00001 import roslib
00002 roslib.load_manifest('opencv_tests')
00003 import rostest
00004 import rospy
00005 import unittest
00006
00007 import sensor_msgs.msg
00008 import cv
00009
00010 from cv_bridge import CvBridge, CvBridgeError
00011
00012 class TestEnumerants(unittest.TestCase):
00013
00014 def test_enumerants(self):
00015
00016 img_msg = sensor_msgs.msg.Image()
00017 img_msg.width = 640
00018 img_msg.height = 480
00019 img_msg.encoding = "rgba8"
00020 img_msg.step = 640*4
00021 img_msg.data = (640 * 480) * "1234"
00022
00023 bridge_ = CvBridge()
00024 cvim = bridge_.imgmsg_to_cv(img_msg, "rgb8")
00025
00026
00027 self.assertRaises(CvBridgeError, lambda: bridge_.cv_to_imgmsg(cvim, "rgba8"))
00028
00029
00030 bridge_.cv_to_imgmsg(cvim, "rgb8")
00031 bridge_.cv_to_imgmsg(cvim, "bgr8")
00032
00033 def test_encode_decode(self):
00034 fmts = [ cv.IPL_DEPTH_8U, cv.IPL_DEPTH_8S, cv.IPL_DEPTH_16U, cv.IPL_DEPTH_16S, cv.IPL_DEPTH_32S, cv.IPL_DEPTH_32F, cv.IPL_DEPTH_64F ]
00035
00036 cvb_en = CvBridge()
00037 cvb_de = CvBridge()
00038
00039 for w in range(100, 800, 100):
00040 for h in range(100, 800, 100):
00041 for f in [ cv.IPL_DEPTH_8U ]:
00042 for channels in (1,2,3,4):
00043 original = cv.CreateImage((w, h), f, channels)
00044 cv.Set(original, (1,2,3,4));
00045 rosmsg = cvb_en.cv_to_imgmsg(original)
00046 newimg = cvb_de.imgmsg_to_cv(rosmsg)
00047 self.assert_(cv.GetElemType(original) == cv.GetElemType(newimg))
00048 self.assert_(cv.GetSize(original) == cv.GetSize(newimg))
00049 self.assert_(len(original.tostring()) == len(newimg.tostring()))
00050
00051 def test_mono16(self):
00052 br = CvBridge()
00053 im = cv.CreateImage((640, 480), 8, 3)
00054 msg = br.cv_to_imgmsg(im)
00055
00056 if __name__ == '__main__':
00057 if 1:
00058 rostest.unitrun('opencv_tests', 'enumerants', TestEnumerants)
00059 else:
00060 suite = unittest.TestSuite()
00061 suite.addTest(TestEnumerants('test_mono16'))
00062 unittest.TextTestRunner(verbosity=2).run(suite)
