def __init__(self): self.tf = tf.TransformListener() rospy.Service('/describe_poi', DescribePOI, self.describe) rospy.Service('/correct_meaning', Correction, self.correct) self.scene_sub = rospy.Subscriber('bolt_scene', BoltScene, self.handle_scene) self.last_scene = None self.meaning = None self.speaker = Speaker(Vec2(0, 0))
def __init__(self): self.bboxes = None self.boxes = None self.selected_obj_id = None self.object_centers_msg = None self.trajector_location = None self.current_scene = None self.meaning = None self.scene_lmk_to_bbox = {} self.speaker = Speaker(Vec2(0, 0)) self.tf = tf.TransformListener() self.polygons = [] self.bridge = CvBridge() self.object_detector = ObjectDetector() self.font = cv.InitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5, shear=0, thickness=1, lineType=cv.CV_AA) cv.NamedWindow('img') cv.SetMouseCallback('img', self.handle_click) rospy.Subscriber('camera/rgb/image_color', Image, self.process_image) rospy.Subscriber('object_centers', ObjectCenters, self.update_object_centers) rospy.Service('describe_poi', DescribePOI, self.describe) rospy.Service('correct_meaning', Correction, self.correct) rospy.Service('autocorrect_meaning', AutoCorrect, self.autocorrect) rospy.Service('get_object_from_sentence', GetObjectFromSentence, self.get_object_from_sentence) self.scene_pub = rospy.Publisher('bolt_scene', SceneMsg) self.overlay_pub = rospy.Publisher('bolt_overlay', Image) self.move_it_pub = rospy.Publisher('move_it', MoveIt)