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Fixed new ROS2 msg and OpenCV API change #1

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Fixed new ROS2 msg and OpenCV API change #1

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5 changes: 3 additions & 2 deletions live_detection/live_detection/live_detection_helper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -74,14 +74,15 @@ def listener_callback(self, data):

for i in range(boxes.size(0)):
box = boxes[i, :]
box = box.numpy().astype(int) #convert to numpy and cast as int. OpenCV rectange cannot parse floats
label = f"{self.class_names[labels[i]]}: {probs[i]:.2f}"
print("Object: " + str(i) + " " + label)
cv2.rectangle(cv_image, (box[0], box[1]), (box[2], box[3]), (255, 255, 0), 4)

# Definition of 2D array message and ading all object stored in it.
object_hypothesis_with_pose = ObjectHypothesisWithPose()
object_hypothesis_with_pose.id = str(self.class_names[labels[i]])
object_hypothesis_with_pose.score = float(probs[i])
object_hypothesis_with_pose.hypothesis.class_id = str(self.class_names[labels[i]])
object_hypothesis_with_pose.hypothesis.score = float(probs[i])

bounding_box = BoundingBox2D()
bounding_box.center.x = float((box[0] + box[2])/2)
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5 changes: 3 additions & 2 deletions trt_live_detector/trt_live_detector/trt_detection_helper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -102,14 +102,15 @@ def listener_callback(self, data):

for i in range(boxes.size(0)):
box = boxes[i, :]
box = box.numpy().astype(int) #convert to numpy and cast as int. OpenCV rectange cannot parse floats
label = f"{self.class_names[labels[i]]}: {probs[i]:.2f}"
print("Object: " + str(i) + " " + label)
cv2.rectangle(cv_image, (box[0], box[1]), (box[2], box[3]), (255, 255, 0), 4)

# Definition of 2D array message and ading all object stored in it.
object_hypothesis_with_pose = ObjectHypothesisWithPose()
object_hypothesis_with_pose.id = str(self.class_names[labels[i]])
object_hypothesis_with_pose.score = float(probs[i])
object_hypothesis_with_pose.hypothesis.class_id = str(self.class_names[labels[i]])
object_hypothesis_with_pose.hypothesis.score = float(probs[i])

bounding_box = BoundingBox2D()
bounding_box.center.x = float((box[0] + box[2])/2)
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