def get_object_type(self, object_type):
"""
Args:
object_type:
@type object_type: str
Returns: getObjectTypeResponse
"""
req = getObjectTypeRequest()
req.name = object_type
resp = self.get_object_type_srv.call(
req) # type: getObjectTypeResponse
return resp.object_type
def callback(self, detected_object):
"""
:type detected_object: InstancesArray
:return:
"""
objects = []
for obj in detected_object.instances:
'''to_json = {'name': obj.object_id, 'pose': {'position': {'x': obj.pose.position.x,
'y': obj.pose.position.y,
'z': obj.pose.position.z},
'orientation': {'x': obj.pose.orientation.x,
'y': obj.pose.orientation.y,
'z': obj.pose.orientation.z,
'w': obj.pose.orientation.w}}}'''
req = getObjectTypeRequest()
req.name = obj.object_type
resp = self.get_object_type_srv.call(req)
if not resp.success:
rospy.logwarn("Object type " + str(req.name) +
" not in DB, skipping")
continue
# TODO publikuje se automaticky Z poloha na 0.023 .. opravit
to_json = {
'name': obj.object_id,
'type': obj.object_type,
'position': {
'x': obj.pose.position.x, # in meters
'y': obj.pose.position.y,
'z': obj.pose.position.z
},
'orientation': {
'x': obj.pose.orientation.x,
'y': obj.pose.orientation.y,
'z': obj.pose.orientation.z,
'w': obj.pose.orientation.w
},
'bbox': {
'x': resp.object_type.bbox.dimensions[0],
'y': resp.object_type.bbox.dimensions[1],
'z': resp.object_type.bbox.dimensions[2]
}
}
objects.append(to_json)
self.pub.publish(jsonpickle.encode(objects))