From b748a82bee5eb152a29dbb78305e94fb4e2b2b42 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu Date: Tue, 7 Feb 2023 19:55:05 +0900 Subject: [PATCH] add debug term Signed-off-by: Daisuke Nishimatsu --- perception/traffic_light_classifier/CMakeLists.txt | 12 ++++++------ ...ode.cpp => single_image_debug_inference_node.cpp} | 10 +++++----- 2 files changed, 11 insertions(+), 11 deletions(-) rename perception/traffic_light_classifier/src/{single_image_inference_node.cpp => single_image_debug_inference_node.cpp} (93%) diff --git a/perception/traffic_light_classifier/CMakeLists.txt b/perception/traffic_light_classifier/CMakeLists.txt index 023a29388b47d..e125abc7b435a 100644 --- a/perception/traffic_light_classifier/CMakeLists.txt +++ b/perception/traffic_light_classifier/CMakeLists.txt @@ -146,20 +146,20 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) EXECUTABLE traffic_light_classifier_node ) - ament_auto_add_library(single_image_inference_node SHARED + ament_auto_add_library(single_image_debug_inference_node SHARED src/cnn_classifier.cpp src/color_classifier.cpp src/nodelet.cpp - src/single_image_inference_node.cpp + src/single_image_debug_inference_node.cpp ) - target_link_libraries(single_image_inference_node + target_link_libraries(single_image_debug_inference_node libutils opencv_core opencv_highgui ) - rclcpp_components_register_node(single_image_inference_node - PLUGIN "traffic_light::SingleImageInferenceNode" - EXECUTABLE single_image_inference + rclcpp_components_register_node(single_image_debug_inference_node + PLUGIN "traffic_light::SingleImageDebugInferenceNode" + EXECUTABLE single_image_debug_inference ) ament_auto_package(INSTALL_TO_SHARE diff --git a/perception/traffic_light_classifier/src/single_image_inference_node.cpp b/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp similarity index 93% rename from perception/traffic_light_classifier/src/single_image_inference_node.cpp rename to perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp index 275daf520b117..cfb24ec35a07e 100644 --- a/perception/traffic_light_classifier/src/single_image_inference_node.cpp +++ b/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp @@ -62,10 +62,10 @@ std::string toString(const uint8_t state) namespace traffic_light { -class SingleImageInferenceNode : public rclcpp::Node +class SingleImageDebugInferenceNode : public rclcpp::Node { public: - explicit SingleImageInferenceNode(const rclcpp::NodeOptions & node_options) + explicit SingleImageDebugInferenceNode(const rclcpp::NodeOptions & node_options) : Node("single_image_inference", node_options) { const auto image_path = declare_parameter("image_path", ""); @@ -89,7 +89,7 @@ class SingleImageInferenceNode : public rclcpp::Node return; } cv::namedWindow("inference image", cv::WINDOW_NORMAL); - cv::setMouseCallback("inference image", SingleImageInferenceNode::onMouse, this); + cv::setMouseCallback("inference image", SingleImageDebugInferenceNode::onMouse, this); cv::imshow("inference image", image_); @@ -103,7 +103,7 @@ class SingleImageInferenceNode : public rclcpp::Node private: static void onMouse(int event, int x, int y, int flags, void * param) { - SingleImageInferenceNode * node = static_cast(param); + SingleImageDebugInferenceNode * node = static_cast(param); if (node) { node->inferWithCrop(event, x, y, flags); } @@ -159,4 +159,4 @@ class SingleImageInferenceNode : public rclcpp::Node } // namespace traffic_light #include "rclcpp_components/register_node_macro.hpp" -RCLCPP_COMPONENTS_REGISTER_NODE(traffic_light::SingleImageInferenceNode) +RCLCPP_COMPONENTS_REGISTER_NODE(traffic_light::SingleImageDebugInferenceNode)