camera.py 文件源码

def __init__(self):
        """
        Constructor.
        """
        camera_param_dict = RobotParams().get_camera_details()
        camera_list = camera_param_dict.keys()
        # check to make sure cameras is not an empty list
        if not camera_list:
            rospy.logerr(' '.join(["camera list is empty: ", ' , '.join(camera_list)]))
            return
        camera_color_dict = {"mono":['cognex'], "color":['ienso_ethernet']}
        self.cameras_io = dict()
        for camera in camera_list:
            if camera_param_dict[camera]['cameraType'] in camera_color_dict[''
            'color']:
                is_color = True
            else:
                is_color = False
            self.cameras_io[camera] = {'interface': IODeviceInterface("internal"
                "_camera", camera), 'is_color': is_color}