def _convert_camera_frame_to_image_dict(
self, camera_frame: imagery_pb2.CameraFrame):
"""Converts the camera frame to an image dictionary."""
# Each camera frame might contain multiple image channels, such as rgb and
# depth.
images = {}
for image_name, image_proto in camera_frame.images.items():
image_array = imagery_utils.convert_image_to_array(image_proto)
images[image_name] = image_array
return images
def test_convert_gray_16bit_images(self):
image = imagery_pb2.Image(
height_px=3,
width_px=2,
image_format=imagery_pb2.Image.IMAGE_FORMAT_GRAY_HW_16U,
content=b'AABBCCAABBCC',
)
image_array = imagery_utils.convert_image_to_array(image)
self.assertEqual(image_array.dtype, np.uint16)
self.assertEqual(image_array.shape, (image.height_px, image.width_px))
self.assertEqual(image_array[0, 1], struct.unpack(b'<H', b'BB'))
self.assertEqual(image_array[2, 1], struct.unpack(b'<H', b'CC'))
def test_convert_gray_32bit_images(self):
image = imagery_pb2.Image(
height_px=2,
width_px=3,
image_format=imagery_pb2.Image.IMAGE_FORMAT_GRAY_HW_32F,
content=b'AAAABBBBCCCCAAAABBBBCCCC',
)
image_array = imagery_utils.convert_image_to_array(image)
self.assertEqual(image_array.dtype, np.float32)
self.assertEqual(image_array.shape, (image.height_px, image.width_px))
self.assertEqual(image_array[0, 2], struct.unpack(b'<f', b'CCCC'))
self.assertEqual(image_array[1, 1], struct.unpack(b'<f', b'BBBB'))
def test_convert_rgb_images(self):
image = imagery_pb2.Image(
height_px=2,
width_px=2,
image_format=imagery_pb2.Image.IMAGE_FORMAT_RGB_HWC_8U,
content=b'ABCABCABCABC',
)
image_array = imagery_utils.convert_image_to_array(image)
self.assertEqual(image_array.dtype, np.uint8)
self.assertEqual(image_array.shape,
(image.height_px, image.width_px, 3))
self.assertEqual(image_array[0, 0, 0], ord('A'))
self.assertEqual(image_array[1, 1, 2], ord('C'))
def test_convert_bgra_images(self):
image = imagery_pb2.Image(
height_px=2,
width_px=2,
image_format=imagery_pb2.Image.IMAGE_FORMAT_BGRA_HWC_8U,
content=b'ABCDABCDABCDABCD',
)
image_array = imagery_utils.convert_image_to_array(image)
self.assertEqual(image_array.dtype, np.uint8)
self.assertEqual(image_array.shape,
(image.height_px, image.width_px, 4))
self.assertEqual(image_array[0, 0, 0], ord('A'))
self.assertEqual(image_array[1, 0, 3], ord('D'))
def test_unspecified_image_format(self):
image = imagery_pb2.Image()
with self.assertRaises(ValueError):
imagery_utils.convert_image_to_array(image)