added ros callback for img topic functionality

CMakeLists.txt

@@ -73,3 +73,9 @@ ${catkin_LIBRARIES}
 ${OpenCV_LIBS}
 )
 
+## roscb client
+add_executable(tuatara_client_roscb src/tuatara_client_roscb.cpp)
+target_link_libraries(tuatara_client_roscb
+${catkin_LIBRARIES}
+${OpenCV_LIBS}
+)

launch/roscb.launch

+<?xml version="1.0" encoding="utf-8"?>
+
+<launch>
+
+  <node pkg="tuatara_example" type="tuatara_client_roscb" name="tuatara_example_client" output="screen" required="true" >
+    <param name="img_topic"          value="/gmsl/A0/image_color"/>
+  </node>
+
+  <node pkg="tuatara" type="tuatara_server" name="tuatara_server" output="screen" required="true" >
+    <param name="~model_name"          value="yolo4_fp32"/>
+    <param name="~n_max_batch"          value="1"/>
+    <remap from="~out/image_with_bboxes" to="image_with_bboxes"/>
+  </node>
+
+</launch>

src/tuatara_client.cpp

@@ -70,6 +70,7 @@ int main (int argc, char **argv)
   int th = 0;
   int iw = 0;
   int ih = 0;
+
   switch( input_videos_list.size() ) {
     case 1: tw = th = 1; iw = 1280; ih = 720; break;
     case 2: tw = 2; th = 1; iw = 640; ih = 360; break;
@@ -155,7 +156,7 @@ int main (int argc, char **argv)
     }
     else
       ROS_ERROR_STREAM(ros::this_node::getName() << ": Action did not finish before the time out.");
-
+    
     cv::Mat combined = cv::Mat(th * ih, tw * iw, batch_frame[0].type());
     //std::cout << th * ih << "," << tw * iw << std::endl;
     for( int i = 0; i < th; i++ ) {

src/tuatara_client_roscb.cpp

+#include <chrono>  // for high_resolution_clock
+#include <ros/ros.h>
+#include <ros/package.h>
+#include <sensor_msgs/Image.h>
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <cv_bridge/cv_bridge.h>
+#include <actionlib/client/simple_action_client.h>
+#include <actionlib/client/terminal_state.h>
+#include <tuatara_msgs/GenerateBoundingBoxesAction.h>
+#include <boost/filesystem.hpp>
+
+int seq = 0;
+actionlib::SimpleActionClient< tuatara_msgs::GenerateBoundingBoxesAction > *acPtr_;
+
+
+void img_callback(const sensor_msgs::ImageConstPtr &img_msg) 
+{
+  ROS_INFO("Image callback invoked");
+  int tw = 1;
+  int th = 1;
+  int iw = 1280;
+  int ih = 720;
+
+  cv_bridge::CvImagePtr cv_ptr;
+  try
+  {
+    cv_ptr = cv_bridge::toCvCopy(img_msg, sensor_msgs::image_encodings::BGR8);
+  }
+  catch (cv_bridge::Exception& e)
+  {
+    ROS_ERROR("cv_bridge exception: %s", e.what());
+    return;
+  }
+
+  tuatara_msgs::GenerateBoundingBoxesGoal goal;
+  seq++;
+  goal.images.clear();
+  goal.id = seq;
+  goal.images.push_back(*img_msg);
+
+  // Record start time
+  auto t_start = std::chrono::high_resolution_clock::now();
+
+  // send a goal to the action
+  acPtr_->sendGoal(goal);
+
+  //wait for the action to return
+  bool finished_before_timeout = acPtr_->waitForResult(ros::Duration(30.0));
+
+  // Record end time
+  auto t_finish = std::chrono::high_resolution_clock::now();
+  std::chrono::duration< double > t_elapsed = t_finish - t_start;
+  ROS_INFO_STREAM(ros::this_node::getName() << ": Process time " << 1000.0f * t_elapsed.count() << " ms");
+
+  if (finished_before_timeout) {
+    actionlib::SimpleClientGoalState state = acPtr_->getState();
+    ROS_INFO_STREAM(ros::this_node::getName() << ": Action finished: " << state.toString());
+    tuatara_msgs::GenerateBoundingBoxesResultConstPtr result = acPtr_->getResult();
+
+    for( int bi = 0; bi < result->results.size(); bi++ ) {
+      auto bboxes = result->results[bi].bounding_boxes;
+      cv::Scalar class_color = CV_RGB(80, 80, 80);
+      int nCars = 0, nPeds = 0;
+      for(auto bbox : bboxes) {
+        //ROS_INFO_STREAM(bbox.Class);
+        if(bbox.Class == "car") {
+            class_color = CV_RGB(255, 0, 0);
+            nCars++;
+        }
+        else if(bbox.Class == "person"){
+            class_color = CV_RGB(0, 255, 0);
+            nPeds++;
+        }
+        cv::rectangle(cv_ptr->image, cv::Point(bbox.xmin, bbox.ymin), cv::Point(bbox.xmax, bbox.ymax), class_color, 2);
+      }
+      ROS_INFO_STREAM(ros::this_node::getName() << ": Detected " << nCars << " car(s) and " << nPeds << " pedestrian(s)");
+    }
+  }
+  else
+    ROS_ERROR_STREAM(ros::this_node::getName() << ": Action did not finish before the time out.");
+}
+
+int main (int argc, char **argv)
+{
+  ros::init(argc, argv, "tuatara_client_roscb");
+  ros::NodeHandle nh("~");
+  std::string img_topic;
+  nh.getParam("img_topic", img_topic);
+
+  ros::Subscriber img_sub = nh.subscribe(img_topic, 20, img_callback);
+
+  // Currently the action server is publishing image with bboxes so I'm leaving this out
+  // ros::Publisher image_with_bboxes_pub = nh.advertise< sensor_msgs::Image >(img_topic + "/image_with_bboxes", 1);
+
+  // create the action client
+  // true causes the client to spin its own thread
+  acPtr_ = new actionlib::SimpleActionClient< tuatara_msgs::GenerateBoundingBoxesAction >("/tuatara_server/generate_bounding_boxes", true);
+
+  ROS_INFO_STREAM(ros::this_node::getName() << ": Waiting for tuatara action server " << "/tuatara_server/generate_bounding_boxes" << " to start.");
+  // wait for the action server to start
+  acPtr_->waitForServer(); //will wait for infinite time
+  ROS_INFO_STREAM(ros::this_node::getName() << ": tuatara action server is running");
+
+  ros::spin();
+  return 0;
+}