def cv2_to_imgmsg(self, img_bgr, encoding):
bridge = cv_bridge.CvBridge()
# resolve encoding
if getCvType(encoding) == 0:
# mono8
img = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2GRAY)
elif getCvType(encoding) == 2:
# 16UC1
img = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2GRAY)
img = img.astype(np.float32)
img = img / 255 * (2 ** 16)
img = img.astype(np.uint16)
elif getCvType(encoding) == 5:
# 32FC1
img = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2GRAY)
img = img.astype(np.float32)
img /= 255
elif getCvType(encoding) == 16:
# 8UC3
if encoding in ('rgb8', 'rgb16'):
# RGB
img = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2RGB)
else:
img = img_bgr
else:
rospy.logerr('unsupported encoding: {0}'.format(encoding))
return
return bridge.cv2_to_imgmsg(img, encoding=encoding)
def cv2_to_imgmsg(self, img_bgr, encoding):
bridge = cv_bridge.CvBridge()
# resolve encoding
if getCvType(encoding) == 0:
# mono8
img = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2GRAY)
elif getCvType(encoding) == 2:
# 16UC1
img = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2GRAY)
img = img.astype(np.float32)
img = img / 255 * (2**16)
img = img.astype(np.uint16)
elif getCvType(encoding) == 5:
# 32FC1
img = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2GRAY)
img = img.astype(np.float32)
img /= 255
elif getCvType(encoding) == 16:
# 8UC3
if encoding in ('rgb8', 'rgb16'):
# RGB
img = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2RGB)
else:
img = img_bgr
else:
rospy.logerr('unsupported encoding: {0}'.format(encoding))
return
return bridge.cv2_to_imgmsg(img, encoding=encoding)
def encoding_to_cvtype2(self, encoding):
from cv_bridge.boost.cv_bridge_boost import getCvType
try:
return getCvType(encoding)
except RuntimeError as e:
raise CvBridgeError(e)
def encoding_to_cvtype2(self, encoding):
from cv_bridge.boost.cv_bridge_boost import getCvType
try:
return getCvType(encoding)
except RuntimeError as e:
raise CvBridgeError(e)
def publish(self):
now = rospy.Time.now()
bridge = cv_bridge.CvBridge()
img_bgr = cv2.imread(self.file_name)
if img_bgr is None:
jsk_logwarn('cannot read the image at {}'
.format(self.file_name))
return
# resolve encoding
encoding = rospy.get_param('~encoding', 'bgr8')
if getCvType(encoding) == 0:
# mono8
img = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2GRAY)
elif getCvType(encoding) == 2:
# 16UC1
img = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2GRAY)
img = img.astype(np.float32)
img = img / 255 * (2 ** 16)
img = img.astype(np.uint16)
elif getCvType(encoding) == 5:
# 32FC1
img = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2GRAY)
img = img.astype(np.float32)
img /= 255
elif getCvType(encoding) == 16:
# 8UC3
if encoding in ('rgb8', 'rgb16'):
# RGB
img = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2RGB)
else:
img = img_bgr
else:
jsk_logerr('unsupported encoding: {0}'.format(encoding))
return
# setup ros message and publish
imgmsg = bridge.cv2_to_imgmsg(img, encoding=encoding)
imgmsg.header.stamp = now
imgmsg.header.frame_id = self.frame_id
self.pub.publish(imgmsg)
if self.publish_info:
info = CameraInfo()
info.header.stamp = now
info.header.frame_id = self.frame_id
info.width = imgmsg.width
info.height = imgmsg.height
self.pub_info.publish(info)
def publish(self):
now = rospy.Time.now()
bridge = cv_bridge.CvBridge()
