Filter images from RR 2015, save them raw to a file

good.py

#!/usr/bin/python

#expectations
#sudo apt-get install python-pip
#sudo pip install Pillow

#working directory must contain a folder "Vision Images" that contains folders
#created by the RR 2015 vision system

#to run:
#chmod +x filename.py
#./filename.py

#output files are saved to the 'output/' folder.
#format:

#xrot -0.00
#<raw image data, array of size 640 * 480 * 3>

import csv
import os
import logging
from PIL import Image

logging.basicConfig(level = logging.WARNING)
logger = logging.getLogger('rrimagereader')

gi = 0

def read(dir, csvfile):
	global gi
	logger.info('Reading %s...' % (dir))
	features = {}
	solutions = {}
	with open(os.path.join('Vision Images', dir, csvfile), 'rb') as csvdb:
		reader = csv.reader(csvdb, delimiter = ',', quotechar = '"')

		rownum = 0
		for row in reader:
			colnum = 0
			if rownum == 0:
				for column in row:
					features[colnum] = column
					colnum += 1
				if not 'frame' in features.values():
					logger.warning('No frame element for %s. Skipping' % (dir))
					return
			else:
				frame = 0
				for column in row:
					if features[colnum] == 'frame':
						frame = int(round(float(column)))
					elif features[colnum] == 'xrot':
						solutions[frame] = float(column)
					colnum += 1
			rownum += 1
		logger.debug(solutions)
	for frame, xrot in solutions.iteritems():
		color = os.path.join('Vision Images', dir, 'color', 'robot_%d.jpg' % (frame))
		output = os.path.join('output', 'dp%d.bmp' % (gi))
		output2 = os.path.join('output2', 'dp%d.jpg' % (gi))
		if os.path.isfile(color):
			im = Image.open(color)
			rgb = im.load()
			im.save(output2, 'JPEG')
			im.save('/dev/shm/intermediate-rr.bmp', 'BMP')
			with open('/dev/shm/intermediate-rr.bmp', 'rb') as inf:
				inf.seek(54)
				bmpdata = inf.read()
			with open(output, 'wb') as outf:
				outf.write('xrot %.2f\n' % (xrot))
				outf.write(bmpdata)
			gi += 1

names = ['vision_output.csv', 'vision_output_ 0.csv', 'vision_output_ 1.csv', 'vision_output_0.csv', 'vision_output_1.csv']

if not os.path.isdir('output'):
	os.mkdir('output', 0755)
if not os.path.isdir('output2'):
	os.mkdir('output2', 0755)

for root, dirs, files in os.walk('Vision Images'):
	for dir in dirs:
		for name in names:
			if os.path.isfile(os.path.join('Vision Images', dir, name)):
				try:
					read(dir, name)
				except csv.Error:
					logger.warning('Error when reading %s\'s CSV file. Skipping' % (dir))
				break
		else:
			logger.warning('No vision output found in %s.' % (dir))
	break