def __init__(self,name): print 'constructor' #self.detection_cb_ = detection_callback self._action_name = name self.vbog_detector_ = MultiScaleRecognizerObject() self.action_server_ = actionlib.SimpleActionServer(self._action_name,pandubot_object_recognition.msg.object_actionAction,execute_cb=self.execute_cb,auto_start = False) self.action_server_.start() print '[OR] started server'
class ObjectAction(object):
feedback_ = pandubot_object_recognition.msg.object_actionFeedback()
result_ = pandubot_object_recognition.msg.object_actionResult()
def __init__(self,name):
print 'constructor'
#self.detection_cb_ = detection_callback
self._action_name = name
self.vbog_detector_ = MultiScaleRecognizerObject()
self.action_server_ = actionlib.SimpleActionServer(self._action_name,pandubot_object_recognition.msg.object_actionAction,execute_cb=self.execute_cb,auto_start = False)
self.action_server_.start()
print '[OR] started server'
def execute_cb(self,goal):
print '[OR] goal rx', goal
self.feedback_.busy_code = 0
object_found = False;
while not object_found:
self.action_server_.publish_feedback(self.feedback_) # say that you will now be busy
print '[OR] wait for image'
image_msg = rospy.wait_for_message("/usb_cam/image_raw",Image) # get one image and process it"
cv_image_gray = image_msg_to_grayscale(image_msg)
# #############333 Injections:
# train_image_path = '/home/bhavya/pandubot_wkspc/ros_wkspc/src/pandubot_object_recognition/param/pepsi.png'
# cv_image_gray = cv2.imread(train_image_path,0) # queryImag
print '[OR] got image'
# sift_label = SIFTMatching.IsMatch(cv_image_gray)
cv_image_bgr = image_msg_to_bgr(image_msg)
vbog_label = self.vbog_detector_.predictLabel(cv_image_bgr)
# print ('sift Label: ' , sift_label)
print ('vbog Label: ' , vbog_label[0])
object_found = (vbog_label[0] == goal.target_class)
return_label = vbog_label
self.result_.detected_class = return_label
self.action_server_.set_succeeded(self.result_)
