camera.py 文件源码

def set_callback(self, camera_name, callback, callback_args=None,
        queue_size=10, rectify_image=True):
        """
        Setup the callback function to show image.

        @type camera_name: str
        @param camera_name: camera name
        @type callback: fn(msg, cb_args)
        @param callback: function to call when data is received
        @type callback_args: any
        @param callback_args: additional arguments to pass to the callback
        @type queue_size: int
        @param queue_size: maximum number of messages to receive at a time
        @type rectify_image: bool
        @param rectify_image: specify whether subscribe to the rectified or
                              raw (unrectified) image topic
        """
        if self.verify_camera_exists(camera_name):
            if rectify_image == True:
                if self.cameras_io[camera_name]['is_color']:
                    image_string = "image_rect_color"
                else:
                    image_string = "image_rect"
            else:
                image_string = "image_raw"
            rospy.Subscriber('/'.join(["/io/internal_camera", camera_name,
                image_string]), Image, callback, callback_args=callback_args)