robot_recorder.py 文件源码

def save(self, i_save, action, endeffector_pose):
        self.t_savereq = rospy.get_time()
        assert self.instance_type == 'main'

        if self.use_aux:
            # request save at auxiliary recorders
            try:
                rospy.wait_for_service('get_kinectdata', 0.1)
                resp1 = self.save_kinectdata_func(i_save)
            except (rospy.ServiceException, rospy.ROSException), e:
                rospy.logerr("Service call failed: %s" % (e,))
                raise ValueError('get_kinectdata service failed')

        if self.save_images:
            self._save_img_local(i_save)

        if self.save_actions:
            self._save_state_actions(i_save, action, endeffector_pose)

        if self.save_gif:
            highres = cv2.cvtColor(self.ltob.img_cv2, cv2.COLOR_BGR2RGB)
            print 'highres dim',highres.shape
            self.highres_imglist.append(highres)