camdector.py 文件源码

def detect_and_visualize(self, root_dir=None, extension=None,
                             classes=[], thresh=0.6, show_timer=False):

        global imgi
        global img_rect
        global Frame
        global show
        global trackpos
        global imshow
        global acc_pub
        global acc_enable

        acc_pub = rospy.Publisher("acc_cmd", ACCCommand, queue_size=2)
        acc_enable = rospy.Publisher("acc_enable", Bool, queue_size=2)
        # rospy.Timer(rospy.Duration(0.02), self.trackCallback)
        rospy.Subscriber("/zed/left/image_rect_color/compressed",CompressedImage, self.ImgCcallback,  queue_size = 4)
        # rospy.Subscriber("/zed/left/image_rect_color",Image, self.Imgcallback,  queue_size = 4)
        rospy.Subscriber("/zed/depth/depth_registered",Image, self.DepthImgcallback,  queue_size = 4)
        im_path = '/home/wolfram/mxnet/example/ssd/data/demo/dog.jpg'
        with open(im_path, 'rb') as fp:
            img_content = fp.read()

        trackpos = 0
        imshow = 0
        imgi = mx.img.imdecode(img_content)
        while(1):

            # ret,img_rect = cap.read()
            dets = self.im_detect(root_dir, extension, show_timer=show_timer)
            # if not isinstance(im_list, list):
            #     im_list = [im_list]
            # assert len(dets) == len(im_list)
            # for k, det in enumerate(dets):

            # img[:, :, (0, 1, 2)] = img[:, :, (2, 1, 0)]
            # img = img_rect.copy()
            self.visualize_detection(img_rect, dets[0], classes, thresh)

            if imshow == 1:
                cv2.imshow("tester", show)

            if cv2.waitKey(1) & 0xFF == ord('q'):
                break
        cap.release()
        cv2.destroyAllWindows()