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index 100% rename from yolov3/data/scripts/get_coco128.sh rename to ros2_ws/src/yolov3/data/scripts/get_coco128.sh diff --git a/yolov3/data/scripts/get_imagenet.sh b/ros2_ws/src/yolov3/data/scripts/get_imagenet.sh similarity index 100% rename from yolov3/data/scripts/get_imagenet.sh rename to ros2_ws/src/yolov3/data/scripts/get_imagenet.sh diff --git a/yolov3/data/voc.yaml b/ros2_ws/src/yolov3/data/voc.yaml similarity index 100% rename from yolov3/data/voc.yaml rename to ros2_ws/src/yolov3/data/voc.yaml diff --git a/yolov3/data/xView.yaml b/ros2_ws/src/yolov3/data/xView.yaml similarity index 100% rename from yolov3/data/xView.yaml rename to ros2_ws/src/yolov3/data/xView.yaml diff --git a/yolov3/detect.py b/ros2_ws/src/yolov3/detect.py similarity index 100% rename from yolov3/detect.py rename to ros2_ws/src/yolov3/detect.py diff --git a/yolov3/detect_on_bag.py b/ros2_ws/src/yolov3/detect_on_bag.py similarity index 86% rename from yolov3/detect_on_bag.py rename to ros2_ws/src/yolov3/detect_on_bag.py index 0f079e84..9ad2a102 100644 --- a/yolov3/detect_on_bag.py +++ b/ros2_ws/src/yolov3/detect_on_bag.py @@ -41,7 +41,8 @@ from utils.plots import Annotator, colors, save_one_box from utils.torch_utils import select_device, time_sync from utils.augmentations import Albumentations, augment_hsv, copy_paste, letterbox import numpy as np - +from yolov4_msg.msg import BoundingBox, BoundingBoxes +from rclpy.clock import Clock @torch.no_grad() def run(weights=ROOT / 'yolov3.pt', # model.pt path(s) @@ -119,27 +120,40 @@ def run(weights=ROOT / 'yolov3.pt', # model.pt path(s) p = Path(p) # to Path save_path = '/home/parallels/predict.jpeg' annotator = Annotator(im0, line_width=line_thickness, example=str(names)) - # import pdb; pdb.set_trace() + + time_stamp = Clock().now() + bounding_boxes_msg = BoundingBoxes() + bounding_boxes_msg.header.stamp = time_stamp.to_msg() + bounding_boxes_msg.header.frame_id = 'detection' + s = '' if len(det): # Rescale boxes from img_size to im0 size det[:, :4] = scale_coords(im.shape[2:], det[:, :4], im0.shape).round() - # Print results for c in det[:, -1].unique(): n = (det[:, -1] == c).sum() # detections per class - s = f"{n} {names[int(c)]}{'s' * (n > 1)}, " # add to string + s += f"{n} {names[int(c)]}{'s' * (n > 1)}, " # add to string # Write results for *xyxy, conf, cls in reversed(det): + bounding_box = BoundingBox() c = int(cls) # integer class label = None if hide_labels else (names[c] if hide_conf else f'{names[c]} {conf:.2f}') annotator.box_label(xyxy, label, color=colors(c, True)) + bounding_box.probability = float(conf) + bounding_box.xmin = int(xyxy[0]) + bounding_box.ymin = int(xyxy[1]) + bounding_box.xmax = int(xyxy[2]) + bounding_box.ymax = int(xyxy[3]) + bounding_box.id = c + bounding_box.class_id = names[c] + bounding_boxes_msg.bounding_boxes.append(bounding_box) # Print time (inference-only) LOGGER.info(f'{s}Done. ({t3 - t2:.3f}s)') # Stream results im0 = annotator.result() # cv2.imwrite(save_path, im0) - return im0 + return im0, bounding_boxes_msg class DetectOnBag(Node): @@ -152,6 +166,7 @@ class DetectOnBag(Node): 10) self.subscription # prevent unused variable warning self.detected_img_pub = self.create_publisher(Image, '/detection_image', 10) + self.bboxes_pub = self.create_publisher(BoundingBoxes, '/bboxes', 10) def image_callback(self, msg): self.get_logger().info('Image') @@ -159,8 +174,10 @@ class DetectOnBag(Node): bridge = CvBridge() cv_image = bridge.imgmsg_to_cv2(msg, desired_encoding='passthrough') - detected_img = run('runs/train/exp14/weights/best.pt', cv_image) + detected_img, bboxes = run('src/yolov3/runs/train/exp14/weights/best.pt', cv_image) self.detected_img_pub.publish(self.numpy_array_to_image_msg(detected_img)) + bboxes.image_header = msg.header + self.bboxes_pub.publish(bboxes) def numpy_array_to_image_msg(self, numpy_array): # Create a CvBridge object diff --git 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