registration.py 文件源码

def __init__(self):

        self.br = CvBridge()

        # If you subscribe /camera/depth_registered/hw_registered/image_rect topic, the depth image and rgb image are 
        # already registered. So you don't need to call register_depth_to_rgb()
        # self.depth_image_sub = rospy.Subscriber("/camera/depth_registered/hw_registered/image_rect",Image,self.depth_callback)

        self.depth_image_sub = rospy.Subscriber("/camera/depth/image_rect",Image,self.depth_callback)
        self.rgb_image_sub = rospy.Subscriber("/camera/rgb/image_rect_color",Image,self.rgb_callback)
        self.ir_img = None
        self.rgb_img = None

        self.rgb_rmat = None
        self.rgb_tvec = None
        self.ir_rmat = None
        self.ir_tvec = None

        self.ir_to_rgb_rmat = None
        self.ir_to_rgb_tvec = None
        self.depth_image = None
        self.rgb_image = None

        self.load_extrinsics()
        self.load_intrinsics()
        self.depth_image = None
        self.rgb_image = None
        self.count = 0
        # self.depth_image = cv2.imread("/home/chentao/depth.png", cv2.CV_LOAD_IMAGE_GRAYSCALE)
        # self.rgb_image = cv2.imread("/home/chentao/rgb.png")