From 6ea1eab91440890ddd2b99afe4b267f272d6eee5 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Tue, 24 Jan 2023 13:49:15 +0100
Subject: [PATCH] Set queue_size and buff_size for image subscriber, to avoid
delay
---
get_obj_dist/src/human_2d_to_3d.py | 2 +-
human_detection/src/human_detector.py | 46 +++++++++++++++------------
2 files changed, 26 insertions(+), 22 deletions(-)
diff --git a/get_obj_dist/src/human_2d_to_3d.py b/get_obj_dist/src/human_2d_to_3d.py
index 9830da8..43fcfd0 100755
--- a/get_obj_dist/src/human_2d_to_3d.py
+++ b/get_obj_dist/src/human_2d_to_3d.py
@@ -243,5 +243,5 @@ def main(args):
if __name__ == '__main__':
- rospy.set_param("use_sim_time", 'true')
+ #rospy.set_param("use_sim_time", 'true')
main(sys.argv)
diff --git a/human_detection/src/human_detector.py b/human_detection/src/human_detector.py
index 08b1084..20ded33 100755
--- a/human_detection/src/human_detector.py
+++ b/human_detection/src/human_detector.py
@@ -76,7 +76,7 @@ class human_detector:
rospy.loginfo(rospy.get_name() + ": " + text)
self.bridge = CvBridge()
- self.image_sub = rospy.Subscriber("~camera/color/image_raw", Image, self.callback)
+ self.image_sub = rospy.Subscriber("~camera/color/image_raw", Image, self.callback, queue_size=1, buff_size=6291456)
self.image_pub = rospy.Publisher("~detection_image", Image, queue_size=1)
self.bbx_pub = rospy.Publisher("~bounding_box", box_list, queue_size=1)
@@ -119,26 +119,6 @@ class human_detector:
line_thickness=8,
min_score_thresh=0.60)
- # Calculate frame time
- t1 = time.time()
- run_time = t1 - t0
- if run_time < 1:
- run_time_list.append(run_time)
- if len(run_time_list) > 10:
- del run_time_list[0]
-
- if len(run_time_list):
- avg_run_time = round(sum(run_time_list) / len(run_time_list) * 1000, 1)
- left_margin = 10
- bottom_margin = 10
- time_text_position = (left_margin, data.height-bottom_margin)
- cv2.putText(cv_image, 'Run Time: {}ms'.format(avg_run_time),
- time_text_position,
- font,
- font_scale,
- font_color,
- line_type)
-
counter = 0
list_length = 0
bbx_list = box_list()
@@ -181,6 +161,30 @@ class human_detector:
self.detection2d_array_pub.publish(det2d_array)
+ # Calculate frame time
+ t1 = time.time()
+ run_time = t1 - t0
+ #if run_time < 1:
+ run_time_list.append(run_time)
+ if len(run_time_list) > 10:
+ del run_time_list[0]
+ #else:
+ #print "run_time>1"
+ #rospy.logerr("run_time=%f",run_time)
+
+ if len(run_time_list):
+ avg_run_time = round(sum(run_time_list)*1000 / len(run_time_list) , 1)
+ left_margin = 10
+ bottom_margin = 10
+ time_text_position = (left_margin, data.height-bottom_margin)
+ cv2.putText(cv_image, 'Run Time: {}ms'.format(avg_run_time),
+ time_text_position,
+ font,
+ font_scale,
+ font_color,
+ line_type)
+
+
try:
cvt_msg = self.bridge.cv2_to_imgmsg(cv_image, "bgr8")
cvt_msg.header.stamp = data.header.stamp
--
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