fix yolox_ros_py/package.xml

Ar-Ray-code · Oct 26, 2021 · d09bd9f · d09bd9f
1 parent 063d590
commit d09bd9f
Show file tree

Hide file tree

Showing 5 changed files with 27 additions and 25 deletions.
diff --git a/yolox_ros_cpp/yolox_openvino/CMakeLists.txt b/yolox_ros_cpp/yolox_openvino/CMakeLists.txt
@@ -21,13 +21,8 @@ find_package(OpenCV REQUIRED)
 find_package(InferenceEngine)
 find_package(ngraph)
 
-if(NOT InferenceEngine_FOUND)
-  message(INFO "skip building yolox_openvino")
-  return()
-endif()
-
-if(NOT ngraph_FOUND)
-  message(INFO "skip building yolox_openvino")
+if (NOT InferenceEngine_FOUND OR NOT ngraph_FOUND)
+  message(INFO "skipping yolox_openvino")
   return()
 endif()
 

diff --git a/yolox_ros_cpp/yolox_ros_cpp/CMakeLists.txt b/yolox_ros_cpp/yolox_ros_cpp/CMakeLists.txt
@@ -24,16 +24,14 @@ find_package(sensor_msgs REQUIRED)
 find_package(cv_bridge REQUIRED)
 find_package(image_transport REQUIRED)
 find_package(OpenCV REQUIRED)
-find_package(yolox_openvino QUIET)
+find_package(yolox_openvino)
 find_package(bboxes_ex_msgs REQUIRED)
 
-if(NOT yolox_openvino_FOUND)
-  message(INFO "skip building yolox_openvino")
+if (NOT yolox_openvino_FOUND)
+  message(INFO "skipping yolox_ros_cpp, no yolox_openvino found")
   return()
 endif()
 
-
-
 add_library(yolox_ros_cpp SHARED
   src/yolox_ros_cpp.cpp
 )

diff --git a/yolox_ros_cpp/yolox_ros_cpp/src/yolox_ros_cpp.cpp b/yolox_ros_cpp/yolox_ros_cpp/src/yolox_ros_cpp.cpp
@@ -53,6 +53,9 @@ namespace yolox_ros_cpp{
         auto img = cv_bridge::toCvCopy(ptr, "bgr8");
         cv::Mat frame = img->image;
 
+        // fps
+        auto now = std::chrono::system_clock::now();
+
         auto objects = this->yolox_->inference(frame);
         draw_objects(frame, objects);
         if(this->imshow_){
@@ -69,6 +72,10 @@ namespace yolox_ros_cpp{
         sensor_msgs::msg::Image::SharedPtr pub_img;
         pub_img = cv_bridge::CvImage(img->header, "bgr8", frame).toImageMsg();
         this->pub_image_.publish(pub_img);
+
+        auto end = std::chrono::system_clock::now();
+        auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(end - now);
+        RCLCPP_INFO(this->get_logger(), "fps: %f", 1000.0f / elapsed.count());
     }
     bboxes_ex_msgs::msg::BoundingBoxes YoloXNode::objects_to_bboxes(cv::Mat frame, std::vector<Object> objects,std_msgs::msg::Header header){
         bboxes_ex_msgs::msg::BoundingBoxes boxes;

diff --git a/yolox_ros_py/package.xml b/yolox_ros_py/package.xml
@@ -13,7 +13,7 @@
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
   <exec_depend>rclpy</exec_depend>
-  <depend>bbox_ex_msgs<depend>
+  <depend>bbox_ex_msgs</depend>
 
   <export>
     <build_type>ament_python</build_type>

diff --git a/yolox_ros_py/setup.py b/yolox_ros_py/setup.py
@@ -69,19 +69,21 @@
         (os.path.join('share', package_name), glob('../weights/*.pth')),
         (os.path.join('share', package_name), glob('../weights/openvino/*')),
     ],
-    install_requires=['setuptools'],
-    zip_safe=True,
-    author='Ar-Ray-code',
-    author_email="ray255ar@gmail.com",
-    maintainer='Ar-Ray-code',
-    maintainer_email="ray255ar@gmail.com",
-    description='YOLOX + ROS2 Foxy',
-    license='Apache License, Version 2.0',
-    tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'yolox_ros = yolox_ros_py.yolox_ros:ros_main',
-            'yolox_openvino = yolox_ros_py.yolox_openvino:ros_main',
+            'yolox_ros = '+package_name+'.yolox_ros:ros_main',
+            'yolox_openvino = '+package_name+'.yolox_openvino:ros_main',
         ],
     },
-)
+)
+
+
+    # install_requires=['setuptools'],
+    # zip_safe=True,
+    # author='Ar-Ray-code',
+    # author_email="ray255ar@gmail.com",
+    # maintainer='Ar-Ray-code',
+    # maintainer_email="ray255ar@gmail.com",
+    # description='YOLOX + ROS2 Foxy',
+    # license='Apache License, Version 2.0',
+    # tests_require=['pytest'],