outer_lane_detection.py 文件源码

def __init__(self):

      """ROS Subscriptions """
      self.image_pub = rospy.Publisher("/image_converter/output_video",Image, queue_size=10)
      self.image_sub = rospy.Subscriber("/raspicam_node/image/image_raw",Image,self.cvt_image) 
      self.cmdVelocityPub = rospy.Publisher('/platform_control/cmd_vel', Twist, queue_size=10)
      self.cmdVelocityStampedPub = rospy.Publisher('/platform_control/cmd_vel_stamped', TwistStamped, queue_size=10)

      """ Variables """
      self.bridge = CvBridge()
      self.latestImage = None
      self.outputImage = None
      self.blurImage = None
      self.edgeImage = None
      self.maskedImage = None
      self.lineMarkedImage = None
      self.imgRcvd = False

      self.kernel_size = 11
      self.low_threshold = 40
      self.high_threshold = 50
      self.rho = 1
      self.theta = np.pi/180
      self.threshold = 100
      self.min_line_len = 60
      self.max_line_gap = 80
      self.lines = (0, 0, 0, 0)

      self.intersectionPoint = (0,  0)  
      self.speed = 0.2
      self.flag = 0