def images(cam):
"""Extract images from input stream to jpg files.
Args:
cam: Input stream of raw rosbag messages.
Returns:
File instances for images of input stream.
"""
# Set output stream title and pull first message
yield marv.set_header(title=cam.topic)
# Fetch and process first 20 image messages
name_template = '%s-{}.jpg' % cam.topic.replace('/', ':')[1:]
while True:
idx, msg = yield marv.pull(cam, enumerate=True)
if msg is None or idx >= 20:
break
# Deserialize raw ros message
pytype = get_message_type(cam)
rosmsg = pytype()
rosmsg.deserialize(msg.data)
# Write image to jpeg and push it to output stream
img = imgmsg_to_cv2(rosmsg, "rgb8")
name = name_template.format(idx)
imgfile = yield marv.make_file(name)
cv2.imwrite(imgfile.path, img)
yield marv.push(imgfile)
def filesize_plot_fixed(filesizes):
# set_header() helps marv to schedule nodes
yield marv.set_header()
# Pull all filesizes
sizes = []
while True:
size = yield marv.pull(filesizes)
if size is None:
break
sizes.append(size)
# plot
fig = plt.figure()
axis = fig.add_subplot(1, 1, 1)
axis.plot(sizes, 'bo')
#axis.set_xlabel('foo')
#axis.set_ylabel('bat')
# save figure to file
plotfile = yield marv.make_file('filesizes.json')
with open(plotfile.path, 'w') as f:
json.dump(mpld3.fig_to_dict(fig), f)
# create plot widget referencing file
widget = {
'title': 'Filesizes',
'mpld3': 'marv-partial:{}'.format(plotfile.relpath),
}
yield marv.push(widget)
def image(cam):
"""Extract first image of input stream to jpg file.
Args:
cam: Input stream of raw rosbag messages.
Returns:
File instance for first image of input stream.
"""
# Set output stream title and pull first message
yield marv.set_header(title=cam.topic)
msg = yield marv.pull(cam)
if msg is None:
return
# Deserialize raw ros message
pytype = get_message_type(cam)
rosmsg = pytype()
rosmsg.deserialize(msg.data)
# Write image to jpeg and push it to output stream
name = '{}.jpg'.format(cam.topic.replace('/', ':')[1:])
imgfile = yield marv.make_file(name)
img = imgmsg_to_cv2(rosmsg, "rgb8")
cv2.imwrite(imgfile.path, img, (cv2.IMWRITE_JPEG_QUALITY, 60))
yield marv.push(imgfile)
def navsatfix(stream):
yield marv.set_header(title=stream.topic)
pytype = get_message_type(stream)
rosmsg = pytype()
erroneous = 0
while True:
msg = yield marv.pull(stream)
if msg is None:
break
rosmsg.deserialize(msg.data)
if not hasattr(rosmsg, 'status') or \
np.isnan(rosmsg.longitude) or \
np.isnan(rosmsg.latitude) or \
np.isnan(rosmsg.altitude):
erroneous += 1
continue
# TODO: namedtuple?
out = {
'status': rosmsg.status.status,
'lon': rosmsg.longitude,
'lat': rosmsg.latitude,
'timestamp': rosmsg.header.stamp.to_time()
}
yield marv.push(out)
if erroneous:
log = yield marv.get_logger()
log.warn('skipped %d erroneous messages', erroneous)
def nooutput(stream):
yield marv.set_header()
while True:
msg = yield marv.pull(stream)
if msg is None:
return
yield marv.push(msg)
def ffmpeg(stream, speed, convert_32FC1_scale, convert_32FC1_offset):
"""Create video for each sensor_msgs/Image topic with ffmpeg"""
yield marv.set_header(title=stream.topic)
name = '{}.webm'.format(stream.topic.replace('/', '_')[1:])
video = yield marv.make_file(name)
duration = (stream.end_time - stream.start_time) * 1e-9
framerate = stream.msg_count / duration
pytype = get_message_type(stream)
rosmsg = pytype()
encoder = None
while True:
msg = yield marv.pull(stream)
if msg is None:
break
rosmsg.deserialize(msg.data)
try:
mono, img = ros2cv(rosmsg, convert_32FC1_scale,
convert_32FC1_offset)
except cv_bridge.CvBridgeError as e:
log = yield marv.get_logger()
log.error('could not convert image %s', e)
return
if not encoder:
ffargs = [
'ffmpeg',
'-f',
'rawvideo',
'-pixel_format',
'%s' % 'gray' if mono else 'bgr24',
'-video_size',
'%dx%d' % (rosmsg.width, rosmsg.height),
'-framerate',
'%s' % framerate,
'-i',
'-',
'-c:v',
'libvpx-vp9',
'-pix_fmt',
'yuv420p',
'-loglevel',
'error',
'-threads',
'8',
'-speed',
str(speed),
'-y',
video.path,
]
encoder = subprocess.Popen(ffargs, stdin=subprocess.PIPE)
encoder.stdin.write(img)
encoder.stdin.close()
encoder.wait()
yield video
def trajectory(navsatfixes):
navsatfix = yield marv.pull(navsatfixes) # Only one topic for now
if not navsatfix:
raise marv.Abort()
yield marv.set_header(title=navsatfix.title)
features = []
prev_quality = None
timestamps = []
while True:
msg = yield marv.pull(navsatfix)
if msg is None:
break
dt = msg['timestamp']
timestamps.append(int(dt * 1e9))
