inverse_perspective_mapping_node.py 文件源码

def callback(self, data):
        try:
            cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
        except CvBridgeError as e:
            rospy.logerr(e)

        if self._camera_needs_to_be_initialized(cv_image):
            self._initialize_camera_parameters(cv_image)
            self._calculate_transformation_matrix()

        if self.transformation_matrix is None:
            self._calculate_transformation_matrix()

        warped = self.img_prep.warp_perspective(cv_image, self.transformation_matrix, self.transformated_image_resolution)

        try:
            self.image_pub.publish(self.bridge.cv2_to_imgmsg(warped, "bgr8"))
        except CvBridgeError as e:
            rospy.logerr(e)