camera.py 文件源码

def grabImage(self,camera_name,filename):
        """
            Grabs exactly one image from a camera

            :param camera_name: The image of the camera that should be saved
            :type camera_name: str
            :param filename: The full path of the filename where this image should be saved
            :type filename: str 
        """
        if self.open(camera_name) != 0:
            return
        msg=rospy.wait_for_message('/cameras/' + camera_name + "/image", Image)        
        img = cv_bridge.CvBridge().imgmsg_to_cv2(msg, "bgr8")
        cv2.imwrite(filename,img)
        rospy.loginfo("Saved Image %s"%filename)
        self.close(camera_name)