Hey, I experienced the weird behaviour, that the topic <code class="

node publishes faster than receiving messages? about coral_usb_ros HOT 4 CLOSED

Petros626 commented on May 28, 2024

node publishes faster than receiving messages?

from coral_usb_ros.

Comments (4)

knorth55 commented on May 28, 2024 1

Your suggestions works good with a value of 2.0, but it wonders me, how the node could echo the pixel values faster than the incoming Image message...

The node just keeps the old image and use it to publish in >2Hz.

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)

from coral_usb_ros.

knorth55 commented on May 28, 2024

https://github.com/jsk-ros-pkg/coral_usb_ros#parameters

visualization loop is anothr loop.
we can control the hz by visualization_duration.

from coral_usb_ros.

Petros626 commented on May 28, 2024

https://github.com/jsk-ros-pkg/coral_usb_ros#parameters

visualization loop is anothr loop. we can control the hz by visualization_duration.

the visualization frequency in rviz is the same the messages are coming (2 Hz). By using using rostopic echo /edgetpu_object_detector/output/image I noticed the difference from 2Hz to >2Hz.

Your suggestions works good with a value of 2.0, but it wonders me, how the node could echo the pixel values faster than the incoming Image message...

from coral_usb_ros.

Petros626 commented on May 28, 2024

Yes, but your suggestion helps, will close the issue

from coral_usb_ros.

node publishes faster than receiving messages? about coral_usb_ros HOT 4 CLOSED

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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)