def callback(req):
global if_detected
cam = Camera()
print("here")
if req.people_id == 0:
processor = Processor("object")
elif req.people_id == 1:
processor = Processor("person")
elif req.people_id == 2:
processor = Processor("people")
elif req.people_id == 3:
processor = Processor("phone")
vec = name_init()
# processor.setObjectName(vec)
obj_name_tmp = req.object_name
count = 1
print("*************************")
print(obj_name_tmp + " need to be found.")
if obj_name_tmp not in vec and req.people_id == 0:
res = xm_ObjectDetectResponse()
obj = []
res.object.append(obj)
print("the target object is not in the list")
processor.setDetectName(obj_name_tmp)
frame = []
detCordinate = []
targetCor = Cordinate3D()
if not cam.openCamera():
print("camera failure")
cam.closeCamera()
sys.exit(1)
print("sucessful open")
while count <= 10:
print(str(count))
count = count + 1
targetCor.clear()
detCordinate.clear()
# frame = cv.imread("/home/domistic/ssd_pytorch/pic/frame.jpg")
frame = cam.transColorImg()
cv.imwrite("/home/domistic/Vision/Frame/frame_detect.jpg", frame)
print("ddddddddddddd")
frame = cv.imread("/home/domistic/Vision/Frame/frame_detect.jpg")
frame_path = "/home/domistic/Vision/Frame/frame_detect.jpg"
processor.passMat(frame, frame_path)
if req.people_id == 3:
print("rrrrrrrrrrrrr")
detCordinate = processor.Find_Phone()
else:
detCordinate = processor.getBoundingBox()
if obj_name_tmp == "Green_tea":
detCordinate[0][1] = detCordinate[0][1] + (
detCordinate[0][3] - detCordinate[0][1]) * 2 / 7
print(detCordinate)
print(detCordinate)
if len(detCordinate) == 0 or len(detCordinate[0]) == 0:
print("no object")
cam.Awaken()
continue
if len(detCordinate) != 0:
# area = (detCordinate[0][2] - detCordinate[0][0])*(detCordinate[0][3] - detCordinate[0][1])
cam.Awaken()
break
if cv.waitKey(1) == ord("q"):
break
targetCor = cam.getCordinate3D(detCordinate)
cam.closeCamera()
if req.people_id != 3:
processor.drawRect()
result = processor.getImage()
curr_time = datetime.datetime.now()
name = "/home/domistic/Vision/Result/object_detect" + str(
curr_time.hour) + "_" + str(curr_time.minute) + ".jpg"
# cv.imwrite("/home/domistic/Vision/Result/object_detect.jpg", result)
cv.imwrite(name, result)
rows, cols = result.shape[0:2]
result = cv.resize(result, (int(cols / 2), int(rows / 2)))
cv.imshow("windows", result)
cv.waitKey(1000)
cv.destroyAllWindows()
print('picture~~~~~')
res = xm_ObjectDetectResponse()
print("DetCordinate size: " + str(len(detCordinate)))
for i in range(0, len(detCordinate)):
obj_tmp = xm_Object()
print("X:" + str(targetCor[i].x) + " Y:" + str(targetCor[i].y) +
" Z:" + str(targetCor[i].z))
obj_tmp.pos.point.x = targetCor[i].x
obj_tmp.pos.point.y = targetCor[i].y
obj_tmp.pos.point.z = targetCor[i].z
obj_tmp.pos.header.frame_id = "camera_link"
obj_tmp.pos.header.stamp = rospy.Time(0)
if (detCordinate[i][3] - detCordinate[i][1]) < 150:
print("&&&&&&&&&&Small thing&&&&&&&&&&")
obj_tmp.state = 0
else:
obj_tmp.state = 1
res.object.append(obj_tmp)
# print(res)
if_detected = 1
return res
