objects_server.py 文件源码

def set_object_image(self, req, compress=False):
        """Handles SetObjectImage service requests.

        Args:
            req: SetObjectImageRequest/SetObjectCompressedImageRequest message.
            compress: Whether to return a compressed image or not.

        Returns:
            SetObjectImageResponse or SetObjectCompressedImageResponse.
        """
        if compress:
            response = interop.srv.SetObjectCompressedImageResponse()
        else:
            response = interop.srv.SetObjectImageResponse()

        try:
            png_image = serializers.ObjectImageSerializer.from_msg(req.image)
        except CvBridgeError as e:
            rospy.logerr(e)
            response.success = False
        except Exception as e:
            rospy.logfatal(e)
            response.success = False
        else:
            try:
                self.objects_dir.set_object_image(req.id, png_image)
            except (KeyError, IOError) as e:
                rospy.logerr("Could not set object image: {}".format(e))
                response.success = False
            else:
                response.success = True

        return response