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tracking包
订阅“image_for_tracking”话题,通过调用trackImageCallback函数解析出跟踪的结果框
detecting_and_tracking包
发布"image_for_tracking"话题,通过该话题发布用来跟踪的图像信息,信息的形式为自定义消息
sensor_msgs/Image img
int64 frame_count
int64 xmin
int64 ymin
int64 xmax
int64 ymax
detecting_test包
发布"/camere/image_raw"话题,该话题发布给darknet_ros,
订阅"/darknet_ros/detection_image",通过调用imageCallback函数显示检测的结果。
darknet_ros包
subscribers:
camera_reading:
topic: /camere/image_raw
queue_size: 1
actions:
camera_reading:
name: /darknet_ros/check_for_objects
publishers:
object_detector:
topic: /darknet_ros/found_object
queue_size: 1
latch: false
bounding_boxes:
topic: /darknet_ros/bounding_boxes
queue_size: 1
latch: false
detection_image:
topic: /darknet_ros/detection_image
queue_size: 1
latch: true
通过”/camere/image_raw“订阅需要检测的图像,
通过三个不同的话题”/darknet_ros/found_object“、"/darknet_ros/bounding_boxes"、”/darknet_ros/detection_image“来显示检测的结果,分别表示
其中bounding_boxes的数据结构为:
Header header
Header image_header
BoundingBox[] bounding_boxes
而每一个BoundingBox的数据结构为:
string Class
float64 probability
int64 xmin
int64 ymin
int64 xmax
int64 ymax
这两个能在msg文件夹中查阅到。