eyes.py 文件源码

def start_processing(self):
        """ Start processing data """
        if self.disabled:
            rospy.loginfo("Processing started")
        self.disabled = False

        if self.sub_left is None:
            self.sub_left = rospy.Subscriber(
                "/multisense/camera/left/image_color", Image,
                self.left_color_detection)
            rospy.sleep(0.1)
        if self.sub_right is None:
            self.sub_right = rospy.Subscriber(
                "/multisense/camera/right/image_color", Image,
                self.right_color_detection)
            rospy.sleep(0.1)
        if self.sub_cloud is None:
            self.sub_cloud = rospy.Subscriber(
                "/multisense/image_points2_color", PointCloud2,
                self.stereo_cloud)