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Fix a few minor issues in image_helper #68

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merged 3 commits into from
Oct 29, 2020
+15 −13
Merged

Fix a few minor issues in image_helper #68

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8a3f217
Fix a few minor issues in image_helper
Oct 13, 2020
fafe2ee
Add a missing encode() call
Oct 26, 2020
9f26c06
Invert 32F depth images so that closer is lighter and farther is darker
Oct 28, 2020
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2 changes: 1 addition & 1 deletion rqt_bag/src/rqt_bag/plugins/raw_view.py
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Original file line number Diff line number Diff line change
Expand Up @@ -204,7 +204,7 @@ def _add_msg_object(self, parent, path, name, obj, obj_type):

elif type(obj) in [str, bool, int, long, float, complex, rospy.Time]:
# Ignore any binary data
obj_repr = codecs.utf_8_decode(str(obj), 'ignore')[0]
obj_repr = codecs.utf_8_decode(str(obj).encode(), 'ignore')[0]

# Truncate long representations
if len(obj_repr) >= 50:
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26 changes: 14 additions & 12 deletions rqt_bag_plugins/src/rqt_bag_plugins/image_helper.py
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Expand Up @@ -32,10 +32,7 @@

from __future__ import print_function
import array
try:
from cStringIO import StringIO
except ImportError:
from io import StringIO
from io import BytesIO
import sys

from PIL import Image
Expand All @@ -49,14 +46,13 @@
def imgmsg_to_pil(img_msg, rgba=True):
try:
if img_msg._type == 'sensor_msgs/CompressedImage':
pil_img = Image.open(StringIO(img_msg.data))
if pil_img.mode != 'L':
pil_img = Image.open(BytesIO(img_msg.data))
if pil_img.mode.startswith('BGR'):
pil_img = pil_bgr2rgb(pil_img)
pil_mode = 'RGB'
else:
alpha = False
pil_mode = 'RGB'
if img_msg.encoding == 'mono8':
if img_msg.encoding in ['mono8', '8UC1']:
mode = 'L'
elif img_msg.encoding == 'rgb8':
mode = 'RGB'
Expand All @@ -67,21 +63,25 @@ def imgmsg_to_pil(img_msg, rgba=True):
elif img_msg.encoding in ['bayer_rggb16', 'bayer_bggr16', 'bayer_gbrg16', 'bayer_grbg16']:
pil_mode = 'I;16'
if img_msg.is_bigendian:
mode='I;16B'
mode = 'I;16B'
else:
mode='I;16L'
mode = 'I;16L'
elif img_msg.encoding == 'mono16' or img_msg.encoding == '16UC1':
pil_mode = 'F'
if img_msg.is_bigendian:
mode = 'F;16B'
else:
mode = 'F;16'
elif img_msg.encoding == '32FC1':
pil_mode = 'F'
if img_msg.is_bigendian:
mode = 'F;32BF'
else:
mode = 'F;32F'
elif img_msg.encoding == 'rgba8':
mode = 'BGR'
alpha = True
elif img_msg.encoding == 'bgra8':
mode = 'RGB'
alpha = True
else:
raise Exception("Unsupported image format: %s" % img_msg.encoding)
pil_img = Image.frombuffer(
Expand All @@ -90,9 +90,11 @@ def imgmsg_to_pil(img_msg, rgba=True):
# 16 bits conversion to 8 bits
if pil_mode == 'I;16':
pil_img = pil_img.convert('I').point(lambda i: i * (1. / 256.)).convert('L')

if pil_img.mode == 'F':
pil_img = pil_img.point(lambda i: i * (1. / 256.)).convert('L')
pil_img = ImageOps.autocontrast(pil_img)
pil_img = ImageOps.invert(pil_img)

if rgba and pil_img.mode != 'RGBA':
pil_img = pil_img.convert('RGBA')
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