python - 使用ffmpeg将从ros订阅主题接收的图像流直接转换为视频

Question

我想要做的是同时从接收帧生成带有 ffmpeg 的视频文件（mp4 或 mkv 格式），而不将图像保存在存储中。下面附上我的python ROS订阅者代码。

import cv2
from cv_bridge import CvBridge
import rospy
from sensor_msgs.msg import Image
import numpy as np


def callback(data):
    # Used to convert between ROS and OpenCV images
    br = CvBridge()

    # Output debugging information to the terminal
    rospy.loginfo("receiving video frame")
    # Convert ROS Image message to OpenCV image
    current_frame = br.imgmsg_to_cv2(data)

    cv2.imshow("camera", current_frame)

    cv2.waitKey(1)


def listener():
    rospy.init_node("video_sub_py", anonymous=True)
    rospy.Subscriber("video_frames", Image, callback)

    rospy.spin()

    cv2.destroyAllWindows()


if __name__ == "__main__":
    listener()