From 7d02185bc6d7fbca73932a9a74100194530eb9e0 Mon Sep 17 00:00:00 2001
From: Eetu Silvennoinen <eetu.silvennoinen@gmail.com>
Date: Tue, 2 Feb 2021 09:29:31 +0200
Subject: [PATCH] Fix loggin
---
human_detection/src/webcam.py | 48 +++++++++++++----------------------
1 file changed, 17 insertions(+), 31 deletions(-)
diff --git a/human_detection/src/webcam.py b/human_detection/src/webcam.py
index 8705eef..61b84c9 100755
--- a/human_detection/src/webcam.py
+++ b/human_detection/src/webcam.py
@@ -5,6 +5,7 @@ import os
import rospy
import numpy as np
import tensorflow as tf
+from std_srvs.srv import Trigger, TriggerResponse
sys.path.append(os.getcwd())
@@ -20,11 +21,11 @@ from object_detection.utils import label_map_util
from object_detection.utils import visualization_utils as vis_util
# Defining Paths
-CWD_PATH = os.getcwd()
+SRC_PATH = os.path.dirname(os.path.realpath(__file__))
LABEL_MAPS = ['human_label_map.pbtxt', 'mscoco_label_map.pbtxt']
MODEL_NAME = 'ssd_mobilenet_v1_coco_2017_11_17'
-PATH_TO_CKPT = os.path.join(CWD_PATH, MODEL_NAME, 'frozen_inference_graph.pb')
-PATH_TO_LABELS = os.path.join(CWD_PATH + '/data', LABEL_MAPS[0])
+PATH_TO_CKPT = os.path.join(SRC_PATH, MODEL_NAME, 'frozen_inference_graph.pb')
+PATH_TO_LABELS = os.path.join(SRC_PATH + '/data', LABEL_MAPS[0])
# Load the label map.
label_map = label_map_util.load_labelmap(PATH_TO_LABELS)
@@ -127,6 +128,7 @@ class human_detector:
list_length = 0
bbx_list = box_list()
bbx_list.header.stamp = data.header.stamp
+ spotted = False
for score in scores[0]:
if score > 0.6:
@@ -137,6 +139,18 @@ class human_detector:
coordinates.ymax = int(boxes[0, counter, 2] * screen_height)
coordinates.xmax = int(boxes[0, counter, 3] * screen_width)
bbx_list.people_list.append(coordinates)
+ rospy.wait_for_service('return_to_home')
+ try:
+ if spotted is False:
+ rospy.loginfo("Human spotted! Returning home")
+ return_to_home = rospy.ServiceProxy('return_to_home', Trigger)
+ status = return_to_home()
+ rospy.loginfo(status.message)
+ spotted = True
+
+ except:
+ print("Service call failed: %s")
+
counter += 1
# print(list_length)
@@ -166,31 +180,3 @@ if __name__ == '__main__':
print('Current Tensorflow Version: ' + str(tf.__version__))
rospy.set_param('use_sim_time', 'True')
main()
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