Callback freezes after 1sst frame with YOLO

[starcheek]

Hi,

I have been trying to apply YOLO similar to PX4 version, but after 1st frame the callback stops calling. The problem is in combining the cv2.imshow and inference call. If i call them separately, i.e. only inference or only showing original frame wuth cv2, they both work fine. But if I add them in same block of callback, even if I do not try to plot results, the callback stops working after 1st frame.

#!/usr/bin/env python

import rospy
import cv2
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
from ultralytics import YOLO

model = YOLO("yolov8n.pt")  

class Camera1:
    def __init__(self):
        self.bridge = CvBridge()
        self.image_sub = rospy.Subscriber("/uav1/down_camera/image_raw", Image, self.callback)
        rospy.loginfo("Camera1 node initialized")

    def callback(self, data):
        rospy.loginfo("Received image frame")
        try:
            cv_image = self.bridge.imgmsg_to_cv2(data, desired_encoding="bgr8")
        except CvBridgeError as e:
            rospy.logerr(e)
            return

        resized_image = cv2.resize(cv_image, (640, 640))
        results = model.predict(resized_image)

        cv2.imshow('Detected Frame', results[0].plot())    
        cv2.waitKey(1)

def main():
    rospy.init_node('camera_read', anonymous=False)
    Camera1()
    
    try:
        rospy.spin()
    except KeyboardInterrupt:
        rospy.loginfo("Shutting down")
    
    cv2.destroyAllWindows()

if __name__ == '__main__':
    main()

[monemati]

@starcheek Hi, I remember that I did something like this in here, and it was fine combining inference and imshow, you can check that out.