I'm not sure if this is an OpenCV issue or a cv_bridge issue but it started with cv_bridge so I'll post here first.
I have a Python ROS node that runs fine under Hydro. When switching to Indigo, the script first threw the error:
Somehow I figured out that this has been changed to cv2_to_imgsmsg so I did the substitution. Now I get the error in the subject line:
Traceback (most recent call last):
File "/home/patrick/catkin_ws/src/rbx1/rbx1_vision/nodes/video2ros.py", line 199, in <module>
main(sys.argv)
File "/home/patrick/catkin_ws/src/rbx1/rbx1_vision/nodes/video2ros.py", line 193, in main
v2r = Video2ROS()
File "/home/patrick/catkin_ws/src/rbx1/rbx1_vision/nodes/video2ros.py", line 109, in __init__
image_pub.publish(bridge.cv2_to_imgmsg(cv.fromarray(frame), "bgr8"))
File "/opt/ros/indigo/lib/python2.7/dist-packages/cv_bridge/core.py", line 161, in cv2_to_imgmsg
img_msg.height = cvim.shape[0]
AttributeError: 'cv2.cv.cvmat' object has no attribute 'shape'
Shutting down video2ros node.
#!/usr/bin/env python
""" video2ros.py - Version 1.1 2013-12-20
Read in a recorded video file and republish as a ROS Image topic.
Created for the Pi Robot Project: http://www.pirobot.org
Copyright (c) 2012 Patrick Goebel. All rights reserved.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details at:
http://www.gnu.org/licenses/gpl.html
"""
import rospy
import sys
from cv2 import cv as cv
import cv2
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
class Video2ROS:
def __init__(self):
rospy.init_node('video2ros', anonymous=False)
rospy.on_shutdown(self.cleanup)
""" Define the input (path to video file) as a ROS parameter so it
can be defined in a launch file or on the command line """
self.input = rospy.get_param("~input", "")
""" Define the image publisher with generic topic name "output" so that it can
be remapped in the launch file. """
image_pub = rospy.Publisher("output", Image, queue_size=30)
# The target frames per second for the video
self.fps = rospy.get_param("~fps", 25)
# Do we restart the video when the end is reached?
self.loop = rospy.get_param("~loop", False)
# Start the video paused?
self.start_paused = rospy.get_param("~start_paused", False)
# Show text feedback by default?
self.show_text = rospy.get_param("~show_text", True)
# Resize the original video?
self.resize_video = rospy.get_param("~resize_video", False)
# If self.resize_video is True, set the desired width and height here
self.resize_width = rospy.get_param("~resize_width", 0)
self.resize_height = rospy.get_param("~resize_height", 0)
# Initialize a few variables
self.paused = self.start_paused
self.loop_video = True
self.keystroke = None
self.restart = False
self.last_frame = None
# Initialize the text font
font_face = cv2.FONT_HERSHEY_SIMPLEX
font_scale = 0.5
# Define the capture object as pointing to the input file
self.capture = cv2.VideoCapture(self.input)
# Get the original frames per second
fps = self.capture.get(cv.CV_CAP_PROP_FPS)
# Get the original frame size
self.frame_size = (self.capture.get(cv.CV_CAP_PROP_FRAME_HEIGHT), self.capture.get(cv.CV_CAP_PROP_FRAME_WIDTH))
# Check that we actually have a valid video source
if fps == 0.0:
print "Video source", self.input, "not found!"
return None
# Bring the fps up to the specified rate
try:
fps = int(fps * self.fps / fps)
except:
fps = self.fps
# Create the display window
cv.NamedWindow("Video Playback", True) # autosize the display
cv.MoveWindow("Video Playback", 375, 25)
# Create the CvBridge object
bridge = CvBridge()
# Enter the main processing loop
while not rospy.is_shutdown():
# Get the next frame from the video
frame = self.get_frame()
# Convert the frame to ROS format
try:
image_pub.publish(bridge.cv2_to_imgmsg(cv.fromarray(frame), "bgr8"))
except CvBridgeError, e:
print e
# Create a copy of the frame for displaying the text
display_image = frame.copy()
if self.show_text:
cv2.putText(display_image, "FPS: " + str(self.fps), (10, 20), font_face, font_scale, cv.RGB(255, 255, 0))
cv2.putText(display_image, "Keyboard commands:", (20, int(self.frame_size[0] * 0.6)), font_face, font_scale, cv.RGB(255, 255, 0))
cv2.putText(display_image, " ", (20, int(self.frame_size[0] * 0.65)), font_face, font_scale, cv.RGB(255, 255, 0))
cv2.putText(display_image, "space - toggle pause/play", (20, int(self.frame_size[0] * 0.72)), font_face, font_scale, cv.RGB(255, 255, 0))
cv2.putText(display_image, " r - restart video from beginning", (20, int(self.frame_size[0] * 0.79)), font_face, font_scale, cv.RGB(255, 255, 0))
cv2.putText(display_image, " t - hide/show this text", (20, int(self.frame_size[0] * 0.86)), font_face, font_scale, cv.RGB(255, 255, 0))
cv2.putText(display_image, " q - quit the program", (20, int(self.frame_size[0] * 0.93)), font_face, font_scale, cv.RGB(255, 255, 0))
# Merge the original image and the display image (text overlay)
display_image = cv2.bitwise_or(frame, display_image)
# Now display the image.
cv2.imshow("Video Playback", display_image)
""" Handle keyboard events """
self.keystroke = cv.WaitKey(1000 / fps)
""" Process any keyboard commands """
if 32 <= self.keystroke and self.keystroke < 128:
cc = chr(self.keystroke).lower()
if cc == 'q':
""" user has press the q key, so exit """
rospy.signal_shutdown("User hit q key to quit.")
elif cc == ' ':
""" Pause or continue the video """
self.paused = not self.paused
elif cc == 'r':
""" Restart the video from the beginning """
self.restart = True
elif cc == 't':
""" Toggle display of text help message """
self.show_text = not self.show_text
def get_frame(self):
# If the video is paused, return the last frame
if self.paused and not self.last_frame is None:
frame = self.last_frame
else:
# Get the next frame
ret, frame = self.capture.read()
if frame is None:
# If we've run out of frames, loop if set True
if self.loop_video:
self.restart = True
# Did we receive the restart command?
if self.restart:
# To restart, simply reinitialize the capture object
self.capture = cv2.VideoCapture(self.input)
self.restart = False
ret, frame = self.capture.read()
# Were we asked to resize the video?
if self.resize_video:
frame = cv2.resize(frame, (self.resize_width, self.resize_height))
# Store the last frame for when we pause
self.last_frame = frame
return frame
def cleanup(self):
print "Shutting down video2ros node."
cv2.destroyAllWindows()
def main(args):
help_message = "Hot keys: \n" \
"\tq - quit the program\n" \
"\tr - restart video from beginning\n" \
"\tspace - toggle pause/play\n"
print help_message
try:
v2r = Video2ROS()
except KeyboardInterrupt:
print "Shutting down video2ros..."
cv2.destroyAllWindows()
if __name__ == '__main__':
main(sys.argv)
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