rosbag_to_csv.py 文件源码

def write_image(bridge, 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_format(msg.data) == fmt:
                buf.tofile(image_filename)
            else:
                cv2.imwrite(image_filename, cv_image)
        else:
            cv_image = bridge.imgmsg_to_cv2(msg, "bgr8")
            cv2.imwrite(image_filename, cv_image)
    except CvBridgeError as e:
        print(e)
    results['filename'] = image_filename
    return results

#sensor_msgs/Image