Query regarding usage of vision_msgs::msg::Detection2DArray

[VeCAD]

I can see the darknet detector values (bbox, object id) is being published using ros2 topic echo /topic. But I'm having issue pulling the detector values.

At the subscriber:
const vision_msgs::msg::Detection2DArray::SharedPtr det_msg

I can pull the header info as below.
std::cout << det_msg->header.frame_id << std::endl;

Is there any example that uses Detection2DArray at subscription side?

[Adam Allevato]

Hi, I am not sure what code you are using to generate the detections, but if this package is being used as intended, then I think you're looking for det_msg->detections[0].results.id and det_msg->detections[0].results.score.

The id field should allow you to look up the results in a lookup table that should be supplied either in the dataset or by the detector. See https://github.com/Kukanani/vision_msgs/blob/kinetic-devel/msg/ObjectHypothesisWithPose.msg#L5 for details.

[Adam Allevato]

Closing due to inactivity.