def execute_bounding_box(self, goal):
self.bb_active = True
mybb = BoundingBox(self.bb_done_callback, self.im_server, goal.image)
rr = rospy.Rate(self.loop_rate)
while (self.bb_active and (not self.bb_server.is_preempt_requested()) and
(not rospy.is_shutdown())):
rr.sleep()
if self.bb_server.is_preempt_requested():
mybb.cancel()
self.bb_server.set_preempted()
else:
result = mybb.get_result()
if result is None:
self.bb_server.set_aborted()
else:
(row1, row2, col1, col2) = result
resp = BoundingBoxResult()
resp.min_row.data = row1
resp.max_row.data = row2
resp.min_col.data = col1
resp.max_col.data = col2
self.bb_server.set_succeeded(resp)
def execute_bounding_box(self, goal):
self.bb_active = True
mybb = BoundingBox(self.bb_done_callback, self.im_server, goal.image)
rr = rospy.Rate(self.loop_rate)
while (self.bb_active and (not self.bb_server.is_preempt_requested())
and (not rospy.is_shutdown())):
rr.sleep()
if self.bb_server.is_preempt_requested():
mybb.cancel()
self.bb_server.set_preempted()
else:
result = mybb.get_result()
if result is None:
self.bb_server.set_aborted()
else:
(row1, row2, col1, col2) = result
resp = BoundingBoxResult()
resp.min_row.data = row1
resp.max_row.data = row2
resp.min_col.data = col1
resp.max_col.data = col2
self.bb_server.set_succeeded(resp)
