annotation.py 文件源码

def _image_callback(self, msg):
        """
        Called when a new sensor_msgs/Image is coming in
        :param msg: The image messaeg
        """
        try:
            cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8")
        except CvBridgeError as e:
            rospy.logerr(e)

        self._image_widget.set_image(cv_image)