display + ex picture

ros2_ws/src/python_workspace/python_workspace/scripts/display.py

@@ -1,6 +1,61 @@
 from ultralytics.utils import plotting
 import cv2
+import numpy as np
+from typing import Union, Optional, List, Dict, Callable
+import torch
 
-image = cv2.imread('test.jpg')
+# Mocking the colors function used in the provided code
+def colors(idx, bgr=False):
+    palette = [
+        (255, 56, 56), (255, 157, 151), (255, 112, 112), (255, 178, 56), 
+        (240, 240, 240), (20, 20, 255), (0, 255, 0), (0, 0, 255)
+    ]
+    c = palette[idx % len(palette)]
+    return (c[2], c[1], c[0]) if bgr else c
 
-plotting.plot_images()
+# Example usage
+def main():
+    # Load an image using cv2
+    image_path = "example.jpg"  # Replace with your image file path
+    image = cv2.imread(image_path)
+    if image is None:
+        print("Failed to load image. Please check the image path.")
+        return
+
+    # Convert BGR to RGB
+    image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+
+    # Prepare the inputs for the `plot_images` function
+    images = np.expand_dims(image.transpose(2, 0, 1), axis=0)  # Shape: (1, C, H, W)
+    batch_idx = np.array([0, 0])  # Example: Two bounding boxes for the first image
+    cls = np.array([0, 1])  # Example classes
+    bboxes = np.array([
+        [50, 50, 200, 200],  # Bounding box 1: [x1, y1, x2, y2]
+        [300, 100, 400, 250]  # Bounding box 2: [x1, y1, x2, y2]
+    ], dtype=np.float32)
+    confs = np.array([0.9, 0.8])  # Confidence scores
+    names = {0: "Class A", 1: "Class B"}  # Class names
+
+    # Plot the images with bounding boxes
+    plotting.plot_images(
+        images=images,
+        batch_idx=batch_idx,
+        cls=cls,
+        bboxes=bboxes,
+        confs=confs,
+        fname="output.jpg",
+        names=names,
+        save=False
+    )
+
+    # Display the result using OpenCV
+    output_image = cv2.imread("output.jpg")
+    if output_image is not None:
+        cv2.imshow("Image with Bounding Boxes", output_image)
+        cv2.waitKey(0)
+        cv2.destroyAllWindows()
+    else:
+        print("Failed to display the output image.")
+
+if __name__ == "__main__":
+    main()