Added optional argument for images (you need to provide it only for the executable)

Author: IasonTheodorou

.vscode/launch.json

@@ -5,8 +5,11 @@
             "name": "Debug Yolo Model",
             "type": "cppdbg",
             "request": "launch",
-            "program": "${workspaceFolder}/build/devel/lib/yolo_onnx_ros/test_yolo_onnx_ros", // Path to the executable
-            "args": [], // Add any command-line arguments for your program here
+            "program": "/home/amigo/ros/noetic/system/devel/lib/yolo_onnx_ros/test_yolo_onnx_ros", // Path to the executable
+            "args": [
+                "/home/amigo/ros/noetic/repos/github.com/tue-robotics/yolo_onnx_ros/data/yolo11m.onnx",
+                "/home/amigo/Documents/repos/hero_sam.bak/pipeline/build/images"
+                ], // Add any command-line arguments for your program here
             "stopAtEntry": false,
             "cwd": "${workspaceFolder}/build", // Set the working directory
             "environment": [],
@@ -19,13 +22,13 @@
                     "ignoreFailures": true
                 }
             ],
-            "preLaunchTask": "build-yolo-project" // Ensure the project is built before debugging
+            //"preLaunchTask": "build-yolo-project" // Ensure the project is built before debugging
         },
         {
             "name": "Debug Yolo Test",
             "type": "cppdbg",
             "request": "launch",
-            "program": "${workspaceFolder}/build/Yolov8OnnxRuntimeCPPInference_test", // Path to the executable
+            "program": "/home/amigo/ros/noetic/system/devel/lib/yolo_onnx_ros/yolo_test", // Path to the executable
             "args": [], // Add any command-line arguments for your program here
             "stopAtEntry": false,
             "cwd": "${workspaceFolder}/build", // Set the working directory
@@ -39,7 +42,7 @@
                     "ignoreFailures": true
                 }
             ],
-            "preLaunchTask": "build-yolo-project" // Ensure the project is built before debugging
+            //"preLaunchTask": "build-yolo-project" // Ensure the project is built before debugging
         }
     ]
 }

include/yolo_onnx_ros/detection.hpp

@@ -2,6 +2,7 @@
 
 #include <filesystem>
 
+// #define LOGGING
 std::tuple<std::unique_ptr<YOLO_V8>, DL_INIT_PARAM> Initialize(const std::filesystem::path& model_filename);
 
 std::vector<DL_RESULT> Detector(std::unique_ptr<YOLO_V8>& p, const cv::Mat& img);

src/detection.cpp

@@ -5,7 +5,6 @@
 #include <iomanip>
 #include <iostream>
 
-// #define LOGGING
 std::vector<DL_RESULT> Detector(std::unique_ptr<YOLO_V8>& p, const cv::Mat& img) {
 
             std::vector<DL_RESULT> res;

src/main.cpp

@@ -20,8 +20,7 @@ int main(int argc, char *argv[])
 
     std::tie(yoloDetector, params) = Initialize(model_name);
 
-    std::filesystem::path current_path = std::filesystem::current_path();
-    std::filesystem::path imgs_path = current_path / "images";
+    std::filesystem::path imgs_path = argv[2];
     for (auto& i : std::filesystem::directory_iterator(imgs_path))
     {
         if (i.path().extension() == ".jpg" || i.path().extension() == ".png" || i.path().extension() == ".jpeg")
@@ -30,12 +29,14 @@ int main(int argc, char *argv[])
             cv::Mat img = cv::imread(img_path);
             std::vector<DL_RESULT> results;
             results = Detector(yoloDetector, img);
+            #ifdef LOGGING
             for (const auto& result : results)
             {
                 std::cout << "Image path: " << img_path << "\n"
                           << "class id:   " << result.classId << "\n"
                           << "confidence: " << result.confidence << "\n";
             }
+            #endif
         }
     }