[i][j].y + rosBoxes_[i][j].h / 2) * frameHeight_;
 
           boundingBox.Class = classLabels_[i];
+          boundingBox.id = i;
           boundingBox.probability = rosBoxes_[i][j].prob;
           boundingBox.xmin = xmin;
           boundingBox.ymin = ymin;

diff --git a/darknet_ros_msgs/msg/BoundingBox.msg b/darknet_ros_msgs/msg/BoundingBox.msg
@@ -1,7 +1,7 @@
-string Class
 float64 probability
 int64 xmin
 int64 ymin
 int64 xmax
 int64 ymax
-
+int16 id
+string Class