lidar_to_img_test_v2.py 文件源码

def callbackCamera(msg):
    print('callbackCamera: msg : seq=%d, timestamp=%010d:%09d'%(
        msg.header.seq, msg.header.stamp.secs, msg.header.stamp.nsecs
    ))

    try:
        cv_image = bridge.imgmsg_to_cv2(msg, "bgr8")
    except CvBridgeError as e:
        print(e)

    s = ('%010d%09d'%(
        msg.header.stamp.secs, msg.header.stamp.nsecs
    ))

    filepath = "./camera/" + s + ".jpg"

    #print filepath
    height, width, channels = cv_image.shape
    cv_image = cv_image[400:height-200, 0:width]
    cv2.imwrite(filepath, cv_image)

    detector.detect(filepath)

    pass