img_bgr = cv2.imread(self.file_name)
if img_bgr is None:
jsk_logwarn('cannot read the image at {}'.format(self.file_name))
return
# resolve encoding
encoding = rospy.get_param('~encoding', 'bgr8')
if getCvType(encoding) == 0:
# mono8
img = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2GRAY)
elif getCvType(encoding) == 2:
# 16UC1
img = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2GRAY)
img = img.astype(np.float32)
img = img / 255 * (2**16)
img = img.astype(np.uint16)
elif getCvType(encoding) == 5:
# 32FC1
img = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2GRAY)
img = img.astype(np.float32)
img /= 255
elif getCvType(encoding) == 16:
# 8UC3
if encoding in ('rgb8', 'rgb16'):
# RGB
img = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2RGB)
else:
img = img_bgr
else:
jsk_logerr('unsupported encoding: {0}'.format(encoding))
return
# setup ros message and publish
imgmsg = bridge.cv2_to_imgmsg(img, encoding=encoding)
imgmsg.header.stamp = now
imgmsg.header.frame_id = self.frame_id
self.pub.publish(imgmsg)
if self.publish_info:
info = CameraInfo()
info.header.stamp = now
info.header.frame_id = self.frame_id
info.width = imgmsg.width
info.height = imgmsg.height
self.pub_info.publish(info)
def encoding_as_cvtype2(self, encoding):
from cv_bridge.boost.cv_bridge_boost import getCvType
try:
res = getCvType(encoding)
except RuntimeError as e:
raise CvBridgeError(e)
import re
vals = re.split('(.+)C(.+)', self.cvtype_to_name[res])
cvtype = vals[1]
n_channels = vals[2]
return self.numpy_type_to_cvtype[cvtype], eval(n_channels)
def cv2_to_imgmsg(self, img, encoding):
bridge = cv_bridge.CvBridge()
# resolve encoding
if getCvType(encoding) in [cv2.CV_8UC1, cv2.CV_16UC1, cv2.CV_32FC1]:
# mono8
if len(img.shape) == 3:
if img.shape[2] == 4:
code = cv2.COLOR_BGRA2GRAY
else:
code = cv2.COLOR_BGR2GRAY
img = cv2.cvtColor(img, code)
if getCvType(encoding) == cv2.CV_16UC1:
# 16UC1
img = img.astype(np.float32)
img = img / 255 * (2 ** 16)
img = img.astype(np.uint16)
elif getCvType(encoding) == cv2.CV_32FC1:
# 32FC1
img = img.astype(np.float32)
img /= 255
elif getCvType(encoding) == cv2.CV_8UC3 and len(img.shape) == 3:
# 8UC3
# BGRA, BGR -> BGR
img = img[:, :, :3]
# BGR -> RGB
if encoding in ('rgb8', 'rgb16'):
img = img[:, :, ::-1]
elif (getCvType(encoding) == cv2.CV_8UC4 and
len(img.shape) == 3 and img.shape[2] == 4):
# 8UC4
if encoding in ('rgba8', 'rgba16'):
# BGRA -> RGBA
img = img[:, :, [2, 1, 0, 3]]
else:
rospy.logerr('unsupported encoding: {0}'.format(encoding))
return
return bridge.cv2_to_imgmsg(img, encoding=encoding)
def _cb_dyn_reconfig(self, config, level):
file_name = config['file_name']
config['file_name'] = os.path.abspath(file_name)
img = cv2.imread(file_name, cv2.IMREAD_UNCHANGED)
# when file is gray scale but encoding is not grayscale,
# load the image again in color
if (len(img.shape) == 2 and
getCvType(self.encoding) not in [
cv2.CV_8UC1, cv2.CV_16UC1, cv2.CV_32FC1]):
img = cv2.imread(file_name, cv2.IMREAD_COLOR)
if img is None:
rospy.logwarn('Could not read image file: {}'.format(file_name))
with self.lock:
self.imgmsg = None
else:
rospy.loginfo('Read the image file: {}'.format(file_name))
with self.lock:
self.imgmsg = self.cv2_to_imgmsg(img, self.encoding)
return config
def my_function(img):
# image=pickle.loads(img)
a=getCvType("8UC3")
img = CvBridge().imgmsg_to_cv2(img,desired_encoding="bgr8")
a=1
return a
