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#!/usr/bin/env python
import rostest
import unittest
import numpy as np
import sensor_msgs.msg
from cv_bridge import CvBridge, CvBridgeError
class TestConversions(unittest.TestCase):
def test_mono16_cv2(self):
import numpy as np
br = CvBridge()
im = np.uint8(np.random.randint(0, 255, size=(480, 640, 3)))
self.assertRaises(CvBridgeError, lambda: br.imgmsg_to_cv2(br.cv2_to_imgmsg(im), "mono16"))
br.imgmsg_to_cv2(br.cv2_to_imgmsg(im,"rgb8"), "mono16")
def test_encode_decode_cv2(self):
import cv2
import numpy as np
fmts = [cv2.CV_8U, cv2.CV_8S, cv2.CV_16U, cv2.CV_16S, cv2.CV_32S, cv2.CV_32F, cv2.CV_64F]
cvb_en = CvBridge()
cvb_de = CvBridge()
for w in range(100, 800, 100):
for h in range(100, 800, 100):
for f in fmts:
for channels in ([], 1, 2, 3, 4, 5):
if channels == []:
original = np.uint8(np.random.randint(0, 255, size=(h, w)))
else:
original = np.uint8(np.random.randint(0, 255, size=(h, w, channels)))
rosmsg = cvb_en.cv2_to_imgmsg(original)
newimg = cvb_de.imgmsg_to_cv2(rosmsg)
self.assertTrue(original.dtype == newimg.dtype)
if channels == 1:
# in that case, a gray image has a shape of size 2
self.assertTrue(original.shape[:2] == newimg.shape[:2])
else:
self.assertTrue(original.shape == newimg.shape)
self.assertTrue(len(original.tostring()) == len(newimg.tostring()))
def test_encode_decode_cv2_compressed(self):
import numpy as np
# from: http://docs.opencv.org/2.4/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags)
# NOTE: remove jp2(a.k.a JPEG2000) as its JASPER codec is disabled within Ubuntu opencv library
# due to security issues, but it works once you rebuild your opencv library with JASPER enabled
formats = ["jpg", "jpeg", "jpe", "png", "bmp", "dib",
"sr", "ras", "tif", "tiff"] # this formats rviz is not support
cvb_en = CvBridge()
cvb_de = CvBridge()
for w in range(100, 800, 100):
for h in range(100, 800, 100):
for f in formats:
for channels in ([], 1, 3):
if channels == []:
original = np.uint8(np.random.randint(0, 255, size=(h, w)))
else:
original = np.uint8(np.random.randint(0, 255, size=(h, w, channels)))
compress_rosmsg = cvb_en.cv2_to_compressed_imgmsg(original, f)
newimg = cvb_de.compressed_imgmsg_to_cv2(compress_rosmsg)
self.assertTrue(original.dtype == newimg.dtype)
if channels == 1:
# in that case, a gray image has a shape of size 2
self.assertTrue(original.shape[:2] == newimg.shape[:2])
else:
self.assertTrue(original.shape == newimg.shape)
self.assertTrue(len(original.tostring()) == len(newimg.tostring()))
def test_endianness(self):
br = CvBridge()
dtype = np.dtype('int32')
# Set to big endian.
dtype = dtype.newbyteorder('>')
img = np.random.randint(0, 255, size=(30, 40))
msg = br.cv2_to_imgmsg(img.astype(dtype))
self.assertTrue(msg.is_bigendian == True)
self.assertTrue((br.imgmsg_to_cv2(msg) == img).all())
if __name__ == '__main__':
rosunit.unitrun('opencv_tests', 'conversions', TestConversions)
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