perceive_shapes.py 文件源码

def __init__(self):
        self.point_cloud_sub = rospy.Subscriber('/camera/depth_registered/points', PointCloud2, self.point_cloud_callback)
        self.br = tf2_ros.TransformBroadcaster()

        circle_rgb = [110, 70, 90]
        triangle_rgb = [75, 120, 60]
        square_rgb = [30, 90, 155]
        rectangle_rgb = [165, 175, 90]
        hexagon_rgb = [120, 50, 50]
        self.shapes_rgb = [circle_rgb, triangle_rgb, square_rgb, rectangle_rgb, hexagon_rgb]
        self.shape_names = ['circle', 'triangle', 'square', 'rectangle', 'hexagon']