image_timeline_renderer.py
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00001 # Software License Agreement (BSD License)
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00003 # Copyright (c) 2009, Willow Garage, Inc.
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00032 
00033 import rospy
00034 
00035 # HACK workaround for upstream pillow issue python-pillow/Pillow#400
00036 import sys
00037 if 'PyQt5' in sys.modules:
00038     sys.modules['PyQt5'] = None
00039 from PIL import Image
00040 from PIL.ImageQt import ImageQt
00041 
00042 from rqt_bag import TimelineCache, TimelineRenderer
00043 
00044 import image_helper
00045 
00046 from python_qt_binding.QtCore import Qt
00047 from python_qt_binding.QtGui import QBrush, QPen, QPixmap
00048 
00049 
00050 class ImageTimelineRenderer(TimelineRenderer):
00051     """
00052     Draws thumbnails of sensor_msgs/Image or sensor_msgs/CompressedImage in the timeline.
00053     """
00054     def __init__(self, timeline, thumbnail_height=160):
00055         super(ImageTimelineRenderer, self).__init__(timeline, msg_combine_px=40.0)
00056 
00057         self.thumbnail_height = thumbnail_height
00058 
00059         self.thumbnail_combine_px = 20.0  # use cached thumbnail if it's less than this many pixels away
00060         self.min_thumbnail_width = 8  # don't display thumbnails if less than this many pixels across
00061         self.quality = Image.NEAREST  # quality hint for thumbnail scaling
00062 
00063         self.thumbnail_cache = TimelineCache(self._load_thumbnail, lambda topic, msg_stamp, thumbnail: self.timeline.scene().update())
00064     # TimelineRenderer implementation
00065 
00066     def get_segment_height(self, topic):
00067         return self.thumbnail_height
00068 
00069     def draw_timeline_segment(self, painter, topic, stamp_start, stamp_end, x, y, width, height):
00070         """
00071         draws a stream of images for the topic
00072         :param painter: painter object, ''QPainter''
00073         :param topic: topic to draw, ''str''
00074         :param stamp_start: stamp to start drawing, ''rospy.Time''
00075         :param stamp_end: stamp to end drawing, ''rospy.Time''
00076         :param x: x to draw images at, ''int''
00077         :param y: y to draw images at, ''int''
00078         :param width: width in pixels of the timeline area, ''int''
00079         :param height: height in pixels of the timeline area, ''int''
00080         """
00081         if x < self.timeline._history_left:
00082             width += x - self.timeline._history_left
00083             x = self.timeline._history_left
00084         max_interval_thumbnail = self.timeline.map_dx_to_dstamp(self.thumbnail_combine_px)
00085         max_interval_thumbnail = max(0.1, max_interval_thumbnail)
00086         thumbnail_gap = 6
00087         thumbnail_x, thumbnail_y, thumbnail_height = x + 1, y + 1, height - 2 - thumbnail_gap  # leave 1px border
00088 
00089         # set color to white draw rectangle over messages
00090         painter.setBrush(QBrush(Qt.white))
00091         painter.drawRect(x, y, width, height - thumbnail_gap)
00092         thumbnail_width = None
00093 
00094         while True:
00095             available_width = (x + width) - thumbnail_x
00096 
00097             # Check for enough remaining to draw thumbnail
00098             if width > 1 and available_width < self.min_thumbnail_width:
00099                 break
00100 
00101             # Try to display the thumbnail, if its right edge is to the right of the timeline's left side
00102             if not thumbnail_width or thumbnail_x + thumbnail_width >= self.timeline._history_left:
00103                 stamp = self.timeline.map_x_to_stamp(thumbnail_x, clamp_to_visible=False)
00104                 thumbnail_bitmap = self.thumbnail_cache.get_item(topic, stamp, max_interval_thumbnail)
00105 
00106                 # Cache miss
00107                 if not thumbnail_bitmap:
00108                     thumbnail_details = (thumbnail_height,)
00109                     self.thumbnail_cache.enqueue((topic, stamp, max_interval_thumbnail, thumbnail_details))
00110                     if not thumbnail_width:
00111                         break
00112                 else:
00113                     thumbnail_width, _ = thumbnail_bitmap.size
00114 
00115                     if width > 1:
00116                         if available_width < thumbnail_width:
00117                             thumbnail_width = available_width - 1
00118                     QtImage = ImageQt(thumbnail_bitmap)
00119                     pixmap = QPixmap.fromImage(QtImage)
00120                     painter.drawPixmap(thumbnail_x, thumbnail_y, thumbnail_width, thumbnail_height, pixmap)
00121             thumbnail_x += thumbnail_width
00122 
00123             if width == 1:
00124                 break
00125 
00126         painter.setPen(QPen(QBrush(Qt.black)))
00127         painter.setBrush(QBrush(Qt.transparent))
00128         if width == 1:
00129             painter.drawRect(x, y, thumbnail_x - x, height - thumbnail_gap - 1)
00130         else:
00131             painter.drawRect(x, y, width, height - thumbnail_gap - 1)
00132         return True
00133 
00134     def close(self):
00135         if self.thumbnail_cache:
00136             self.thumbnail_cache.stop()
00137             self.thumbnail_cache.join()
00138 
00139     def _load_thumbnail(self, topic, stamp, thumbnail_details):
00140         """
00141         Loads the thumbnail from the bag
00142         """
00143         (thumbnail_height,) = thumbnail_details
00144 
00145         # Find position of stamp using index
00146         t = rospy.Time.from_sec(stamp)
00147         bag, entry = self.timeline.scene().get_entry(t, topic)
00148         if not entry:
00149             return None, None
00150         pos = entry.position
00151 
00152         # Not in the cache; load from the bag file
00153 
00154         with self.timeline.scene()._bag_lock:
00155             msg_topic, msg, msg_stamp = bag._read_message(pos)
00156 
00157         # Convert from ROS image to PIL image
00158         try:
00159             pil_image = image_helper.imgmsg_to_pil(msg)
00160         except Exception, ex:
00161             print >> sys.stderr, 'Error loading image on topic %s: %s' % (topic, str(ex))
00162             pil_image = None
00163 
00164         if not pil_image:
00165             print >> sys.stderr, 'Disabling renderer on %s' % topic
00166             self.timeline.set_renderer_active(topic, False)
00167             return None, None
00168 
00169         # Calculate width to maintain aspect ratio
00170         try:
00171             pil_image_size = pil_image.size
00172             thumbnail_width = int(round(thumbnail_height * (float(pil_image_size[0]) / pil_image_size[1])))
00173             # Scale to thumbnail size
00174             thumbnail = pil_image.resize((thumbnail_width, thumbnail_height), self.quality)
00175 
00176             return msg_stamp, thumbnail
00177 
00178         except Exception, ex:
00179             print >> sys.stderr, 'Error loading image on topic %s: %s' % (topic, str(ex))
00180             raise
00181             return None, None


rqt_bag_plugins
Author(s): Aaron Blasdel, Tim Field
autogenerated on Wed Sep 16 2015 06:58:30