Road signs classifier #436
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akevinge
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Nov 12, 2024
src/perception/road_signs_classifier/road_signs_classifier/road_signs_classifier.py
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| cv2.imwrite("image.jpeg", cv_image) | ||
| self.classify_sign() | ||
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| #main control function | ||
| def classify_sign(self): | ||
| #gets prediction | ||
| if (os.path.exists("image.jpeg")): | ||
| with open("image.jpeg", "rb") as img_file: |
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Is there any reason why we write the image to disk and read it back instead of just passing it as a parameter?
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It was causing all sorts of errors when I tried to pass the image as a parameter, but those all disappeared when writing to disk and reading it back, so figured that was the best way to go about doing this
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Have you tried something like:
_, jpeg_image = cv2.imencode('.jpg', cv_image)
base64.b64encode(jpeg_image).decode('utf-8')
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I just tried that and it works. Previously when I tried cv2.imencode, I did not do b64encode because the articles I had read said it is unnecessary in that case, but putting it in now made it work. I guess those articles were wrong
src/perception/road_signs_classifier/road_signs_classifier/road_signs_classifier.py
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Completed the road signs classifier. Takes in camera images and publishes road sign detection information over the topic /road_signs/detections. To use this in other nodes, must use the classification type and also the ratio of height to width in order to know the sign type. This has been tested on multiple ros bags and works as expected.