Update tracker_node.py #15
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Added a logic to handle 'bgr8a' encoding, usually found in simulation image sensors
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Thank you @Gowresh7 for your Pull request!
Upon reviewing the code, I am contemplating the implications of merging this PR.
The current implementation I've written does not explicitly handle the encoding of the subscribed topics; it simply passes the images to the track function as a numpy array. However, as per the official Ultralytics documentation, images passed to this function are expected to be in BGR encoding.
Given this, I would strongly advise ensuring that the image topics are in BGR encoding before utilizing my repository.
I acknowledge the need for conversion from various encodings to BGR, and I will certainly consider this as a future enhancement for the repository.
| numpy_image = cv2.cvtColor(numpy_image, cv2.COLOR_RGBA2RGB) | ||
| encoding = "bgr8" |
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- Your code uses tab for indentation, but please unify it with 4 spaces.
cv2.COLOR_RGBA2RGBconverts from RGBA to RGB and outputs in RGB order. However,encoding = "bgr8"indicates BGR order.
| numpy_image = cv2.cvtColor(numpy_image, cv2.COLOR_RGBA2RGB) | |
| encoding = "bgr8" | |
| numpy_image = cv2.cvtColor(numpy_image, cv2.COLOR_RGBA2RGB) | |
| encoding = "rgb8" |
| @@ -40,6 +40,12 @@ def image_callback(self, msg): | |||
| header = msg.header | |||
| encoding = msg.encoding | |||
| numpy_image = ros_numpy.numpify(msg) | |||
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| # Convert RGBA to RGB | |||
| if numpy_image.shape[2] == 4: # Check if the image has 4 channels | |||
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This section assumes that all 4-channel images are RGBA. If the original encoding is bgra8 or bgra16, this could lead to bugs.
You commented above, but looking at the code, I think you are assuming |
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Hello, Thanks for the feedback. I just implemented this as a workaround because I was not able to make the code work for CARLA Simulation. I did not actually consider the ultralytics documentation. For some reason, I was able to make it work only with 'bgr8' encoding. Will check it out further and let you know. |
Added a logic to handle 'bgr8a' encoding, usually found in simulation image sensors