Added rgb_image_header to BoundingBoxes msg.

qrthg · Feb 5, 2018 · d175e18 · d175e18
1 parent 97421de
commit d175e18
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Showing 3 changed files with 5 additions and 0 deletions.
diff --git a/darknet_ros/include/darknet_ros/YoloObjectDetector.hpp b/darknet_ros/include/darknet_ros/YoloObjectDetector.hpp
@@ -19,6 +19,7 @@
 
 // ROS
 #include <ros/ros.h>
+#include <std_msgs/Header.h>
 #include <std_msgs/Int8.h>
 #include <actionlib/server/simple_action_server.h>
 #include <sensor_msgs/image_encodings.h>
@@ -195,6 +196,7 @@ class YoloObjectDetector
   int fullScreen_;
   char *demoPrefix_;
 
+  std_msgs::Header rgb_image_header_;
   cv::Mat camImageCopy_;
   boost::shared_mutex mutexImageCallback_;
 

diff --git a/darknet_ros/src/YoloObjectDetector.cpp b/darknet_ros/src/YoloObjectDetector.cpp
@@ -187,6 +187,7 @@ void YoloObjectDetector::cameraCallback(const sensor_msgs::ImageConstPtr& msg)
 
   try {
     cam_image = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
+    rgb_image_header_ = msg->header;
   } catch (cv_bridge::Exception& e) {
     ROS_ERROR("cv_bridge exception: %s", e.what());
     return;
@@ -603,6 +604,7 @@ void *YoloObjectDetector::publishInThread()
     }
     boundingBoxesResults_.header.stamp = ros::Time::now();
     boundingBoxesResults_.header.frame_id = "detection";
+    boundingBoxesResults_.rgb_image_header = rgb_image_header_;
     boundingBoxesPublisher_.publish(boundingBoxesResults_);
   } else {
     std_msgs::Int8 msg;

diff --git a/darknet_ros_msgs/msg/BoundingBoxes.msg b/darknet_ros_msgs/msg/BoundingBoxes.msg
@@ -1,2 +1,3 @@
 Header header
+Header rgb_image_header
 BoundingBox[] boundingBoxes