if reached == False and color == True: green_light = rospy.Publisher('/traffic_light',Bool,queue_size=10) # ture检测到绿灯 signal.signal(signal.SIGINT,quit) signal.signal(signal.SIGTERM,quit) green_exist = 0 light_xy = np.column_stack(np.where(light_img == 255)) light_x = light_xy[:,0] exist = np.mean(light_x) if np.isnan(exist): green_exist = 0 else: green_exist = len(light_x) if (green_exist == 0): green_light.publish(False) print("stop") else: green_light.publish(True) print("pass") 什么意思
时间: 2024-02-10 13:24:17 浏览: 34
这段代码是一个机器人程序的一部分,用于检测交通灯的颜色并发布相应的消息。根据代码逻辑,如果机器人检测到绿灯(color为True),则会发布一个布尔类型的消息到'/traffic_light'话题,表示绿灯检测到了。如果没有检测到绿灯(green_exist为0),则会发布False并打印"stop",否则会发布True并打印"pass"。这段代码中还有一些信号处理的部分,用于在接收到SIGINT或SIGTERM信号时退出程序。
相关问题
给下列代码添加注释: if reached == False and color == True: green_light = rospy.Publisher('/traffic_light',Bool,queue_size=10) # ture检测到绿灯 signal.signal(signal.SIGINT,quit) signal.signal(signal.SIGTERM,quit) green_exist = 0 light_xy = np.column_stack(np.where(light_img == 255)) light_x = light_xy[:,0] exist = np.mean(light_x) if np.isnan(exist): green_exist = 0 else: green_exist = len(light_x) if (green_exist == 0): green_light.publish(False) print("stop") else: green_light.publish(True) print("pass")
```python
# 检查是否达到了特定条件并且颜色为绿色
if reached == False and color == True:
green_light = rospy.Publisher('/traffic_light', Bool, queue_size=10) # 创建一个用于发布Bool类型数据的ROS主题,用于检测到绿灯
signal.signal(signal.SIGINT, quit) # 设置键盘中断信号处理函数为quit函数
signal.signal(signal.SIGTERM, quit) # 设置终止信号处理函数为quit函数
green_exist = 0 # 初始化绿灯存在的数量为0
light_xy = np.column_stack(np.where(light_img == 255)) # 获取灯光图像中白色像素点的坐标
light_x = light_xy[:, 0] # 获取灯光图像中白色像素点的x坐标
exist = np.mean(light_x) # 计算灯光图像中白色像素点x坐标的平均值
if np.isnan(exist): # 如果平均值不存在(即不存在白色像素点),绿灯存在的数量为0
green_exist = 0
else:
green_exist = len(light_x) # 绿灯存在的数量为白色像素点的数量
if green_exist == 0:
green_light.publish(False) # 发布False到ROS主题,表示停止
print("stop") # 打印"stop"
else:
green_light.publish(True) # 发布True到ROS主题,表示通过
print("pass") # 打印"pass"
```
给下列代码添加注释:def reach_cb(msg): global reached reached = msg.data def socket_cb(msg): global color color = msg.data def nothing(x): pass def imgRead(imgQueue): # %% 从摄像头读取数据 # cam = cv2.VideoCapture(0) global old_angle cam = cv2.VideoCapture(gstreamer_pipeline(flip_method=0), cv2.CAP_GSTREAMER) if not cam.isOpened(): print("Unable to open camera") else: print('Open camera success!') sub_reached = rospy.Subscriber('/reached',Bool,reach_cb) done_pub = rospy.Publisher('/done',Bool,queue_size=10) sub_color = rospy.Subscriber('/detector_trafficlight', Bool, socket_cb) # true检测红色,false检测蓝色 cmd_vel_pub=rospy.Publisher('/ackermann_cmd',AckermannDrive,queue_size=10)
```python
# 定义一个回调函数,用于接收/reached话题的消息,并将消息数据保存到全局变量reached中
def reach_cb(msg):
global reached
reached = msg.data
# 定义一个回调函数,用于接收/detector_trafficlight话题的消息,并将消息数据保存到全局变量color中
def socket_cb(msg):
global color
color = msg.data
# 定义一个空函数,用于占位,不执行任何操作
def nothing(x):
pass
# 定义一个函数,用于从摄像头读取图像数据
def imgRead(imgQueue):
# 使用gstreamer_pipeline函数打开摄像头并获取摄像头对象cam
cam = cv2.VideoCapture(gstreamer_pipeline(flip_method=0), cv2.CAP_GSTREAMER)
# 判断摄像头是否成功打开
if not cam.isOpened():
print("Unable to open camera")
else:
print('Open camera success!')
# 创建一个订阅器,订阅/reached话题,当有新消息时,调用回调函数reach_cb处理消息
sub_reached = rospy.Subscriber('/reached', Bool, reach_cb)
# 创建一个发布器,用于向/done话题发布消息,消息类型为Bool,队列大小为10
done_pub = rospy.Publisher('/done', Bool, queue_size=10)
# 创建一个订阅器,订阅/detector_trafficlight话题,当有新消息时,调用回调函数socket_cb处理消息
sub_color = rospy.Subscriber('/detector_trafficlight', Bool, socket_cb) # true检测红色,false检测蓝色
# 创建一个发布器,用于向/ackermann_cmd话题发布消息,消息类型为AckermannDrive,队列大小为10
cmd_vel_pub = rospy.Publisher('/ackermann_cmd', AckermannDrive, queue_size=10)
```