write image to the record failed: AttributeError: 'NoneType' object has no attribute 'shape'

[GabrielZZZ]

Hi @daohu527 ,

I have successfully used your recover tool to repair the file (after updating the cyber_record). Then I split the file to delete the original imaes. My idea is by transforming the image extracted and then writing it back to the record file to test Apollo. However, when I try to write image data back to the record file, it gives me error: AttributeError: 'NoneType' object has no attribute 'shape'

Moreover, I tried to write other images to an empty file, and this error is still encountered, but I have not encountered it before I updated the tool (I am using the same data as before). Is there anything conflict among these updates?

[daohu527]

In fact, I don't know your operation process, you can write down the operation steps in detail then we can find what's wrong

[GabrielZZZ]

Good idea, here are the steps I followed:

1. I update the cyber_record tool

2. Since the cyber_record recover command not work on my device (I am using Ubuntu 20.04, it shows "command not found"), I use the recover function inside my code and repaired the demo

3. I extracted the images,and it worked fine:
   
   

4. First, I tried to write these images to an empty record first, and here is the error:
   

5. Then I tried to write these images back to the original record file that has been splitted images, and here is the error:
   

HERE is the code of writing image back to record:

[daohu527]

I checked the code and it works well. Maybe your img path is error and I add check in record_msg now.

def write_image():
  '''
  img_dir: image folder
  '''
  image_builder = ImageBuilder()
  write_file_name = "example_w.record.00002"
  img_dir = "../tests/"
  with Record(write_file_name, mode='w') as record:
    img_paths = sorted(os.listdir(img_dir))
    for img_path in img_paths:
      if img_path.endswith(".jpg"):
        file_path = img_dir + img_path
        print(file_path)

        pb_image = image_builder.build(file_path, encoding='rgb8')
        record.write('/apollo/sensor/camera/front_6mm/image',
                    pb_image,
                    int(time.time() * 1e9))
  print("Success write image!")

[GabrielZZZ]

I double-checked the img path. I added a print command of the image_list I used before writing to record, and program can read the images

[daohu527]

Pls use Record(write_file_name, mode='w') mode='a' is not support for now!

[GabrielZZZ]

So how do I write images back to an existing bag? If using mode='w', the old one will be overwritten.

[daohu527]

so it depends on mode='a', and I will finish it in a few days #56

[GabrielZZZ]

Thanks a lot!