objects_server.py 文件源码

def get_object_image(self, req, compress=False):
        """Handles GetObjectImage service requests.

        Args:
            req: GetObjectImageRequest/GetObjectCompressedImageRequest message.
            compress: Whether to return a compressed image or not.

        Returns:
            GetObjectImageResponse or GetObjectCompressedImageResponse.
        """
        if compress:
            response = interop.srv.GetObjectCompressedImageResponse()
        else:
            response = interop.srv.GetObjectImageResponse()

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

        return response