object_follower.py 文件源码

def convert_depth_image(self, ros_image):
        # Use cv_bridge() to convert the ROS image to OpenCV format
        try:
            # Convert the depth image using the default passthrough encoding
            depth_image = self.cv_bridge.imgmsg_to_cv2(ros_image, "passthrough")
        except CvBridgeError, e:
            print e

        # Convert the depth image to a Numpy array
        self.depth_array = np.array(depth_image, dtype=np.float32)