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#!/usr/bin/env python
import rostest
import unittest
import numpy as np
import cv2
import sensor_msgs.msg
from cv_bridge import CvBridge, CvBridgeError, getCvType
class TestEnumerants(unittest.TestCase):
def test_enumerants_cv2(self):
img_msg = sensor_msgs.msg.Image()
img_msg.width = 640
img_msg.height = 480
img_msg.encoding = "rgba8"
img_msg.step = 640*4
img_msg.data = (640 * 480) * "1234"
bridge_ = CvBridge()
cvim = bridge_.imgmsg_to_cv2(img_msg, "rgb8")
import sys
self.assertTrue(sys.getrefcount(cvim) == 2)
# A 3 channel image cannot be sent as an rgba8
self.assertRaises(CvBridgeError, lambda: bridge_.cv2_to_imgmsg(cvim, "rgba8"))
# but it can be sent as rgb8 and bgr8
bridge_.cv2_to_imgmsg(cvim, "rgb8")
bridge_.cv2_to_imgmsg(cvim, "bgr8")
self.assertTrue(getCvType("32FC4") == cv2.CV_32FC4)
self.assertTrue(getCvType("8UC1") == cv2.CV_8UC1)
self.assertTrue(getCvType("8U") == cv2.CV_8UC1)
def test_numpy_types(self):
import cv2
import numpy as np
bridge_ = CvBridge()
self.assertRaises(TypeError, lambda: bridge_.cv2_to_imgmsg(1, "rgba8"))
if hasattr(cv2, 'cv'):
self.assertRaises(TypeError, lambda: bridge_.cv2_to_imgmsg(cv2.cv(), "rgba8"))
if __name__ == '__main__':
rosunit.unitrun('opencv_tests', 'enumerants', TestEnumerants)
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