Hey <a class="user-mention notranslate" data-hovercard-type="user" data-hovercard-url=

score_thresh can be changed from <code class="notrans

we don't have iou_thresh . we have <code class="notran

Add some functions for own purposes about coral_usb_ros HOT 5 CLOSED

jsk-ros-pkg commented on May 28, 2024

Add some functions for own purposes

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Comments (5)

knorth55 commented on May 28, 2024 1

you can add the fps counter on the visualization image,
but we have rostopic hz, so it seems not exciting to me.
If you want to write the fps counter on visualization image, please change code below.

coral_usb_ros/python/coral_usb/detector_base.py

Lines 146 to 194 in 2c5ddeb

 def visualize_cb(self, event): 

 if (not self.visualize or self.img is None or self.encoding is None 

 or self.header is None or self.bboxes is None 

 or self.labels is None or self.scores is None): 

 return 

 with self.lock: 

 vis_img = self.img.copy() 

 encoding = copy.copy(self.encoding) 

 header = copy.deepcopy(self.header) 

 bboxes = self.bboxes.copy() 

 labels = self.labels.copy() 

 scores = self.scores.copy() 

 # bbox 

 cmap = matplotlib.cm.get_cmap('hsv') 

 n = max(len(bboxes) - 1, 10) 

 for i, (bbox, label, score) in enumerate(zip(bboxes, labels, scores)): 

 rgba = np.array(cmap(1. * i / n)) 

 color = rgba[:3] * 255 

 label_text = '{}, {:.2f}'.format(self.label_names[label], score) 

 p1y = max(bbox[0], 0) 

 p1x = max(bbox[1], 0) 

 p2y = min(bbox[2], vis_img.shape[0]) 

 p2x = min(bbox[3], vis_img.shape[1]) 

 cv2.rectangle( 

 vis_img, (p1x, p1y), (p2x, p2y), 

 color, thickness=3, lineType=cv2.LINE_AA) 

 cv2.putText( 

 vis_img, label_text, (p1x, max(p1y - 10, 0)), 

 cv2.FONT_HERSHEY_SIMPLEX, 0.5, color, 

 thickness=2, lineType=cv2.LINE_AA) 

 if self.pub_image.get_num_connections() > 0: 

 vis_msg = self.bridge.cv2_to_imgmsg(vis_img, 'rgb8') 

 # BUG: https://answers.ros.org/question/316362/sensor_msgsimage-generates-float-instead-of-int-with-python3/ # NOQA 

 vis_msg.step = int(vis_msg.step) 

 vis_msg.header = header 

 self.pub_image.publish(vis_msg) 

 if self.pub_image_compressed.get_num_connections() > 0: 

 # publish compressed http://wiki.ros.org/rospy_tutorials/Tutorials/WritingImagePublisherSubscriber # NOQA 

 vis_compressed_msg = CompressedImage() 

 vis_compressed_msg.header = header 

 # image format https://github.com/ros-perception/image_transport_plugins/blob/f0afd122ed9a66ff3362dc7937e6d465e3c3ccf7/compressed_image_transport/src/compressed_publisher.cpp#L116 # NOQA 

 vis_compressed_msg.format = encoding + '; jpeg compressed bgr8' 

 vis_img_rgb = cv2.cvtColor(vis_img, cv2.COLOR_BGR2RGB) 

 vis_compressed_msg.data = np.array( 

 cv2.imencode('.jpg', vis_img_rgb)[1]).tostring() 

 self.pub_image_compressed.publish(vis_compressed_msg)

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knorth55 commented on May 28, 2024 1

score_thresh can be changed from dynamic reconfigure.

https://github.com/jsk-ros-pkg/coral_usb_ros/blob/master/python/coral_usb/detector_base.py#L57-L66
https://github.com/jsk-ros-pkg/coral_usb_ros/blob/master/cfg/EdgeTPUObjectDetector.cfg#L9

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Petros626 commented on May 28, 2024

yes I didn't think about the rostopic hz will pay attention to that.
Okay so in detector_base.py everything personal could be add, thats I'm searching for :)

I don't found in launch file or in this script the threshold for proposing the bounding boxes for example IoU > 0.5.

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knorth55 commented on May 28, 2024

we don't have iou_thresh. we have score_thresh.

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Petros626 commented on May 28, 2024

yes right, where i can config it? to change the score_thresh?

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	def visualize_cb(self, event):
	if (not self.visualize or self.img is None or self.encoding is None
	or self.header is None or self.bboxes is None
	or self.labels is None or self.scores is None):
	return

	with self.lock:
	vis_img = self.img.copy()
	encoding = copy.copy(self.encoding)
	header = copy.deepcopy(self.header)
	bboxes = self.bboxes.copy()
	labels = self.labels.copy()
	scores = self.scores.copy()

	# bbox
	cmap = matplotlib.cm.get_cmap('hsv')
	n = max(len(bboxes) - 1, 10)
	for i, (bbox, label, score) in enumerate(zip(bboxes, labels, scores)):
	rgba = np.array(cmap(1. * i / n))
	color = rgba[:3] * 255
	label_text = '{}, {:.2f}'.format(self.label_names[label], score)
	p1y = max(bbox[0], 0)
	p1x = max(bbox[1], 0)
	p2y = min(bbox[2], vis_img.shape[0])
	p2x = min(bbox[3], vis_img.shape[1])
	cv2.rectangle(
	vis_img, (p1x, p1y), (p2x, p2y),
	color, thickness=3, lineType=cv2.LINE_AA)
	cv2.putText(
	vis_img, label_text, (p1x, max(p1y - 10, 0)),
	cv2.FONT_HERSHEY_SIMPLEX, 0.5, color,
	thickness=2, lineType=cv2.LINE_AA)

	if self.pub_image.get_num_connections() > 0:
	vis_msg = self.bridge.cv2_to_imgmsg(vis_img, 'rgb8')
	# BUG: https://answers.ros.org/question/316362/sensor_msgsimage-generates-float-instead-of-int-with-python3/ # NOQA
	vis_msg.step = int(vis_msg.step)
	vis_msg.header = header
	self.pub_image.publish(vis_msg)
	if self.pub_image_compressed.get_num_connections() > 0:
	# publish compressed http://wiki.ros.org/rospy_tutorials/Tutorials/WritingImagePublisherSubscriber # NOQA
	vis_compressed_msg = CompressedImage()
	vis_compressed_msg.header = header
	# image format https://github.com/ros-perception/image_transport_plugins/blob/f0afd122ed9a66ff3362dc7937e6d465e3c3ccf7/compressed_image_transport/src/compressed_publisher.cpp#L116 # NOQA
	vis_compressed_msg.format = encoding + '; jpeg compressed bgr8'
	vis_img_rgb = cv2.cvtColor(vis_img, cv2.COLOR_BGR2RGB)
	vis_compressed_msg.data = np.array(
	cv2.imencode('.jpg', vis_img_rgb)[1]).tostring()
	self.pub_image_compressed.publish(vis_compressed_msg)