detection_publisher.py

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#!/usr/bin/python
# BSD 3-Clause License

# Copyright (c) 2019, Noam C. Golombek
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import socket
import numpy as np
import rospy
import rosgraph
from std_msgs.msg import Header, Int16, Float32
from geometry_msgs.msg import Quaternion
from cnn_bridge.msg import Detection

import timeit
class DetectionPublisher(object):
    '''A class to publish commands to ROS'''

    def __init__(self, topic_name="detection"):
        '''Initialize ros publisher, ros subscriber'''
        self.detect_pub = rospy.Publisher(
            rospy.get_name() + '/' + topic_name, Detection, queue_size=1)

    def send_mask(self, data, meta_header):
        """Set up a ROS camera
        Input: 
            data  (str) The data to send to ROS [throttle, steer]
        Output: None"""
        try:
            rosgraph.Master('/rostopic').getPid()
        except socket.error:
            raise rospy.ROSException("Unable to communicate with master!")
        
        detection = Detection()

        # detection.boxes = [float(x) for x in data['boxes']]
        # detection.scores = [float(x) for x in data['scores']]
        detection.classes = []
        for x in data['classes']:
            detection.classes.append(Int16(int(x)))
        detection.scores = []
        for x in data['scores']:
            detection.scores.append(Float32(float(x)))
        detection.boxes = []
        for box in data['boxes']:
            quat = Quaternion()
            quat.x = box[0]
            quat.y = box[1]
            quat.z = box[2]
            quat.w = box[3]
            detection.boxes.append(quat)

        h = Header()
        h.stamp = rospy.Time.now()

        detection.header = h
        detection.image_identifier = meta_header

        self.detect_pub.publish(detection)