refactor: cleanup cv2_img.

common/helpers/cv2_img/src/cv2_img/__init__.py

@@ -1,6 +1,5 @@
 import rospy
 import numpy as np
-import ros_numpy as rnp
 
 from PIL import Image
 from sensor_msgs.msg import Image as SensorImage
@@ -65,47 +64,9 @@ def msg_to_cv2_img(msg: SensorImage):
     img = np.array(img)
     img = img[:, :, ::-1].copy()
 
-    rospy.logwarn('shape of the image: ' + str(img.shape))
-
     return img
 
 
-# pcl_xyz = rnp.point_cloud2.pointcloud2_to_xyz_array(pcl_msg, remove_nans=False)
-def pcl_msg_to_xyz(pcl_msg):
-    pcl_xyz = rnp.point_cloud2.pointcloud2_to_xyz_array(pcl_msg, remove_nans=False)
-
-    rospy.logwarn('shape of the image: ' + str(pcl_xyz.shape))
-
-    return pcl_xyz
-
-
-def pcl_msg_to_cv2(pcl_msg):
-    """
-    Constructs a cv2 image from a PointCloud2 message.
-    
-    Parameters
-    ----------
-    pcl_msg : sensor_msgs/PointCloud2
-        Input pointcloud (organised)
-    
-    Returns
-    -------
-    np.array : cv2 image
-    """
-
-    # Extract rgb image from pointcloud
-    frame = np.fromstring(pcl_msg.data, dtype=np.uint8)
-    frame = frame.reshape(pcl_msg.height, pcl_msg.width, 32)
-    frame = frame[:,:,16:19]
-
-    # Ensure array is contiguous
-    frame = np.ascontiguousarray(frame, dtype=np.uint8)
-
-    rospy.logwarn('shape of the image: ' + str(frame.shape))
-
-    return frame
-
-
 def extract_mask_region(frame, mask, expand_x=0.5, expand_y=0.5):
     """
     Extracts the face region from the image and expands the region by the specified amount.