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Fix for #56 (Another function call inside ROS callback function might not be sequential) #57

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Fix for #56 (Another function call inside ROS callback function might not be sequential) #57

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61 changes: 27 additions & 34 deletions src/node_detectnet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,39 +50,6 @@ void info_callback()
}


// publish overlay image
bool publish_overlay( detectNet::Detection* detections, int numDetections )
{
// get the image dimensions
const uint32_t width = input_cvt->GetWidth();
const uint32_t height = input_cvt->GetHeight();

// assure correct image size
if( !overlay_cvt->Resize(width, height, imageConverter::ROSOutputFormat) )
return false;

// generate the overlay
if( !net->Overlay(input_cvt->ImageGPU(), overlay_cvt->ImageGPU(), width, height,
imageConverter::InternalFormat, detections, numDetections, overlay_flags) )
{
return false;
}

// populate the message
sensor_msgs::Image msg;

if( !overlay_cvt->Convert(msg, imageConverter::ROSOutputFormat) )
return false;

// populate timestamp in header field
msg.header.stamp = ROS_TIME_NOW();

// publish the message
overlay_pub->publish(msg);
ROS_DEBUG("publishing %ux%u overlay image", width, height);
}


// input image subscriber callback
void img_callback( const sensor_msgs::ImageConstPtr input )
{
Expand Down Expand Up @@ -153,7 +120,33 @@ void img_callback( const sensor_msgs::ImageConstPtr input )

// generate the overlay (if there are subscribers)
if( ROS_NUM_SUBSCRIBERS(overlay_pub) > 0 )
publish_overlay(detections, numDetections);
{
// get the image dimensions
const uint32_t width = input_cvt->GetWidth();
const uint32_t height = input_cvt->GetHeight();

// assure correct image size
if( !overlay_cvt->Resize(width, height, imageConverter::ROSOutputFormat) )
return;

// generate the overlay
if( !net->Overlay(input_cvt->ImageGPU(), overlay_cvt->ImageGPU(), width, height,
imageConverter::InternalFormat, detections, numDetections, overlay_flags) )
return;

// populate the message
sensor_msgs::Image msg;

if( !overlay_cvt->Convert(msg, imageConverter::ROSOutputFormat) )
return;

// populate timestamp in header field
msg.header.stamp = ROS_TIME_NOW();

// publish the message
overlay_pub->publish(msg);
ROS_DEBUG("publishing %ux%u overlay image", width, height);
}
}


Expand Down