recorder.py 文件源码

def _read(self, max_attempts=600):
        got_image = False
        if self._camera is not None and self._camera.isOpened():
            got_image, image = self._camera.read()

        if not got_image:
            if not self._error:
                if max_attempts > 0:
                    rospy.sleep(0.1)
                    self._open()
                    return self._read(max_attempts-1)
                rospy.logerr("Reached maximum camera reconnection attempts, abandoning!")
                self._error = True
                return False, None
            return False, None
        return True, image