vis_tools.py 文件源码

def make_mask(limb, filename):

    """
    Given a limb (right or left) and a name to save to
    (in the baxter_tools/share/images/ directory),
    create a mask of any dark objects in the image from the camera
    and save it.
    """

    image_sub = rospy.Subscriber(
        '/cameras/' + limb + '_hand_camera/image',Image,callback)


    try:
        bridge = CvBridge()
        cv_image = bridge.imgmsg_to_cv2(img, "bgr8")
    except CvBridgeError, e:
        print e

    msk = cv2.threshold(img, 250, 255, cv2.THRESH_BINARY_INV)
    return msk