From c9e3219384229f3c02726df0ed7d116c95437c71 Mon Sep 17 00:00:00 2001
From: yikestone <rishabh_kundu@rediffmail.com>
Date: Sun, 16 Jun 2019 13:10:29 +0530
Subject: [PATCH] Added object id

---
 msg/Object.msg | 1 +
 src/main.cpp   | 1 +
 src/test.cpp   | 3 ++-
 3 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/msg/Object.msg b/msg/Object.msg
index 6bb7bc7..eb9916f 100644
--- a/msg/Object.msg
+++ b/msg/Object.msg
@@ -1,4 +1,5 @@
 string label
+int32 id
 
 #confidence of result
 float32 confidence
diff --git a/src/main.cpp b/src/main.cpp
index 3914b01..2538257 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -71,6 +71,7 @@ bool getObjects(openvino_object_detection::Objects::Request &req,
       openvino_object_detection::Object tmp;
       tmp.confidence = object.confidence;
       tmp.label = labels[object.class_id];
+      tmp.id = object.class_id;
       tmp.x = (object.xmin + object.xmax) / 2.0;
       tmp.y = (object.ymin + object.ymax) / 2.0;
       tmp.w = object.xmax - object.xmin;
diff --git a/src/test.cpp b/src/test.cpp
index 319ddcc..52f140d 100644
--- a/src/test.cpp
+++ b/src/test.cpp
@@ -40,7 +40,8 @@ int main(int argc, char **argv) {
       }
 
       cv::imshow("view", frame);
-      cv::waitKey(300);
+      
+      cv::waitKey(1);
     }
     ros::spinOnce();
   }