def get_image_array(image): im,data,dimsizes = ParseMessages.imgmsg_to_pil(image) pix = numpy.asarray(im).astype(numpy.uint8) return pix
else: im = Image.open(image_str+'.png') cam_sim = logitech_cam_simulation(size,im,scale_factor) # Y0,Y1,cmd = cam_sim.simulate_Y_pair(size,[0,0,50]) print('simulated') def show(Y0,Y1): Image.fromarray(Y0).show() Image.fromarray(Y1).show() #pdb.set_trace() for i in range(duration): print(i) command = command_list[np.random.randint(0,len(command_list))] Y0,Y1,cmd = cam_sim.simulate_Y_pair(size,command) # Image.fromarray(Y0).save('test'+str(i)+'y0cmd'+str(cmd)+'.png') # Image.fromarray(Y1).save('test'+str(i)+'y1cmd'+str(cmd)+'.png') # pdb.set_trace() if Y0.__class__ == int: print('Ignoring message') else: Y0ros = ParseMessages.numpy_to_imgmsg(Y0) Y1ros = ParseMessages.numpy_to_imgmsg(Y1) out_bag.write('Y0',Y0ros,rospy.Time(i+1)) out_bag.write('Y1',Y1ros,rospy.Time(i+1)) cmd_msg = IntArray() cmd_msg.data = cmd out_bag.write('U0',cmd_msg,rospy.Time(i+1)) out_bag.close()