recorder.py 文件源码

def start_record(self):
        self.start_time = time.time()
        curr_time = self.start_time
        while self.end_time < 0 or curr_time <= self.end_time:
            try:
                canvas = np.zeros((self.output_height, self.output_width, 3), np.uint8)

                for frame_w in self.frame_wrappers:
                    f = frame_w.get_latest(at_time=curr_time)
                    if f is None:
                        continue

                    resized = cv2.resize(f, (frame_w.target_w, frame_w.target_h))
                    canvas[frame_w.target_y:frame_w.target_y+frame_w.target_h, frame_w.target_x:frame_w.target_x+frame_w.target_w] = resized
                    # rospy.sleep(0.01)

                self.video_writer.write(canvas)
                if self.pub_img:
                    try:
                        self.pub_img.publish(self.bridge.cv2_to_imgmsg(canvas, 'bgr8'))
                    except CvBridgeError as e:
                        rospy.logerr('cvbridgeerror, e={}'.format(str(e)))
                        pass
                rospy.sleep(0.01)

                if rospy.is_shutdown() and self.end_time < 0:
                    self.terminate()

                while curr_time + self.interval > time.time():
                    rospy.sleep(self.interval)

                curr_time += self.interval
            except KeyboardInterrupt:
                self.terminate()
                continue

        self.video_writer.release()