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()
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()
def _load_thumbnail(self, topic, stamp, thumbnail_details):
"""
Loads the thumbnail from the bag
"""
(thumbnail_height, ) = thumbnail_details
# Find position of stamp using index
t = rospy.Time.from_sec(stamp)
bag, entry = self.timeline.scene().get_entry(t, topic)
if not entry:
return None, None
pos = entry.position
# Not in the cache; load from the bag file
with self.timeline.scene()._bag_lock:
msg_topic, msg, msg_stamp = bag._read_message(pos)
# Convert from ROS image to PIL image
try:
pil_image = image_helper.imgmsg_to_pil(msg)
except Exception as ex:
print('Error loading image on topic %s: %s' % (topic, str(ex)),
file=sys.stderr)
pil_image = None
if not pil_image:
print('Disabling renderer on %s' % topic, file=sys.stderr)
self.timeline.set_renderer_active(topic, False)
return None, None
# Calculate width to maintain aspect ratio
try:
pil_image_size = pil_image.size
thumbnail_width = int(
round(thumbnail_height *
(float(pil_image_size[0]) / pil_image_size[1])))
# Scale to thumbnail size
thumbnail = pil_image.resize((thumbnail_width, thumbnail_height),
self.quality)
return msg_stamp, thumbnail
except Exception as ex:
print('Error loading image on topic %s: %s' % (topic, str(ex)),
file=sys.stderr)
raise
return None, None
def _load_thumbnail(self, topic, stamp, thumbnail_details):
"""
Loads the thumbnail from the bag
"""
(thumbnail_height,) = thumbnail_details
# Find position of stamp using index
t = rospy.Time.from_sec(stamp)
bag, entry = self.timeline.scene().get_entry(t, topic)
if not entry:
return None, None
pos = entry.position
# Not in the cache; load from the bag file
with self.timeline.scene()._bag_lock:
msg_topic, msg, msg_stamp = bag._read_message(pos)
# Convert from ROS image to PIL image
try:
pil_image = image_helper.imgmsg_to_pil(msg)
except Exception as ex:
print('Error loading image on topic %s: %s' % (topic, str(ex)), file=sys.stderr)
pil_image = None
if not pil_image:
print('Disabling renderer on %s' % topic, file=sys.stderr)
self.timeline.set_renderer_active(topic, False)
return None, None
# Calculate width to maintain aspect ratio
try:
pil_image_size = pil_image.size
thumbnail_width = int(round(thumbnail_height * (float(pil_image_size[0]) / pil_image_size[1])))
# Scale to thumbnail size
thumbnail = pil_image.resize((thumbnail_width, thumbnail_height), self.quality)
return msg_stamp, thumbnail
except Exception as ex:
print('Error loading image on topic %s: %s' % (topic, str(ex)), file=sys.stderr)
raise
return None, None