fix const reference

Author: fateshelled

yolox_ros_cpp/yolox_cpp/include/yolox_cpp/coco_names.hpp

@@ -93,7 +93,7 @@ namespace yolox_cpp{
         {0.857, 0.857, 0.857},
         {0.000, 0.447, 0.741},
         {0.314, 0.717, 0.741},
-        {0.50, 0.5, 0}
+        {0.500, 0.500, 0.000}
     };
 }
 #endif

yolox_ros_cpp/yolox_cpp/include/yolox_cpp/utils.hpp

@@ -8,39 +8,44 @@
 #include "core.hpp"
 #include "coco_names.hpp"
 
-namespace yolox_cpp{
-    namespace utils{
+namespace yolox_cpp
+{
+    namespace utils
+    {
 
-        static std::vector<std::string> read_class_labels_file(file_name_t file_name)
+        static std::vector<std::string> read_class_labels_file(const file_name_t &file_name)
         {
             std::vector<std::string> class_names;
             std::ifstream ifs(file_name);
             std::string buff;
-            if(ifs.fail()){
+            if (ifs.fail())
+            {
                 return class_names;
             }
-            while (getline(ifs, buff)) {
+            while (getline(ifs, buff))
+            {
                 if (buff == "")
                     continue;
                 class_names.push_back(buff);
             }
             return class_names;
         }
 
-        static void draw_objects(cv::Mat bgr, const std::vector<Object>& objects, const std::vector<std::string>& class_names=COCO_CLASSES)
+        static void draw_objects(cv::Mat bgr, const std::vector<Object> &objects, const std::vector<std::string> &class_names = COCO_CLASSES)
         {
 
-            for (size_t i = 0; i < objects.size(); i++)
+            for (const Object &obj : objects)
             {
-                const Object& obj = objects[i];
-
-                int color_index = obj.label % 80;
+                const int color_index = obj.label % 80;
                 cv::Scalar color = cv::Scalar(color_list[color_index][0], color_list[color_index][1], color_list[color_index][2]);
                 float c_mean = cv::mean(color)[0];
                 cv::Scalar txt_color;
-                if (c_mean > 0.5){
+                if (c_mean > 0.5)
+                {
                     txt_color = cv::Scalar(0, 0, 0);
-                }else{
+                }
+                else
+                {
                     txt_color = cv::Scalar(255, 255, 255);
                 }
 
@@ -68,4 +73,4 @@ namespace yolox_cpp{
         }
     }
 }
-#endif
+#endif

yolox_ros_cpp/yolox_ros_cpp/include/yolox_ros_cpp/yolox_ros_cpp.hpp

@@ -39,6 +39,6 @@ namespace yolox_ros_cpp{
         rclcpp::Publisher<bboxes_ex_msgs::msg::BoundingBoxes>::SharedPtr pub_bboxes_;
         image_transport::Publisher pub_image_;
 
-        bboxes_ex_msgs::msg::BoundingBoxes objects_to_bboxes(cv::Mat, std::vector<yolox_cpp::Object>, std_msgs::msg::Header);
+        bboxes_ex_msgs::msg::BoundingBoxes objects_to_bboxes(const cv::Mat&, const std::vector<yolox_cpp::Object>&, const std_msgs::msg::Header&);
     };
 }

yolox_ros_cpp/yolox_ros_cpp/src/yolox_ros_cpp.cpp

@@ -131,15 +131,17 @@ namespace yolox_ros_cpp
         pub_img = cv_bridge::CvImage(img->header, "bgr8", frame).toImageMsg();
         this->pub_image_.publish(pub_img);
     }
-    bboxes_ex_msgs::msg::BoundingBoxes YoloXNode::objects_to_bboxes(cv::Mat frame, std::vector<yolox_cpp::Object> objects, std_msgs::msg::Header header)
+
+    bboxes_ex_msgs::msg::BoundingBoxes YoloXNode::objects_to_bboxes(
+        const cv::Mat &frame, const std::vector<yolox_cpp::Object> &objects, const std_msgs::msg::Header &header)
     {
         bboxes_ex_msgs::msg::BoundingBoxes boxes;
         boxes.header = header;
-        for (auto obj : objects)
+        for (const auto &obj : objects)
         {
             bboxes_ex_msgs::msg::BoundingBox box;
             box.probability = obj.prob;
-            box.class_id = yolox_cpp::COCO_CLASSES[obj.label];
+            box.class_id = this->class_names_[obj.label];
             box.xmin = obj.rect.x;
             box.ymin = obj.rect.y;
             box.xmax = (obj.rect.x + obj.rect.width);