image_helper.py
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00001 # Software License Agreement (BSD License)
00002 #
00003 # Copyright (c) 2012, Willow Garage, Inc.
00004 # All rights reserved.
00005 #
00006 # Redistribution and use in source and binary forms, with or without
00007 # modification, are permitted provided that the following conditions
00008 # are met:
00009 #
00010 #  * Redistributions of source code must retain the above copyright
00011 #    notice, this list of conditions and the following disclaimer.
00012 #  * Redistributions in binary form must reproduce the above
00013 #    copyright notice, this list of conditions and the following
00014 #    disclaimer in the documentation and/or other materials provided
00015 #    with the distribution.
00016 #  * Neither the name of Willow Garage, Inc. nor the names of its
00017 #    contributors may be used to endorse or promote products derived
00018 #    from this software without specific prior written permission.
00019 #
00020 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00021 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00022 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00023 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00024 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00025 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00026 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00027 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00028 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00029 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00030 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00031 # POSSIBILITY OF SUCH DAMAGE.
00032 
00033 from __future__ import print_function
00034 import array
00035 try:
00036     from cStringIO import StringIO
00037 except ImportError:
00038     from io import StringIO
00039 import sys
00040 
00041 from PIL import Image
00042 from PIL import ImageOps
00043 import cairo
00044 
00045 
00046 def imgmsg_to_pil(img_msg, rgba=True):
00047     try:
00048         if img_msg._type == 'sensor_msgs/CompressedImage':
00049             pil_img = Image.open(StringIO(img_msg.data))
00050             if pil_img.mode != 'L':
00051                 pil_img = pil_bgr2rgb(pil_img)
00052         else:
00053             alpha = False
00054             pil_mode = 'RGB'
00055             if img_msg.encoding == 'mono8':
00056                 mode = 'L'
00057             elif img_msg.encoding == 'rgb8':
00058                 mode = 'RGB'
00059             elif img_msg.encoding == 'bgr8':
00060                 mode = 'BGR'
00061             elif img_msg.encoding in ['bayer_rggb8', 'bayer_bggr8', 'bayer_gbrg8', 'bayer_grbg8']:
00062                 mode = 'L'
00063             elif img_msg.encoding == 'mono16' or img_msg.encoding == '16UC1':
00064                 pil_mode = 'F'
00065                 if img_msg.is_bigendian:
00066                     mode = 'F;16B'
00067                 else:
00068                     mode = 'F;16'
00069             elif img_msg.encoding == 'rgba8':
00070                 mode = 'BGR'
00071                 alpha = True
00072             elif img_msg.encoding == 'bgra8':
00073                 mode = 'RGB'
00074                 alpha = True
00075             else:
00076                 raise Exception("Unsupported image format: %s" % img_msg.encoding)
00077             pil_img = Image.frombuffer(pil_mode, (img_msg.width, img_msg.height), img_msg.data, 'raw', mode, 0, 1)
00078 
00079         # 16 bits conversion to 8 bits
00080         if pil_img.mode == 'F':
00081             pil_img = pil_img.point(lambda i: i*(1./256.)).convert('L')
00082             pil_img = ImageOps.autocontrast(pil_img)
00083 
00084         if rgba and pil_img.mode != 'RGBA':
00085             pil_img = pil_img.convert('RGBA')
00086 
00087         return pil_img
00088 
00089     except Exception as ex:
00090         print('Can\'t convert image: %s' % ex, file=sys.stderr)
00091         return None
00092 
00093 
00094 def pil_bgr2rgb(pil_img):
00095     rgb2bgr = (0, 0, 1, 0,
00096                0, 1, 0, 0,
00097                1, 0, 0, 0)
00098     return pil_img.convert('RGB', rgb2bgr)
00099 
00100 
00101 def pil_to_cairo(pil_img):
00102     w, h = pil_img.size
00103     data = array.array('c')
00104     data.fromstring(pil_img.tostring())
00105 
00106     return cairo.ImageSurface.create_for_data(data, cairo.FORMAT_ARGB32, w, h)


rqt_bag_plugins
Author(s): Aaron Blasdel, Tim Field
autogenerated on Thu Aug 17 2017 02:19:34