sitl_file.py 文件源码

def run(self):

      while True:

    # Only run loop if we have an image
    if self.process:

            self.imgprocess.ProcessingImage(self.latestimage)   # FormulaPi Image Processing Function

            self.AdjustMotorSpeed(self.imgprocess.trackoffset)  # Compute Motor Commands From Image Output

        # Publish Processed Image
        cvImage = self.imgprocess.outputImage
        try:
            imgmsg = self.bridge.cv2_to_imgmsg(cvImage, "bgr8")
            self.image_pub.publish(imgmsg)
        except CvBridgeError as e:
                print(e)

            #cv2.imshow("Image window", self.cvImage)
            #cv2.waitKey(3)