get_hand_gestures.py 文件源码

def __init__(self):
        self.node_name = "hand_gestures"
        rospy.init_node(self.node_name)

        rospy.on_shutdown(self.cleanup)

        # self.cv_window_name = self.node_name
        # cv2.namedWindow("Depth Image", 1)
        # cv2.moveWindow("Depth Image", 20, 350)

        self.bridge = CvBridge()
        self.numFingers = RecognizeNumFingers() 

        self.depth_sub = rospy.Subscriber("/asus/depth/image_raw", Image, self.depth_callback)
        self.num_pub = rospy.Publisher('num_fingers', Int32, queue_size=10, latch=True)       
        # self.img_pub = rospy.Publisher('hand_img', Image, queue_size=10)
        rospy.loginfo("Waiting for image topics...")