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minor adjustments: use ROS_INFO(), and publish timestamped messages #42

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minor adjustments: use ROS_INFO(), and publish timestamped messages #42

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7 changes: 5 additions & 2 deletions src/node_detectnet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,8 +85,8 @@ void img_callback( const sensor_msgs::ImageConstPtr& input )
{
detectNet::Detection* det = detections + n;

printf("object %i class #%u (%s) confidence=%f\n", n, det->ClassID, net->GetClassDesc(det->ClassID), det->Confidence);
printf("object %i bounding box (%f, %f) (%f, %f) w=%f h=%f\n", n, det->Left, det->Top, det->Right, det->Bottom, det->Width(), det->Height());
ROS_INFO("object %i class #%u (%s) confidence=%f\n", n, det->ClassID, net->GetClassDesc(det->ClassID), det->Confidence);
ROS_INFO("object %i bounding box (%f, %f) (%f, %f) w=%f h=%f\n", n, det->Left, det->Top, det->Right, det->Bottom, det->Width(), det->Height());

// create a detection sub-message
vision_msgs::Detection2D detMsg;
Expand All @@ -112,6 +112,9 @@ void img_callback( const sensor_msgs::ImageConstPtr& input )
msg.detections.push_back(detMsg);
}

// populate timestamp filed in header
msg.header.stamp = ros::Time::now();

// publish the detection message
detection_pub->publish(msg);
}
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3 changes: 3 additions & 0 deletions src/node_imagenet.cpp
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Expand Up @@ -79,6 +79,9 @@ void img_callback( const sensor_msgs::ImageConstPtr& input )
obj.score = confidence;

msg.results.push_back(obj); // TODO optionally add source image to msg

// populate timestamp in header field
msg.header.stamp = ros::Time::now();

// publish the classification message
classify_pub->publish(msg);
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3 changes: 3 additions & 0 deletions src/node_segnet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,7 @@ bool publish_overlay( uint32_t width, uint32_t height )
return false;

// publish the message
msg.header.stamp = ros::Time::now();
overlay_pub->publish(msg);
}

Expand All @@ -100,6 +101,7 @@ bool publish_mask_color( uint32_t width, uint32_t height )
return false;

// publish the message
msg.header.stamp = ros::Time::now();
mask_color_pub->publish(msg);
}

Expand All @@ -122,6 +124,7 @@ bool publish_mask_class( uint32_t width, uint32_t height )
return false;

// publish the message
msg.header.stamp = ros::Time::now();
mask_class_pub->publish(msg);
}

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