ros_node.py 文件源码

def __init__(self):
        rospy.init_node('EvaDetectionPipeline', anonymous=True)
        rospy.Subscriber('/velodyne_points', PointCloud2, self.pointcloud_received)
        self.pipeline = dp.DetectionPipeline(enable_birdseye = True,
                                             enable_camera = False,
                                             enable_kalman = False)