inverse_perspective_mapping_node.py 文件源码

def __init__(self, node_name, sub_topic, pub_topic):
        self.img_prep = ImagePreparator()
        self.bridge = CvBridge()

        self.camera = None
        self.horizon_y = None
        self.transformation_matrix = None
        self.image_resolution = DEFAULT_RESOLUTION
        self.transformated_image_resolution = DEFAULT_RESOLUTION

        self.image_pub = rospy.Publisher(pub_topic, Image, queue_size=QUEUE_SIZE)

        rospy.init_node(node_name, anonymous=True)

        self.image_sub = rospy.Subscriber(sub_topic, Image, self.callback)

        rospy.spin()