From d09bd9f47b7f23421f63fc9f50081179a0e4ee9f Mon Sep 17 00:00:00 2001 From: Ar-Ray-code Date: Tue, 26 Oct 2021 09:55:41 +0900 Subject: [PATCH] fix yolox_ros_py/package.xml --- yolox_ros_cpp/yolox_openvino/CMakeLists.txt | 9 ++----- yolox_ros_cpp/yolox_ros_cpp/CMakeLists.txt | 8 +++--- .../yolox_ros_cpp/src/yolox_ros_cpp.cpp | 7 +++++ yolox_ros_py/package.xml | 2 +- yolox_ros_py/setup.py | 26 ++++++++++--------- 5 files changed, 27 insertions(+), 25 deletions(-) diff --git a/yolox_ros_cpp/yolox_openvino/CMakeLists.txt b/yolox_ros_cpp/yolox_openvino/CMakeLists.txt index 946e09b..fadd097 100644 --- 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 index 94d62be..05461f7 100644 --- 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 index 80f08cd..3e4a35d 100644 --- 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(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 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 index f8ac4eb..f0e4717 100755 --- a/yolox_ros_py/package.xml +++ b/yolox_ros_py/package.xml @@ -13,7 +13,7 @@ ament_pep257 python3-pytest rclpy - bbox_ex_msgs + bbox_ex_msgs ament_python diff --git a/yolox_ros_py/setup.py b/yolox_ros_py/setup.py index 89b04fd..36a8eeb 100755 --- 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', ], }, -) \ No newline at end of file +) + + + # 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'], \ No newline at end of file