def handle_recognize(req):
rsp = recognizeResponse()
bridge = CvBridge()
try:
# Convert rosmsg to cv image
# np_array = np.fromstring(req.img_in.data, np.uint8)
# image = cv2.imdecode(np_array, cv2.CV_LOAD_IMAGE_COLOR)
cv_image = bridge.imgmsg_to_cv2(req.img_in, "bgr8")
(rows, cols, channels) = cv_image.shape
if cols != 640 or rows != 480:
rospy.WARN('Can not get image.')
return rsp
else:
result = ps.process(cv_image)
ro_msg = recognized_objects()
for i in result:
bbox = i[0]
score = i[1]
class_name = i[2]
cv2.rectangle(cv_image, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])), (255, 0, 255), 2)
cv2.putText(cv_image, '{:s} {:.3f}'.format(class_name, score),
(int(bbox[0]), int(bbox[1]) - 2),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 2)
label_str_msg = String()
label_str_msg.data = class_name
bbox_array_msg = UInt16MultiArray()
for j in bbox:
bbox_array_msg.data.append(j)
ro_msg.labels.append(label_str_msg)
ro_msg.bbox_arrays.append(bbox_array_msg)
ro_msg.header = req.img_in.header
rsp.img_out = bridge.cv2_to_imgmsg(cv_image, "bgr8")
rsp.obj_info = ro_msg
return rsp
except CvBridgeError as e:
print(e)
return rsp
def _callback(self, req):
if self._init is False:
self._net = load_net()
self._init = True
use_gpu = True
if use_gpu:
caffe.set_mode_gpu()
caffe.set_device(0)
cfg.GPU_ID = 0
else:
caffe.set_mode_cpu()
# Convert rosmsg to cv image
bridge = CvBridge()
image = bridge.imgmsg_to_cv2(req.img_in, "bgr8")
objects = self._detect(image)
ro_msg = msg.recognized_objects()
rsp = srv.recognizeResponse()
for i in objects:
bbox = i[0]
class_name = i[2]
label_str_msg = String()
label_str_msg.data = class_name
bbox_array_msg = UInt16MultiArray()
for j in bbox:
bbox_array_msg.data.append(j)
ro_msg.labels.append(label_str_msg)
ro_msg.bbox_arrays.append(bbox_array_msg)
ro_msg.header = req.img_in.header
rsp.obj_info = ro_msg
return rsp