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converter

Topics

Subscribed

  • Detector: darknet_ros/bounding_boxes

If you like to add different detectors, you must subscribe to their output here and define a function to convert the format used by the detector to the one required by Norfair, defined in the Detection.msg file.

Published

  • Converter output: norfair/input

Parameters

The parameters are defined in the config/converter.yaml file.

norfair_ros

Topics

Subscribed

This node is subscribed only to the converter output.

  • Converter output: norfair/input

Published

After adding the tracking capability to the detections, Norfair published this as output.

  • Norfair output: norfair/output

Parameters

The parameters are defined in the config/norfair.yaml file.

video_writer

Topics

Subscribed

This node needs the image and the tracking output. For this reason, it is subscribed to the image topic and the Norfair output topic. In the case of the development repository it is subscribe to the following topics.

  • Image: camera/rgb/image_raw

  • Norfair output: norfair/output

This node uses TimeSynchronizer to synchronize the data from the image and the Norfair output. You must set the correct frequency to the node that publishes the image to prevent losing frames.

Once this node receives the data, it saves the frame with the drawn bounding boxes and the tracking information into a video file.

Parameters

The parameters are defined in the config/video_writer.yaml file.