void image_callback(const sensor_msgs::ImageConstPtr& in_image_message)
{
std::vector< RectClassScore<float> > detections;
//darknet_image = yolo_detector_.convert_image(in_image_message);
darknet_image = convert_ipl_to_image(in_image_message);
detections = yolo_detector_.detect(darknet_image);
//ROS_INFO("Detections: %ud", (unsigned int)detections.size());
//Prepare Output message
autoware_msgs::image_obj output_car_message;
autoware_msgs::image_obj output_person_message;
output_car_message.header = in_image_message->header;
output_car_message.type = "car";
output_person_message.header = in_image_message->header;
output_person_message.type = "person";
convert_rect_to_image_obj(detections, output_car_message, "car");
convert_rect_to_image_obj(detections, output_person_message, "person");
publisher_car_objects_.publish(output_car_message);
publisher_person_objects_.publish(output_person_message);
free(darknet_image.data);
}
void image_callback(const sensor_msgs::Image& image_source)
{
//Receive Image, convert it to OpenCV Mat
cv_bridge::CvImagePtr cv_image = cv_bridge::toCvCopy(image_source, "bgr8");//toCvCopy(image_source, sensor_msgs::image_encodings::BGR8);
cv::Mat image = cv_image->image;
//Detect Object in image
std::vector< RectClassScore<float> > detections;
//cv::TickMeter timer; timer.start();
//std::cout << "score:" << score_threshold_ << " slices:" << image_slices_ << " slices overlap:" << slices_overlap_ << "nms" << group_threshold_ << std::endl;
detections = rcnn_detector_->Detect(image, detect_classes_, score_threshold_, image_slices_, slices_overlap_, group_threshold_);
//timer.stop();
//std::cout << "Detection took: " << timer.getTimeMilli() << std::endl;
//Prepare Output message
cv_tracker::image_obj output_car_message;
cv_tracker::image_obj output_person_message;
output_car_message.header = image_source.header;
output_car_message.type = "car";
output_person_message.header = image_source.header;
output_person_message.type = "person";
//Convert Objects to Message type
//timer.reset(); timer.start();
convert_rect_to_image_obj(detections, output_car_message, image, "car");
convert_rect_to_image_obj(detections, output_person_message, image, "person");
publisher_car_objects_.publish(output_car_message);
publisher_person_objects_.publish(output_person_message);
}
