get_hand_gestures.py 文件源码

def depth_callback(self, ros_image):
        try:
            inImg = self.bridge.imgmsg_to_cv2(ros_image)
        except CvBridgeError, e:
            print e

        inImgarr = np.array(inImg, dtype=np.uint16)
        # inImgarr = cv2.GaussianBlur(inImgarr, (3, 3), 0)
        # cv2.normalize(inImgarr, inImgarr, 0, 1, cv2.NORM_MINMAX) 

        self.outImg, self.num_fingers = self.process_depth_image(inImgarr) 
        # outImg = self.process_depth_image(inImgarr) 
        # rate = rospy.Rate(10)        
        self.num_pub.publish(self.num_fingers)
        # self.img_pub.publish(self.bridge.cv2_to_imgmsg(self.outImg, "bgr8"))
        # rate.sleep()

        cv2.imshow("Hand Gesture Recognition", self.outImg)
        cv2.waitKey(3)