Minor changes.

zhuhaijun753 · Apr 28, 2017 · 53088bc · 53088bc
1 parent 1680f46
commit 53088bc
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/darknet_ros/launch/darknet_ros.launch b/darknet_ros/launch/darknet_ros.launch
@@ -14,7 +14,7 @@
   <arg name="camera_action_name"         default="/darknet/check_for_objects"/>
 
   <!-- Threshold of object detection -->
-  <arg name="yolo_object_threshold"      default="0.4"/>
+  <arg name="yolo_object_threshold"      default="0.3"/>
 
   <!-- Enable image view in opencv -->
   <arg name="view_image_in_opencv"       default="true"/>
@@ -23,7 +23,7 @@
   <arg name="use_darknet_image_viewer"   default="false"/>
 
   <!-- Delay for cv::waitkey(delay) in millisecons -->
-  <arg name="wait_key_delay_in_opencv"   default="3"/>
+  <arg name="wait_key_delay_in_opencv"   default="2"/>
 
   <!-- Start darknet and ros wrapper -->
   <node pkg="darknet_ros" type="darknet_ros" name="darknet_ros" output="screen">

diff --git a/darknet_ros/src/object_detector_demo.cpp b/darknet_ros/src/object_detector_demo.cpp
@@ -226,6 +226,7 @@ extern "C" void load_network_demo(char *cfgfile, char *weightfile, char *datafil
 extern "C" darknet_ros::RosBox_ *demo_yolo()
 {
   if (count == 0) {
+    ++count;
     fetch_in_thread(0);
     det = in;
     det_s = in_s;
@@ -262,7 +263,7 @@ extern "C" darknet_ros::RosBox_ *demo_yolo()
     det_s = in_s;
 
     if(pthread_create(&fetch_thread, 0, fetch_in_thread, 0)) error("Thread creation failed");
-    if(pthread_create(&detect_thread, 0, detect_in_thread, 0)) error("Thread creation failed");
+    if(pthread_create(&detect_thread, 0, detect_in_thread, 0)) error("Thread creation failed");\
     if(view_image)
     {
       show_image(disp, "YOLO_V2");
@@ -271,6 +272,7 @@ extern "C" darknet_ros::RosBox_ *demo_yolo()
     pthread_join(fetch_thread, 0);
     pthread_join(detect_thread, 0);
 
+    free_image(disp);
     disp  = det;
     det   = in;
     det_s = in_s;