Comments (8)
Hmm since another node sends detectNet the images, I am not sure how you would determine the image filename that an image subscriber receives. Do you know if that is possible in ROS?
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I think, taking the header (essentialy the time stamp) of the image used for detection and publish it in the detections
message as the detections source_img/header
together with the detection, should be sufficient to identify the image in a rosbag stream of images.
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There isn't a defined message in ROS that captures the img file and metadata, what I do is time stamp a frame in a data store like postgres with all metadata about the box.
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OK, gotcha - I timestamp the detection message here:
ros_deep_learning/src/node_detectnet.cpp
Line 148 in ac40e93
Although it seems there is some other header in the message for another timestamp. You could try setting that other header if you want.
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msg.header.stamp
is the entire messages time stamp which I would like to keep at ROS_TIME_NOW()
.
I think more along the lines of adding something like
detMsg.source_img.header = input->header;
to add a source image-related time stamp to each individual set of detections.
I will try this and let you know how it works...
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Ok, did a (very) quick test, it works so far:
bbox:
center:
x: 589.929748535
y: 646.913085938
theta: 0.0
size_x: 202.356445312
size_y: 240.17388916
source_img:
header:
seq: 2339
stamp:
secs: 1607068054
nsecs: 348318751
frame_id: "//detectnet_link"
height: 0
width: 0
encoding: ''
is_bigendian: 0
step: 0
data: []
A nice side-effect is, that the frame_id
of the camera which took the image, is now published, too, which may help with calculating the apparent position of the identified object relative to a /tf
frame of choice.
Using this node has been and still is a very pleasant experience, thanks again for providing it... :-)
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Looking deeper into it I found the correlation I was looking for.
I recorded a rosbag from the topics of interest /video_source/raw
and /detectnet/detections
rosbag record /video_source/raw /detectnet/detections
When viewing them in rqt_bag
I can identify exactly from which image a particular detection was derived from:
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Problem solved, I will try to make a PR after I learned more about the implications of the code change...
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Related Issues (20)
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