/usr/lib/python2.7/dist-packages/cv

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import sensor_msgs.msg

class CvBridgeError(TypeError):
    """
    This is the error raised by :class:`cv_bridge.CvBridge` methods when they fail.
    """
    pass

class CvBridge:
    """
    The CvBridge is an object that converts between OpenCV Images and ROS Image messages.

       .. doctest::
           :options: -ELLIPSIS, +NORMALIZE_WHITESPACE

           >>> import cv2
           >>> import numpy as np
           >>> from cv_bridge import CvBridge
           >>> br = CvBridge()
           >>> dtype, n_channels = br.encoding_as_cvtype2('8UC3')
           >>> im = np.ndarray(shape=(480, 640, n_channels), dtype=dtype)
           >>> msg = br.cv2_to_imgmsg(im)  # Convert the image to a message
           >>> im2 = br.imgmsg_to_cv2(msg) # Convert the message to a new image
           >>> cv2.imwrite("this_was_a_message_briefly.png", im2)

    """

    def __init__(self):
        import cv2
        self.cvtype_to_name = {}

        for t in ["8U", "8S", "16U", "16S", "32S", "32F", "64F" ]:
            for c in [1,2,3,4]:
                nm = "%sC%d" % (t, c)
                self.cvtype_to_name[eval("cv2.CV_%s" % nm)] = nm

        self.numpy_type_to_cvtype = {'uint8':'8U', 'int8':'8S', 'uint16':'16U',
                                        'int16':'16S', 'int32':'32S', 'float32':'32F',
                                        'float64':'64F'}
        self.numpy_type_to_cvtype.update(dict((v, k) for (k, v) in self.numpy_type_to_cvtype.items()))

    def dtype_with_channels_to_cvtype2(self, dtype, n_channels):
        return '%sC%d' % (self.numpy_type_to_cvtype[dtype.name], n_channels)

    def cvtype2_to_dtype_with_channels(self, cvtype):
        import re
        vals = re.split('(.+)C(.+)', self.cvtype_to_name[cvtype])
        return self.numpy_type_to_cvtype[vals[1]], eval(vals[2])

    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_dtype_with_channels(self, encoding):
        return self.cvtype2_to_dtype_with_channels(self.encoding_to_cvtype2(encoding))

    def imgmsg_to_cv2(self, img_msg, desired_encoding = "passthrough"):
        """
        Convert a sensor_msgs::Image message to an OpenCV :cpp:type:`cv::Mat`.

        :param img_msg:   A :cpp:type:`sensor_msgs::Image` message
        :param desired_encoding:  The encoding of the image data, one of the following strings:

           * ``"passthrough"``
           * one of the standard strings in sensor_msgs/image_encodings.h

        :rtype: :cpp:type:`cv::Mat`
        :raises CvBridgeError: when conversion is not possible.

        If desired_encoding is ``"passthrough"``, then the returned image has the same format as img_msg.
        Otherwise desired_encoding must be one of the standard image encodings

        This function returns an OpenCV :cpp:type:`cv::Mat` message on success, or raises :exc:`cv_bridge.CvBridgeError` on failure.

        If the image only has one channel, the shape has size 2 (width and height)
        """
        import cv2
        import numpy as np
        dtype, n_channels = self.encoding_to_dtype_with_channels(img_msg.encoding)
        if n_channels == 1:
            im = np.ndarray(shape=(img_msg.height, img_msg.width),
                           dtype=dtype, buffer=img_msg.data)
        else:
            im = np.ndarray(shape=(img_msg.height, img_msg.width, n_channels),
                           dtype=dtype, buffer=img_msg.data)

        if desired_encoding == "passthrough":
            return im

        from cv_bridge.boost.cv_bridge_boost import cvtColor2

        try:
            res = cvtColor2(im, img_msg.encoding, desired_encoding)
        except RuntimeError as e:
            raise CvBridgeError(e)

        return res

    def cv2_to_imgmsg(self, cvim, encoding = "passthrough"):
        """
        Convert an OpenCV :cpp:type:`cv::Mat` type to a ROS sensor_msgs::Image message.

        :param cvim:      An OpenCV :cpp:type:`cv::Mat`
        :param encoding:  The encoding of the image data, one of the following strings:

           * ``"passthrough"``
           * one of the standard strings in sensor_msgs/image_encodings.h

        :rtype:           A sensor_msgs.msg.Image message
        :raises CvBridgeError: when the ``cvim`` has a type that is incompatible with ``encoding``

        If encoding is ``"passthrough"``, then the message has the same encoding as the image's OpenCV type.
        Otherwise desired_encoding must be one of the standard image encodings

        This function returns a sensor_msgs::Image message on success, or raises :exc:`cv_bridge.CvBridgeError` on failure.
        """
        import cv2
        import numpy as np
        if not isinstance(cvim, (np.ndarray, np.generic) ):
            raise TypeError('Your input type is not a numpy array')
        img_msg = sensor_msgs.msg.Image()
        img_msg.height = cvim.shape[0]
        img_msg.width = cvim.shape[1]
        if len(cvim.shape) < 3:
            cv_type = self.dtype_with_channels_to_cvtype2(cvim.dtype, 1)
        else:
            cv_type = self.dtype_with_channels_to_cvtype2(cvim.dtype, cvim.shape[2])
        if encoding == "passthrough":
            img_msg.encoding = cv_type
        else:
            img_msg.encoding = encoding
            # Verify that the supplied encoding is compatible with the type of the OpenCV image
            if self.cvtype_to_name[self.encoding_to_cvtype2(encoding)] != cv_type:
              raise CvBridgeError, "encoding specified as %s, but image has incompatible type %s" % (encoding, cv_type)
        img_msg.data = cvim.tostring()
        img_msg.step = len(img_msg.data) / img_msg.height
        return img_msg
python-cv-bridge 1.11.11+ds-1 / usr / lib / python2.7 / dist-packages / cv_bridge / core.py
