objNode.py

#!/usr/bin/env python
# license removed for brevity
import rospy
from std_msgs.msg import String
from object.detector import Detector
import sys
try:
    sys.path.remove('/opt/ros/kinetic/lib/python2.7/dist-packages')
except ValueError:
    pass
import cv2


class RosObjDetector(object):
    def __init__(self, save_path):
        self.detector = Detector(save_path=save_path)
        self.pub = rospy.Publisher('Main_Sub', String, queue_size=10)
        rospy.init_node('Obj_py', anonymous=False)

    def callback(self, data):
        # print("Here is callback")
        if data.data == "Object_detect":
            cam_id = 'http://192.168.3.66:4747/video'
            detected_frame = self.detector.detect_cam(cam_id)
            cv2.imshow("Camera", detected_frame)
            cv2.waitKey(3000)
            cv2.destroyWindow('Camera')
            if not rospy.is_shutdown():
                done_msg = "Object_detected"
                rospy.loginfo(done_msg)
                self.pub.publish(done_msg)

    def listen(self):
        # rospy.init_node('listener', anonymous=True)
        print("waiting for object detect message")
        rospy.Subscriber("Main_Pub", String, self.callback)
        # print('After sub')
        rospy.spin()


if __name__ == '__main__':
    objDetector = RosObjDetector(save_path='objectFound')
    objDetector.listen()
    # print('After listen')