bbox_node.py 文件源码

def __init__(self, box_features, camera_channel='/camera_crop/image_rect_color',
                 bbox_channel='/objectattention/bbox', feat_channel='/objectattention/features',
                 similarity_channel='/objectattention/similarity'):
        """ weights should be a dictionary with variable names as keys and weights as values
        """
        print "start"
        self._camera_channel = camera_channel
        self.curr_img = None
        self.fps = None
        print "session"
        self.init_model(box_features)
        self.temp = 1
        self.bbox_publisher =rospy.Publisher(bbox_channel, Float64MultiArray, queue_size =1)
        self.feat_publisher =rospy.Publisher(feat_channel, Float64MultiArray, queue_size =1)
        self.similarity_publisher =rospy.Publisher(similarity_channel, Float64MultiArray, queue_size =1)
        self.image_subscriber = rospy.Subscriber(camera_channel, Image, self._process_image)
        self.msg = None

        rospy.init_node('image_proc',anonymous=True)