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00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2009, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of Willow Garage, Inc. nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 # 00034 # Revision $Id: py_image_view.py 11141 2010-09-18 00:25:37Z kwc $ 00035 00036 PKG = 'rosh' 00037 import roslib; roslib.load_manifest(PKG) 00038 import rospy 00039 import optparse 00040 import sys 00041 import wx 00042 import Image 00043 00044 class PyImageViewFrame(wx.Frame): 00045 def __init__(self, topic, map=False): 00046 if map: 00047 wx.Frame.__init__(self, None, wx.ID_ANY, topic, pos=wx.DefaultPosition, size=(1000, 1000), style=wx.DEFAULT_FRAME_STYLE) 00048 else: 00049 wx.Frame.__init__(self, None, wx.ID_ANY, topic, pos=wx.DefaultPosition, size=(640, 480), style=wx.DEFAULT_FRAME_STYLE) 00050 00051 self.image = None 00052 self.map = None 00053 self.bitmap = None 00054 self.dirty = False 00055 00056 self.Bind(wx.EVT_PAINT, self.on_paint) 00057 self.Bind(wx.EVT_SIZE, lambda e: self.convert_bitmap()) 00058 00059 if not map: 00060 import sensor_msgs.msg 00061 rospy.Subscriber(topic, sensor_msgs.msg.Image, lambda img_msg: wx.CallAfter(self.set_image_msg, img_msg)) 00062 else: 00063 import nav_msgs.msg 00064 rospy.Subscriber(topic, nav_msgs.msg.OccupancyGrid, lambda map_msg: wx.CallAfter(self.set_map_msg, map_msg)) 00065 00066 def set_image_msg(self, img_msg): 00067 self.image = self.imgmsg_to_wx(img_msg) 00068 self.dirty = True 00069 self.convert_bitmap() 00070 00071 def set_map_msg(self, msg): 00072 self.image = self.occgridmsg_to_wx(msg) 00073 self.dirty = True 00074 self.convert_bitmap() 00075 00076 def on_paint(self, event): 00077 if self.bitmap: 00078 wx.ClientDC(self).DrawBitmap(self.bitmap, 0, 0) 00079 00080 def convert_bitmap(self): 00081 if self.image: 00082 width = self.image.GetWidth() 00083 height = self.image.GetHeight() 00084 target_width, target_height = self.GetClientSize() 00085 00086 if self.dirty or ((width, height) != (target_width, target_height)): 00087 # Rescale operates in place 00088 cp = self.image.Copy() 00089 # 1) try to box to width first 00090 new_width = target_width 00091 new_height = int((float(target_width) / float(width)) * float(height)) 00092 if new_height > target_height: 00093 # 1) try to box to height instead 00094 new_height = target_height 00095 new_width = int((float(target_height) / float(height)) * float(width)) 00096 00097 cp.Rescale(new_width, new_height) 00098 cp.Resize((self.GetClientSize()[0], self.GetClientSize()[1]), wx.Point(0, 0), 0, 0, 0) 00099 self.bitmap = cp.ConvertToBitmap() 00100 self.dirty = False 00101 self.Refresh() 00102 00103 def imgmsg_to_wx(self, img_msg): 00104 if img_msg.encoding == 'rgb8': 00105 return wx.ImageFromBuffer(img_msg.width, img_msg.height, img_msg.data) 00106 elif img_msg.encoding in ['mono8', 'bayer_rggb8', 'bayer_bggr8', 'bayer_gbrg8', 'bayer_grbg8']: 00107 mode = 'L' 00108 elif img_msg.encoding == 'rgb8': 00109 mode = 'RGB' 00110 elif img_msg.encoding == 'bgr8': 00111 mode = 'BGR' 00112 elif img_msg.encoding == 'mono16': 00113 if img_msg.is_bigendian: 00114 mode = 'F;16B' 00115 else: 00116 mode = 'F:16' 00117 elif img_msg.encoding in ['rgba8', 'bgra8']: 00118 return None 00119 00120 pil_img = Image.frombuffer('RGB', (img_msg.width, img_msg.height), img_msg.data, 'raw', mode, 0, 1) 00121 if pil_img.mode != 'RGB': 00122 pil_img = pil_img.convert('RGB') 00123 00124 return wx.ImageFromData(pil_img.size[0], pil_img.size[1], pil_img.tostring()) 00125 00126 def occgridmsg_to_wx(self, map): 00127 # adapted from map_tiler 00128 size = (map.info.width, map.info.height) 00129 s = "".join([maptrans(x) for x in map.data]) 00130 return wx.ImageFromData(map.info.width, map.info.height, s) 00131 00132 s128 = chr(128)*3 00133 s0 = chr(0)*3 00134 s255 = chr(255)*3 00135 def maptrans(x): 00136 if x == -1: 00137 return s128 00138 elif x == 0: 00139 return s255 00140 elif x == 100: 00141 return s0 00142 else: 00143 return chr(x)*3 00144 00145 if __name__ == '__main__': 00146 parser = optparse.OptionParser() 00147 parser.add_option('-t', '--topic', action='store', default='/image', help='topic to listen to image msg on') 00148 parser.add_option('-m', '--map', action='store_true', help='topic is is nav_msgs/OccupancyGrid') 00149 options, args = parser.parse_args(sys.argv[1:]) 00150 00151 rospy.init_node('py_image_view', anonymous=True) 00152 00153 app = wx.PySimpleApp() 00154 frame = PyImageViewFrame(options.topic, map=options.map) 00155 frame.Show() 00156 app.MainLoop()