def test_conversion(self):
indices_msg = PointIndices()
while self.msg is None:
indices_msg.header.stamp = rospy.Time.now()
indices_msg.indices = self.indices
self.pub.publish(indices_msg)
rospy.sleep(0.1)
self.assertEqual(len(self.msg.cluster_indices), 1)
self.assertTupleEqual(self.msg.cluster_indices[0].indices,
self.indices)
def test_conversion(self):
indices_msg = PointIndices()
while self.msg is None:
indices_msg.header.stamp = rospy.Time.now()
indices_msg.indices = self.indices
self.pub.publish(indices_msg)
rospy.sleep(0.1)
self.assertEqual(len(self.msg.cluster_indices), 1)
self.assertTupleEqual(self.msg.cluster_indices[0].indices,
self.indices)
def _convert(self, rects_msg, img_height=None, img_width=None):
H = self.img_height if img_height is None else img_height
W = self.img_width if img_width is None else img_width
cpi_msg = ClusterPointIndices(header=rects_msg.header)
for rect in rects_msg.rects:
indices_msg = PointIndices(header=rects_msg.header)
ymin = max(0, int(np.floor(rect.y)))
xmin = max(0, int(np.floor(rect.x)))
ymax = min(H, int(np.ceil(rect.y + rect.height)))
xmax = min(W, int(np.ceil(rect.x + rect.width)))
indices = [
range(W * y + xmin, W * y + xmax) for y in range(ymin, ymax)
]
indices_msg.indices = np.array(indices, dtype=np.int32).flatten()
cpi_msg.cluster_indices.append(indices_msg)
self.pub.publish(cpi_msg)
def _test_each_conversion(self, name):
bridge = cv_bridge.CvBridge()
imgmsg = bridge.cv2_to_imgmsg(np.zeros((30, 30), dtype=np.uint8),
encoding='mono8')
indices_msg = PointIndices()
indices_msg.indices = np.arange(10, 30)
while self.msg.get(name) is None:
imgmsg.header.stamp = indices_msg.header.stamp = rospy.Time.now()
self.pub_indices.publish(indices_msg)
self.pub_img.publish(imgmsg)
rospy.sleep(0.1)
mask_in = bridge.imgmsg_to_cv2(
self.msg[name], desired_encoding='mono8')
mask_in = np.squeeze(mask_in)
mask_expected = np.zeros((imgmsg.height, imgmsg.width), dtype=np.uint8)
mask_expected.ravel()[np.arange(10, 30)] = 255
np.testing.assert_array_equal(mask_in, mask_expected)
def _test_each_conversion(self, name):
bridge = cv_bridge.CvBridge()
imgmsg = bridge.cv2_to_imgmsg(np.zeros((30, 30), dtype=np.uint8),
encoding='mono8')
indices_msg = PointIndices()
indices_msg.indices = np.arange(10, 30)
while self.msg.get(name) is None:
imgmsg.header.stamp = indices_msg.header.stamp = rospy.Time.now()
self.pub_indices.publish(indices_msg)
self.pub_img.publish(imgmsg)
rospy.sleep(0.1)
mask_in = bridge.imgmsg_to_cv2(self.msg[name],
desired_encoding='mono8')
mask_in = np.squeeze(mask_in)
mask_expected = np.zeros((imgmsg.height, imgmsg.width), dtype=np.uint8)
mask_expected.ravel()[np.arange(10, 30)] = 255
np.testing.assert_array_equal(mask_in, mask_expected)
