sensor_reader.py 文件源码

def __init__(self, calibrated=False, prefix='human'):
        rospack = rospkg.RosPack()
        self.human_prefix = prefix
        self.pkg_dir = rospack.get_path("human_moveit_config")
        self.tfl = tf.TransformListener()
        self.skel_data = {}
        self.lengths = {}
        self.calibrated = calibrated
        self.calibration = (self.calibration_matrices(rospy.get_param('/human/calibration'))
                            if self.calibrated else {})
        self.sensor_frames = {}
        self.sensors = ['opt', 'kinect']
        self.sensors_ref = {'opt': 'optitrack', 'kinect': 'kinect'}

        self.skeletons = {}
        for s in self.sensors:
            self.skeletons[s] = {}
        self.init_sensor_frames()