python类CameraInfo()的实例源码

def __init__(self, node_name='naoqi_camera'):
        NaoqiNode.__init__(self, node_name)

        self.camProxy = self.get_proxy("ALVideoDevice")
        if self.camProxy is None:
            exit(1)
        self.nameId = None
        self.camera_infos = {}
        def returnNone():
            return None
        self.config = defaultdict(returnNone)

        # ROS publishers
        self.pub_img_ = rospy.Publisher('~image_raw', Image, queue_size=5)
        self.pub_info_ = rospy.Publisher('~camera_info', CameraInfo, queue_size=5)

        # initialize the parameter server
        self.srv = Server(NaoqiCameraConfig, self.reconfigure)

        # initial load from param server
        self.init_config()

        # initially load configurations
        self.reconfigure(self.config, 0)

def __init__(self):
        rospy.loginfo("Zarj eyes initialization begin")
        self.bridge = CvBridge()
        self.sub_left = None
        self.sub_right = None
        self.sub_cloud = None
        self.processors = []
        self.disabled = False
        self.left_image = None
        self.right_image = None
        self.cloud = None
        self.p_left = None
        self.cloud_image_count = 0
        self.info_sub_l = rospy.Subscriber(
            "/multisense/camera/left/camera_info", CameraInfo, self.info_left)

        rospy.loginfo("Zarj eyes initialization finished")

def make_camera_msg(cam):
    camera_info_msg = CameraInfo()
    width, height = cam[0], cam[1]
    fx, fy = cam[2], cam[3]
    cx, cy = cam[4], cam[5]
    camera_info_msg.width = width
    camera_info_msg.height = height
    camera_info_msg.K = [fx, 0, cx,
                         0, fy, cy,
                         0, 0, 1]

    camera_info_msg.D = [0, 0, 0, 0]

    camera_info_msg.P = [fx, 0, cx, 0,
                         0, fy, cy, 0,
                         0, 0, 1, 0]
    return camera_info_msg

def __init__(self):

      # initialize ROS node and transform publisher
      rospy.init_node('crazyflie_detector', anonymous=True)
      self.pub_tf = tf.TransformBroadcaster()

      self.rate = rospy.Rate(50.0)                      # publish transform at 50 Hz

      # initialize values for crazyflie location on Kinect v2 image
      self.cf_u = 0                        # u is pixels left(0) to right(+)
      self.cf_v = 0                        # v is pixels top(0) to bottom(+)
      self.cf_d = 0                        # d is distance camera(0) to crazyflie(+) from depth image
      self.last_d = 0                      # last non-zero depth measurement

      # crazyflie orientation to Kinect v2 image (Euler)
      self.r = -1.5708
      self.p = 0
      self.y = -3.1415

      # Convert image from a ROS image message to a CV image
      self.bridge = CvBridge()

      cv2.namedWindow("KinectV2", 1)

      # Wait for the camera_info topic to become available
      rospy.wait_for_message('/kinect2/qhd/camera_info', CameraInfo)

      # Subscribe to Kinect v2 sd camera_info to get image frame height and width
      rospy.Subscriber('/kinect2/qhd/camera_info', CameraInfo, self.camera_data, queue_size=1)

      # Subscribe to registered color and depth images
      rospy.Subscriber('/kinect2/qhd/image_color_rect', Image, self.image_callback, queue_size=1)
      rospy.Subscriber('/kinect2/qhd/image_depth_rect', Image, self.depth_callback, queue_size=1)

      self.rate.sleep()                        # suspend until next cycle

   # This callback function sets parameters regarding the camera.

def start(self):
        """ Start the sensor """
        # initialize subscribers
        self._pointcloud_sub = rospy.Subscriber('/%s/depth/points' %(self.frame), PointCloud2, self._pointcloud_callback)
        self._camera_info_sub = rospy.Subscriber('/%s/left/camera_info' %(self.frame), CameraInfo, self._camera_info_callback)

        while self._camera_intr is None:
            time.sleep(0.1)

        self._running = True

def rosmsg(self):
        """:obj:`sensor_msgs.CamerInfo` : Returns ROS CamerInfo msg 
        """
        msg_header = Header()
        msg_header.frame_id = self._frame

        msg_roi = RegionOfInterest()
        msg_roi.x_offset = 0
        msg_roi.y_offset = 0
        msg_roi.height = 0
        msg_roi.width = 0
        msg_roi.do_rectify = 0

        msg = CameraInfo()
        msg.header = msg_header
        msg.height = self._height
        msg.width = self._width
        msg.distortion_model = 'plumb_bob'
        msg.D = [0.0, 0.0, 0.0, 0.0, 0.0]
        msg.K = [self._fx, 0.0, self._cx, 0.0, self._fy, self._cy, 0.0, 0.0, 1.0]
        msg.R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
        msg.P = [self._fx, 0.0, self._cx, 0.0, 0.0, self._fx, self._cy, 0.0, 0.0, 0.0, 1.0, 0.0]
        msg.binning_x = 0
        msg.binning_y = 0
        msg.roi = msg_roi

        return msg

def __init__(self):

      # initialize ROS node and transform publisher
      rospy.init_node('crazyflie_detector', anonymous=True)
      self.pub_tf = tf.TransformBroadcaster()

      self.rate = rospy.Rate(50.0)                      # publish transform at 50 Hz

      # initialize values for crazyflie location on Kinect v2 image
      self.cf_u = 0                        # u is pixels left(0) to right(+)
      self.cf_v = 0                        # v is pixels top(0) to bottom(+)
      self.cf_d = 0                        # d is distance camera(0) to crazyflie(+) from depth image
      self.last_d = 0                      # last non-zero depth measurement

      # crazyflie orientation to Kinect v2 image (Euler)
      self.r = -1.5708
      self.p = 0
      self.y = -3.1415

      # Convert image from a ROS image message to a CV image
      self.bridge = CvBridge()

      cv2.namedWindow("KinectV2", 1)

      # Wait for the camera_info topic to become available
      rospy.wait_for_message('/kinect2/qhd/camera_info', CameraInfo)

      # Subscribe to Kinect v2 sd camera_info to get image frame height and width
      rospy.Subscriber('/kinect2/qhd/camera_info', CameraInfo, self.camera_data, queue_size=1)

      # Subscribe to registered color and depth images
      rospy.Subscriber('/kinect2/qhd/image_color_rect', Image, self.image_callback, queue_size=1)
      rospy.Subscriber('/kinect2/qhd/image_depth_rect', Image, self.depth_callback, queue_size=1)

      self.rate.sleep()                        # suspend until next cycle

   # This callback function sets parameters regarding the camera.