bag_utils.py 文件源码

def write_image(self, outdir, msg, fmt='png'):
        results = {}
        image_filename = os.path.join(outdir, str(msg.header.stamp.to_nsec()) + '.' + fmt)
        try:
            if hasattr(msg, 'format') and 'compressed' in msg.format:
                buf = np.ndarray(shape=(1, len(msg.data)), dtype=np.uint8, buffer=msg.data)
                cv_image = cv2.imdecode(buf, cv2.IMREAD_ANYCOLOR)
                if cv_image.shape[2] != 3:
                    print("Invalid image %s" % image_filename)
                    return results
                results['height'] = cv_image.shape[0]
                results['width'] = cv_image.shape[1]
                # Avoid re-encoding if we don't have to
                if check_image_format(msg.data) == fmt:
                    buf.tofile(image_filename)
                else:
                    cv2.imwrite(image_filename, cv_image)
            else:
                cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8")
                cv2.imwrite(image_filename, cv_image)
        except CvBridgeError as e:
            print(e)
        results['filename'] = image_filename
        return results