eyes_qual.py 文件源码

def __init__(self, frame, transform_module=None):
        rospy.loginfo("Zarj eyes initialization begin")
        self.bridge = CvBridge()

        if transform_module is not None:
            self.tf = transform_module
        else:
            self.tf = tfzarj.TfZarj(rospy.get_param('/ihmc_ros/robot_name'))
            self.tf.init_transforms()

        self.detection_requests = []
        self.frame_id = frame

        self.image_sub_left = None
        self.image_sub_cloud = None

        rospy.loginfo("Zarj eyes initialization finished")