camera.py 文件源码

def __init__(self, name):
        """
        Constructor.

        @param name: camera identifier.  You can get a list of valid
                     identifiers by calling the ROS service /cameras/list.

                     Expected names are right_hand_camera, left_hand_camera
                     and head_camera.  However if the cameras are not
                     identified via the parameter server, they are simply
                     indexed starting at 0.
        """
        self._id = name

        self._open_svc = rospy.ServiceProxy('/cameras/open', OpenCamera)
        self._close_svc = rospy.ServiceProxy('/cameras/close', CloseCamera)

        self._settings = CameraSettings()
        self._settings.width = 320
        self._settings.height = 200
        self._settings.fps = 20
        self._open = False