get_extrinsics.py 文件源码

def mkgray(self, msg):
        """
        Convert a message into a 8-bit 1 channel monochrome OpenCV image
        """
        # as cv_bridge automatically scales, we need to remove that behavior
        # TODO: get a Python API in cv_bridge to check for the image depth.
        if self.br.encoding_to_dtype_with_channels(msg.encoding)[0] in ['uint16', 'int16']:
            mono16 = self.br.imgmsg_to_cv2(msg, '16UC1')
            mono8 = np.array(np.clip(mono16, 0, 255), dtype=np.uint8)
            return mono8
        elif 'FC1' in msg.encoding:
            # floating point image handling
            img = self.br.imgmsg_to_cv2(msg, "passthrough")
            _, max_val, _, _ = cv2.minMaxLoc(img)
            if max_val > 0:
                scale = 255.0 / max_val
                mono_img = (img * scale).astype(np.uint8)
            else:
                mono_img = img.astype(np.uint8)
            return mono_img
        else:
            return self.br.imgmsg_to_cv2(msg, "mono8")