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)
