rqt_bag ***.bag 報錯：

Can't convert image: local variable 'pil_mode' referenced before assignment

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原因: 源于rqt_bag工具中存在bug，pil_mode 被定義為局部變量，但卻在全局中被使用。

如何查找原因：

1. 首先查找rqt_bag: find / -name rqt_bag

/opt/ros/kinetic/lib/python2.7/dist-packages/rqt_bag

2. cd /opt/ros/kinetic/lib/python2.7/dist-packages/rqt_bag

3. 查找 pil_mode 變量：grep -rn pil_mode

rqt_bag_plugins/image_helper.py:57:??????????? pil_mode = 'RGB'
rqt_bag_plugins/image_helper.py:67:??????????????? pil_mode = 'I;16'
rqt_bag_plugins/image_helper.py:73:??????????????? pil_mode = 'F'
rqt_bag_plugins/image_helper.py:87:??????????????? pil_mode, (img_msg.width, img_msg.height), img_msg.data, 'raw', mode, 0, 1)
rqt_bag_plugins/image_helper.py:90:??????? if pil_mode == 'I;16':

4. 修改源碼

修改前

def imgmsg_to_pil(img_msg, rgba=True):try:if img_msg._type == 'sensor_msgs/CompressedImage':pil_img = Image.open(StringIO(img_msg.data))if pil_img.mode != 'L':pil_img = pil_bgr2rgb(pil_img)else:pil_mode = 'RGB'alpha = Falseif img_msg.encoding == 'mono8':mode = 'L'elif img_msg.encoding == 'rgb8':mode = 'RGB'elif img_msg.encoding == 'bgr8':mode = 'BGR'elif img_msg.encoding in ['bayer_rggb8', 'bayer_bggr8', 'bayer_gbrg8', 'bayer_grbg8']:mode = 'L'elif img_msg.encoding in ['bayer_rggb16', 'bayer_bggr16', 'bayer_gbrg16', 'bayer_grbg16']:pil_mode = 'I;16'if img_msg.is_bigendian:mode='I;16B'else:mode='I;16L'elif img_msg.encoding == 'mono16' or img_msg.encoding == '16UC1':pil_mode = 'F'if img_msg.is_bigendian:mode = 'F;16B'else:mode = 'F;16'elif img_msg.encoding == 'rgba8':mode = 'BGR'alpha = Trueelif img_msg.encoding == 'bgra8':mode = 'RGB'alpha = Trueelse:raise Exception("Unsupported image format: %s" % img_msg.encoding)pil_img = Image.frombuffer(pil_mode, (img_msg.width, img_msg.height), img_msg.data, 'raw', mode, 0, 1)# 16 bits conversion to 8 bitsif pil_mode == 'I;16':pil_img = pil_img.convert('I').point(lambda i: i * (1. / 256.)).convert('L')if pil_img.mode == 'F':pil_img = pil_img.point(lambda i: i * (1. / 256.)).convert('L')pil_img = ImageOps.autocontrast(pil_img)if rgba and pil_img.mode != 'RGBA':pil_img = pil_img.convert('RGBA')return pil_imgexcept Exception as ex:print('Can\'t convert image: %s' % ex, file=sys.stderr)return None

修改后

def imgmsg_to_pil(img_msg, rgba=True):try:pil_mode = 'RGB'if img_msg._type == 'sensor_msgs/CompressedImage':pil_img = Image.open(StringIO(img_msg.data))if pil_img.mode != 'L':pil_img = pil_bgr2rgb(pil_img)else:alpha = Falseif img_msg.encoding == 'mono8':mode = 'L'elif img_msg.encoding == 'rgb8':mode = 'RGB'elif img_msg.encoding == 'bgr8':mode = 'BGR'elif img_msg.encoding in ['bayer_rggb8', 'bayer_bggr8', 'bayer_gbrg8', 'bayer_grbg8']:mode = 'L'elif img_msg.encoding in ['bayer_rggb16', 'bayer_bggr16', 'bayer_gbrg16', 'bayer_grbg16']:pil_mode = 'I;16'if img_msg.is_bigendian:mode='I;16B'else:mode='I;16L'elif img_msg.encoding == 'mono16' or img_msg.encoding == '16UC1':pil_mode = 'F'if img_msg.is_bigendian:mode = 'F;16B'else:mode = 'F;16'elif img_msg.encoding == 'rgba8':mode = 'BGR'alpha = Trueelif img_msg.encoding == 'bgra8':mode = 'RGB'alpha = Trueelse:raise Exception("Unsupported image format: %s" % img_msg.encoding)pil_img = Image.frombuffer(pil_mode, (img_msg.width, img_msg.height), img_msg.data, 'raw', mode, 0, 1)# 16 bits conversion to 8 bitsif pil_mode == 'I;16':pil_img = pil_img.convert('I').point(lambda i: i * (1. / 256.)).convert('L')if pil_img.mode == 'F':pil_img = pil_img.point(lambda i: i * (1. / 256.)).convert('L')pil_img = ImageOps.autocontrast(pil_img)if rgba and pil_img.mode != 'RGBA':pil_img = pil_img.convert('RGBA')return pil_imgexcept Exception as ex:print('Can\'t convert image: %s' % ex, file=sys.stderr)return None

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