simulate_state.py 文件源码

def callback_camera(self, data):
        # format: rgb8; jpeg compressed bgr8
        np_img = np.fromstring(data.data, dtype=np.uint8)
        img = cv2.imdecode(np_img, cv2.CV_LOAD_IMAGE_COLOR)
        img = cv2.cvtColor(cv2.resize(img, (self.width, self.height)), cv2.COLOR_BGR2GRAY)
        self.image = np.reshape(img, newshape=(self.width, self.height, 1)) / 256.0