image_view.py

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from PIL import Image
 
# HACK workaround for upstream pillow issue python-pillow/Pillow#400
import sys
from python_qt_binding import QT_BINDING_MODULES
if (
    not QT_BINDING_MODULES['QtCore'].__name__.startswith('PyQt5') and
    'PyQt5' in sys.modules
):
    sys.modules['PyQt5'] = None
from PIL.ImageQt import ImageQt
 
from rqt_bag import TopicMessageView
from rqt_bag_plugins import image_helper
 
from python_qt_binding.QtGui import QPixmap
from python_qt_binding.QtWidgets import QGraphicsScene, QGraphicsView
 
 
class ImageView(TopicMessageView):
 
    """
    Popup image viewer
    """
    name = 'Image'
 
    def __init__(self, timeline, parent, topic):
        super(ImageView, self).__init__(timeline, parent, topic)
 
        self._image = None
        self._image_topic = None
        self._image_stamp = None
        self.quality = Image.NEAREST  # quality hint for scaling
 
        # TODO put the image_topic and image_stamp on the picture or display them in some fashion
        self._overlay_font_size = 14.0
        self._overlay_indent = (4, 4)
        self._overlay_color = (0.2, 0.2, 1.0)
 
        self._image_view = QGraphicsView(parent)
        self._image_view.resizeEvent = self._resizeEvent
        self._scene = QGraphicsScene()
        self._image_view.setScene(self._scene)
        parent.layout().addWidget(self._image_view)
 
    # MessageView implementation
    def _resizeEvent(self, event):
        # TODO make this smarter. currently there will be no scrollbar even if the
        # timeline extends beyond the viewable area
        self._scene.setSceneRect(
            0, 0, self._image_view.size().width() - 2, self._image_view.size().height() - 2)
        self.put_image_into_scene()
 
    def message_viewed(self, bag, msg_details):
        """
        refreshes the image
        """
        TopicMessageView.message_viewed(self, bag, msg_details)
        topic, msg, t = msg_details[:3]
        if not msg:
            self.set_image(None, topic, 'no message')
        else:
            self.set_image(msg, topic, msg.header.stamp)
 
    def message_cleared(self):
        TopicMessageView.message_cleared(self)
        self.set_image(None, None, None)
 
    # End MessageView implementation
    def put_image_into_scene(self):
        if self._image:
            scale_factor = min(
                float(self._image_view.size().width() - 2) / self._image.size[0],
                float(self._image_view.size().height() - 2) / self._image.size[1])
            resized_image = self._image.resize(
                (int(scale_factor * self._image.size[0]),
                 int(scale_factor * self._image.size[1])),
                self.quality)
 
            QtImage = ImageQt(resized_image)
            pixmap = QPixmap.fromImage(QtImage)
            self._scene.clear()
            self._scene.addPixmap(pixmap)
 
    def set_image(self, image_msg, image_topic, image_stamp):
        self._image_msg = image_msg
        if image_msg:
            self._image = image_helper.imgmsg_to_pil(image_msg)
        else:
            self._image = None
        self._image_topic = image_topic
        self._image_stamp = image_stamp
        self.put_image_into_scene()