def __record_images_from_fs(self,
manifest=None,
ros_topic=None,
sensor=None,
frame_id=None):
image_reader = dict()
image_data = dict()
image_ts = dict()
image_request = self.request.get("image", "original")
if image_request == "undistorted":
lens, dist_parms, intr_mat_dist, intr_mat_undist = self.__get_camera_info(
sensor=sensor)
while True:
files = None
while not files and manifest.is_open():
files = manifest.fetch()
if not files:
break
count = read_images_from_fs(data_store=self.data_store,
files=files,
image_reader=image_reader,
image_data=image_data,
image_ts=image_ts)
for i in range(0, count):
image_reader[i].join()
if image_request == "undistorted":
image = RosUtil.undistort_image(
image=image_data[i],
lens=lens,
dist_parms=dist_parms,
intr_mat_dist=intr_mat_dist,
intr_mat_undist=intr_mat_undist)
else:
image = image_data[i]
self.__record_image_msg(ros_topic=ros_topic,
image=image,
image_ts=image_ts[i],
frame_id=frame_id)
if self.request['preview']:
break
self.topic_active[ros_topic] = False
def __process_s3_image_files(self,
ros_topic=None,
files=None,
resp=None,
frame_id=None,
s3_client=None,
image_request=None,
lens=None,
dist_parms=None,
intr_mat_dist=None,
intr_mat_undist=None):
for f in files:
try:
path = resp.get(block=True).split(" ", 1)[0]
image_data = cv2.imread(path)
if image_request == "undistorted":
image = RosUtil.undistort_image(
image_data,
lens=lens,
dist_parms=dist_parms,
intr_mat_dist=intr_mat_dist,
intr_mat_undist=intr_mat_undist)
else:
image = image_data
image_ts = int(f[2])
self.__record_image_msg(ros_topic=ros_topic,
image=image,
image_ts=image_ts,
frame_id=frame_id,
s3_client=s3_client)
os.remove(path)
except BaseException as _:
exc_type, exc_value, exc_traceback = sys.exc_info()
traceback.print_tb(exc_traceback, limit=20, file=sys.stdout)
self.logger.error(str(exc_type))
self.logger.error(str(exc_value))