run_webcam.py 文件源码

def callback(data):
    print("callback called...")
    global i
    global vc
    rospy.loginfo("I heard %s",data)
    with open('dataset.csv', 'a') as csvfile:
        spamwriter = csv.writer(csvfile, delimiter=' ',
                            quotechar='|', quoting=csv.QUOTE_MINIMAL)
        spamwriter.writerow([data.angular.z])

        if vc.isOpened(): # try to get the first frame
            rval, frame = vc.read()
            else:
        rval = False


        rval, frame = vc.read()
        cv2.imwrite("images/image_" + str(i) + ".png", frame)
        i += 1