cup_tracking.py 文件源码

def __init__(self):
        self.bridge = CvBridge()
        # initializes subscriber for Baxter's left hand camera image topic
        self.image_sub = rospy.Subscriber("/cameras/left_hand_camera/image",Image,self.find_cups)
        # initializes subscriber for the location of the treasure (published by the find_treasure node)
        self.treasure_location_sub = rospy.Subscriber("/treasure_location",Treasure,self.find_treasure)
        # initializes publisher to publish the location of the cup containing the treasure
        self.treasure_cup_pub = rospy.Publisher("treasure_cup_location",Point,queue_size=10)
        # initializes publisher to publish the processed image to Baxter's display
        self.image_tracking_pub = rospy.Publisher("/robot/xdisplay",Image,queue_size=10)
        self.treasure_cup_location = Point()
        self.cups = []
        self.cupCenters = [[0,0],[0,0],[0,0]]
        self.wasPreviouslyTrue = False
        self.flag = False
        self.minRadius = 10
        for i in range(0,3):
            self.cups.append(cup())

    # determines the location of the 3 red cups (callback for the image topic subscriber)