class RecognizeObjects(State):
def __init__(self):
State.__init__(self,
input_keys=['clusters', 'bounding_boxes', 'names'],
output_keys=['names'],
outcomes=['done'])
self.label_vis = LabelVisualizer('object_labels', 'teal')
try:
rospy.wait_for_service('recognize_object', timeout=5)
self.recognize = rospy.ServiceProxy('recognize_object',
RecognizeObject)
except rospy.ROSException:
rospy.logwarn('Object recognition service is not available, '
'will return "unknown" for all objects.')
self.recognize = None
def execute(self, ud):
ud.names = list()
for c, b in zip(ud.clusters, ud.bounding_boxes):
if not self.recognize is None:
response = self.recognize(c, b.dimensions)
name = response.name
else:
name = 'unknown'
ud.names.append(name)
self.label_vis.publish(ud.names, [b.center for b in ud.bounding_boxes])
return 'done'
class RecognizeObjects(State):
def __init__(self):
State.__init__(self,
input_keys=['clusters', 'bounding_boxes', 'names'],
output_keys=['names'],
outcomes=['done'])
self.label_vis = LabelVisualizer('object_labels', 'teal')
try:
rospy.wait_for_service('recognize_object', timeout=5)
self.recognize = rospy.ServiceProxy('recognize_object',
RecognizeObject)
except rospy.ROSException:
rospy.logwarn('Object recognition service is not available, '
'will return "unknown" for all objects.')
self.recognize = None
def execute(self, ud):
ud.names = list()
for c, b in zip(ud.clusters, ud.bounding_boxes):
if not self.recognize is None:
response = self.recognize(c, b.dimensions)
name = response.name
else:
name = 'unknown'
ud.names.append(name)
self.label_vis.publish(ud.names, [b.center for b in ud.bounding_boxes])
return 'done'
def __init__(self):
State.__init__(self,
input_keys=['clusters', 'bounding_boxes', 'names'],
output_keys=['names'],
outcomes=['done'])
self.label_vis = LabelVisualizer('object_labels', 'teal')
try:
rospy.wait_for_service('recognize_object', timeout=5)
self.recognize = rospy.ServiceProxy('recognize_object',
RecognizeObject)
except rospy.ROSException:
rospy.logwarn('Object recognition service is not available, '
'will return "unknown" for all objects.')
self.recognize = None
def __init__(self):
State.__init__(self,
input_keys=['clusters', 'bounding_boxes', 'names'],
output_keys=['names'],
outcomes=['done'])
self.label_vis = LabelVisualizer('object_labels', 'teal')
try:
rospy.wait_for_service('recognize_object', timeout=5)
self.recognize = rospy.ServiceProxy('recognize_object',
RecognizeObject)
except rospy.ROSException:
rospy.logwarn('Object recognition service is not available, '
'will return "unknown" for all objects.')
self.recognize = None
