log_utils.py 文件源码

def decode_rgb(self, data): 
        w, h = data.image.width, data.image.height;
        if data.image.image_data_format == self.image_msg_t_.VIDEO_RGB_JPEG: 
            img = cv2.imdecode(np.asarray(bytearray(data.image.image_data), dtype=np.uint8), -1)
            bgr = img.reshape((h,w,3))[::self.skip, ::self.skip, :]             
        else: 
            img = np.fromstring(data.image.image_data, dtype=np.uint8)
            rgb = img.reshape((h,w,3))[::self.skip, ::self.skip, :] 
            bgr = cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR)
        if not self.bgr: 
            return cv2.cvtColor(bgr, cv2.COLOR_BGR2RGB)
        else: 
            return bgr