From 6c18d259c614b2a8d9b9cd0f615529dc50861d82 Mon Sep 17 00:00:00 2001
From: dai-z <runtime.error@qq.com>
Date: Wed, 22 Dec 2021 20:18:26 +0800
Subject: [PATCH] [bug fixed] Fix bbox coord in service

---
 darknet_images.py |  6 +++++-
 detect_service.py | 17 ++++++++++++++---
 2 files changed, 19 insertions(+), 4 deletions(-)

diff --git a/darknet_images.py b/darknet_images.py
index 17ac91731a7..2d55ac09fda 100644
--- a/darknet_images.py
+++ b/darknet_images.py
@@ -105,6 +105,7 @@ def image_detection(image_path, network, class_names, class_colors, thresh):
     darknet_image = darknet.make_image(width, height, 3)
 
     image = cv2.imread(image_path)
+    ori_height, ori_width = image.shape[:2]
     image_rgb = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
     image_resized = cv2.resize(image_rgb, (width, height),
                                interpolation=cv2.INTER_LINEAR)
@@ -113,6 +114,8 @@ def image_detection(image_path, network, class_names, class_colors, thresh):
     detections = darknet.detect_image(network, class_names, darknet_image, thresh=thresh)
     darknet.free_image(darknet_image)
     image = darknet.draw_boxes(detections, image_resized, class_colors)
+    image = cv2.resize(image, (ori_width, ori_height), interpolation=cv2.INTER_LINEAR)
+    print(image.shape)
     return cv2.cvtColor(image, cv2.COLOR_BGR2RGB), detections
 
 
@@ -181,6 +184,7 @@ def batch_detection_example():
         args.weights,
         batch_size=batch_size
     )
+    print(class_colors)
     image_names = ['data/horses.jpg', 'data/horses.jpg', 'data/eagle.jpg']
     images = [cv2.imread(image) for image in image_names]
     images, detections,  = batch_detection(network, images, class_names,
@@ -194,7 +198,7 @@ def main():
     args = parser()
     check_arguments_errors(args)
 
-    random.seed(3)  # deterministic bbox colors
+    random.seed(0)  # deterministic bbox colors
     network, class_names, class_colors = darknet.load_network(
         args.config_file,
         args.data_file,
diff --git a/detect_service.py b/detect_service.py
index 791065be98d..4fd3eb2ab38 100644
--- a/detect_service.py
+++ b/detect_service.py
@@ -88,6 +88,10 @@ def handle_image(req: DetectRequest, network, class_names, thresh):
     # print("Returning [%s + %s = %s]"%(req.a, req.b, (req.a + req.b)))
 
     image = CvBridge().imgmsg_to_cv2(req.image)
+    vis = image.copy()
+    width = darknet.network_width(network)
+    height = darknet.network_height(network)
+    ori_height, ori_width = image.shape[:2]
     # prev_time = time.time()
     # [(label_name, prob(%), x, y, w, h)]
     detections = image_detection(image, network, class_names, thresh)
@@ -95,10 +99,17 @@ def handle_image(req: DetectRequest, network, class_names, thresh):
     # fps = int(1/(time.time() - prev_time))
     # print("FPS: {}".format(fps))
     bboxes = []
+    scale_w = ori_width / width
+    scale_h = ori_height / height
     for det in detections:
+        left, top, right, bottom = darknet.bbox2points(det[2])
+        left *= scale_w
+        right *= scale_w
+        top *= scale_h
+        bottom *= scale_h
+        vis = cv2.rectangle(vis, (int(left), int(top)), (int(right), int(bottom)), (0,0,255), 5)
         # label, x_min ,x_max, y_min, y_max, prob
-        box = BBox(0, det[2][0], det[2][1], det[2][0] + det[2][2],
-                   det[2][1] + det[2][3], float(det[1]))
+        box = BBox(0, left, top, right, bottom, float(det[1]))
         bboxes.append(box)
     result = DetectResult(0, len(bboxes), bboxes)
 
@@ -126,4 +137,4 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
\ No newline at end of file
+    main()