filerecorder.py 文件源码

def record_frame(self, image_buffer, angle, throttle):
        '''
        Record a single image buffer, with frame index, angle and throttle values
        as its filename
        '''
        # throttle is inversed, i.e. forward is negative, backwards positive
        # we are only interested in forward values of throttle
        # angle is counter-clockwise, i.e. left is positive
        # TODO: make a proper value mapping here, and then transform
        if (throttle * -1.0 < config.recording.throttle_threshold or
                abs(angle) < config.recording.steering_threshold):
            self.is_recording = False
            return
        self.is_recording = True
        file_angle = int(angle * 10)
        file_throttle = int(throttle * 1000)
        filepath = self.create_img_filepath(
            self.instance_path,
            self.frame_count,
            file_angle,
            file_throttle)
        with open(filepath, 'w') as fd:
            image_buffer.seek(0)
            shutil.copyfileobj(image_buffer, fd, -1)
        self.frame_count += 1