eyes.py 文件源码

def __init__(self):
        rospy.loginfo("Zarj eyes initialization begin")
        self.bridge = CvBridge()
        self.sub_left = None
        self.sub_right = None
        self.sub_cloud = None
        self.processors = []
        self.disabled = False
        self.left_image = None
        self.right_image = None
        self.cloud = None
        self.p_left = None
        self.cloud_image_count = 0
        self.info_sub_l = rospy.Subscriber(
            "/multisense/camera/left/camera_info", CameraInfo, self.info_left)

        rospy.loginfo("Zarj eyes initialization finished")