我们从Python开源项目中，提取了以下7个代码示例，用于说明如何使用sensor_msgs.msg.CameraInfo()。
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
