Fix up mostly minor comments from review.

Signed-off-by: Chris Lalancette <[email protected]>

Author: clalancette

image_tools_py/src/cam2image_py.py

@@ -13,8 +13,8 @@
 # limitations under the License.
 
 # System imports
-import sys
 import argparse
+import sys
 
 # ROS2 imports
 import rclpy
@@ -36,9 +36,7 @@ def flip_image_cb(msg):
     global is_flipped
     is_flipped = msg.data
 
-    output = 'off'
-    if is_flipped:
-        output = 'on'
+    output = 'on' if is_flipped else 'off'
 
     print('Set flip mode to: ' + output)
 
@@ -54,15 +52,15 @@ def mat2encoding(frame):
             encoding += prefix
             break
     else:
-        raise Exception("Unsupported frame shape %d" % (frame.shape[2]))
+        raise ValueError("Unsupported frame shape %d" % (frame.shape[2]))
 
     types = {'uint8': '8', 'int16': '16'}
     for dtype, num in types.items():
         if frame.dtype == dtype:
             encoding += num
             break
     else:
-        raise Exception("Unsupported frame type " + frame.dtype)
+        raise ValueError("Unsupported frame type " + frame.dtype)
 
     return encoding
 
@@ -167,7 +165,7 @@ def main():
 
             if args.show_camera == 1:
                 # Show the image in a window called 'cam2imagepy', if requested.
-                cv2.imshow('cam2imagepy', frame)
+                cv2.imshow('cam2image_py', frame)
                 # Draw the image to the screen and wait 1 millisecond
                 cv2.waitKey(1)
 
@@ -176,7 +174,7 @@ def main():
             pub.publish(msg)
             frame_number += 1
 
-        # Do some work in rclcpp and wait for more to come in.
+        # Do some work in rclpy and wait for more to come in.
         rclpy.spin_once(node, 1.0 / float(args.frequency))
 
 if __name__ == '__main__':

image_tools_py/src/image_qos_profile.py

@@ -32,9 +32,9 @@ def create_qos_profile(depth, reliability_policy, keep):
     elif reliability_policy == 1:
         qos_profile.reliability = QoSReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_RELIABLE
     else:
-        raise Exception("Invalid reliability policy (must be 0 for best effort or 1 for reliable")
+        raise ValueError("Invalid reliability policy (must be 0 for best effort or 1 for reliable")
 
-    # The history policy determins how messages are saved until the message is
+    # The history policy determines how messages are saved until the message is
     # taken by the reader.
     # KEEP_ALL saves all messages until they are taken.
     # KEEP_LAST enforces a limit on the number of messages that are saved,
@@ -44,7 +44,7 @@ def create_qos_profile(depth, reliability_policy, keep):
     elif keep == 1:
         qos_profile.history = QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_ALL
     else:
-        raise Exception("Invalid keep policy (must be 0 for keep last or 1 for keep all")
+        raise ValueError("Invalid keep policy (must be 0 for keep last or 1 for keep all")
 
     qos_profile.durability = QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_VOLATILE
 

image_tools_py/src/showimage_py.py

@@ -23,6 +23,7 @@
 # OpenCV imports
 import cv2
 
+# Numpy imports
 import numpy
 
 # Local imports
@@ -35,14 +36,14 @@ def encoding2mat(encoding):
         if encoding.startswith(prefix):
             break
     else:
-        raise Exception("Unsupported encoding " + encoding)
+        raise ValueError("Unsupported encoding " + encoding)
 
     types = {'8': 'uint8', '16': 'int16'}
     for prefix, dtype in types.items():
         if encoding[channels:] == prefix:
             break
     else:
-        raise Exception("Unsupported encoding " + encoding)
+        raise ValueError("Unsupported encoding " + encoding)
 
     return dtype, channels
 
@@ -69,7 +70,7 @@ def main():
     args = parser.parse_args()
 
     if args.show_camera == 1:
-        cv2.namedWindow('showimagepy')
+        cv2.namedWindow('showimage_py')
 
     # Initialize a ROS 2 node to subscribe to images read from the OpenCV interface to
     # the camera.
@@ -96,7 +97,7 @@ def image_cb(msg):
                     dtype=dtype,
                     buffer=bytes(msg.data))
 
-            cv2.imshow("showimagepy", frame)
+            cv2.imshow("showimage_py", frame)
             # Draw the image to the screen and wait 1 millisecond
             cv2.waitKey(1)