-
Notifications
You must be signed in to change notification settings - Fork 20
/
voxnet_ros.py
44 lines (36 loc) · 1016 Bytes
/
voxnet_ros.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
#!/usr/bin/python2
# -*- coding: utf-8 -*-
"""
An ROS-interface or ROS-Node for `voxnet.py`
TODO: (vincent.cheung.mcer@gmail.com)This node is still under construction.
"""
#import tensorflow as tf
import numpy as np
import os
from glob import glob
import random
# Ros related
import rospy
from sensor_msgs.msg import PointCloud2, PointField
import sensor_msgs.point_cloud2 as pc2
# Voxnet Related
from voxnet import SUOD_label_dictionary
global pc2_pub
def pc2_handler(data):
"""
Handler for pointcloud2 segments classfication and re-publish pointcloud2 msg with label.
"""
pass
if __name__ == '__main__':
try:
# Init Ros Node
rospy.init_node('segment_classified',anonymous=True)
# Init publisher
global pc2_pub
pc2_pub = rospy.Publisher('/voxnet/points_l', pc2, queue_size=10)
# Subscriber
rospy.Subscriber('/velodyne_points',Imu,on_new_imu)
rospy.spin()
except KeyboardInterrupt:
# Handle
pass