collectdataPoke.py 文件源码

def grabImage(self, sim=False, viz=False):
        # Grab image from Kinect sensor
        msg = rospy.wait_for_message('/semihaptics/image' if not sim else '/wide_stereo/left/image_color', Image)
        try:
            image = self.bridge.imgmsg_to_cv2(msg)
            image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
            if viz:
                PILImage.fromarray(np.uint8(image)).show()
            return image
        except CvBridgeError, e:
            print e
            return None