manual_park.py 文件源码

def __init__(self):
        """ Initialize the parking spot recognizer """

        #Subscribe to topics of interest
        rospy.Subscriber("/camera/image_raw", Image, self.process_image)
        rospy.Subscriber('/cmd_vel', Twist, self.process_twist)

        # Initialize video images
        cv2.namedWindow('video_window')        
        self.cv_image = None # the latest image from the camera
        self.dst =  np.zeros(IMG_SHAPE, np.uint8)
        self.arc_image = np.zeros(IMG_SHAPE, np.uint8)
        self.transformed = np.zeros(IMG_SHAPE, np.uint8)

        # Declare instance variables
        self.bridge = CvBridge() # used to convert ROS messages to OpenCV
        self.hsv_lb = np.array([0, 70, 60]) # hsv lower bound to filter for parking lines
        self.hsv_ub = np.array([30, 255, 140]) # hsv upper bound
        self.vel = None
        self.omega = None
        self.color = (0,0,255)