# Whether to output an augmented fix is determined by both the fix
# type and the last time differential corrections were received. A
# fix is valid when status >= STATUS_FIX.
# STATUS_NO_FIX = -1 -> unable to fix position -> color id 0 = red
# STATUS_FIX = 0 -> unaugmented fix -> color id 1 = orange
# STATUS_SBAS_FIX = 1 -> satellite-based augmentation -> color id 2 = blue
# STATUS_GBAS_FIX = 2 -> ground-based augmentation -> color id 3 = green
# -> unknown status id -> color id 4 = black
if -1 <= msg['status'] <= 2:
quality = msg['status'] + 1
else:
quality = 4
if quality != prev_quality:
color = (
(1., 0., 0., 1.), # rgba
(1., 0.65, 0., 1.),
(0., 0., 1., 1.),
(0., 1., 0., 1.))[quality]
coords = []
feat = {
'properties': {
'color': color,
'width': 4.,
'timestamps': timestamps,
'markervertices':
[c * 30 for c in (0., 0., -1., .3, -1., -.3)]
},
'geometry': {
'line_string': {
'coordinates': coords
}
}
}
features.append(feat)
prev_quality = quality
coords.append((msg['lon'], msg['lat']))
if features:
out = {'feature_collection': {'features': features}}
yield marv.push(out)
def galleries(stream):
"""Galleries for all images streams.
Used by marv_robotics.detail.images_section.
"""
yield marv.set_header(title=stream.title)
images = []
while True:
img = yield marv.pull(stream)
if img is None:
break
images.append({'src': img.relpath})
yield marv.push({'title': stream.title, 'gallery': {'images': images}})
def ffmpeg(stream, speed, convert_32FC1_scale, convert_32FC1_offset):
"""Create video for each sensor_msgs/Image topic with ffmpeg"""
yield marv.set_header(title=stream.topic)
name = '{}.webm'.format(stream.topic.replace('/', '_')[1:])
video = yield marv.make_file(name)
duration = (stream.end_time - stream.start_time) * 1e-9
framerate = stream.msg_count / duration
pytype = get_message_type(stream)
rosmsg = pytype()
encoder = None
while True:
msg = yield marv.pull(stream)
if msg is None:
break
rosmsg.deserialize(msg.data)
if not encoder:
ffargs = [
'ffmpeg',
'-f', 'rawvideo',
'-pixel_format', '%s' % {'mono8': 'gray',
'32FC1': 'gray',
'8UC1': 'gray'}.get(rosmsg.encoding, 'rgb24'),
'-video_size', '%dx%d' % (rosmsg.width, rosmsg.height),
'-framerate', '%s' % framerate,
'-i', '-',
'-c:v', 'libvpx-vp9',
'-pix_fmt', 'yuv420p',
'-loglevel', 'error',
'-threads', '8',
'-speed', str(speed),
'-y',
video.path,
]
encoder = subprocess.Popen(ffargs, stdin=subprocess.PIPE)
if rosmsg.encoding == 'mono8':
data = rosmsg.data
elif rosmsg.encoding == '32FC1':
data = cv2.convertScaleAbs(numpy.nan_to_num(imgmsg_to_cv2(rosmsg, 'passthrough')),
None, convert_32FC1_scale, convert_32FC1_offset)
elif rosmsg.encoding == '8UC1':
data = imgmsg_to_cv2(rosmsg).tobytes()
else:
data = imgmsg_to_cv2(rosmsg, 'rgb8').tobytes()
encoder.stdin.write(data)
encoder.stdin.close()
encoder.wait()
yield video
def fulltext_per_topic(stream):
yield marv.set_header() # TODO: workaround
words = set()
pytype = get_message_type(stream)
rosmsg = pytype()
while True:
msg = yield marv.pull(stream)
if msg is None:
break
rosmsg.deserialize(msg.data)
words.update(rosmsg.data.split())
if not words:
raise marv.Abort()
yield marv.push({'words': list(words)})
def trajectory(navsatfixes):
navsatfix = yield marv.pull(navsatfixes) # Only one topic for now
if not navsatfix:
raise marv.Abort()
yield marv.set_header(title=navsatfix.title)
features = []
quality = None
coords = []
timestamps = []
while True:
msg = yield marv.pull(navsatfix)
if msg is None:
break
dt = msg['timestamp']
timestamps.append(int(dt * 1e9))
# Whether to output an augmented fix is determined by both the fix
# type and the last time differential corrections were received. A
# fix is valid when status >= STATUS_FIX.
# STATUS_NO_FIX = -1 -> unable to fix position -> color id 0 = red
# STATUS_FIX = 0 -> unaugmented fix -> color id 1 = orange
# STATUS_SBAS_FIX = 1 -> satellite-based augmentation -> color id 2 = blue
# STATUS_GBAS_FIX = 2 -> ground-based augmentation -> color id 3 = green
# -> unknown status id -> color id 4 = black
if -1 <= msg['status'] <= 2:
new_quality = msg['status'] + 1
else:
new_quality = 4
# start new feature if quality changed
if quality != new_quality:
if coords:
features.append(_create_feature(coords, quality, timestamps))
quality = new_quality
coords = []
timestamps = []
coords.append((msg['lon'], msg['lat']))
if coords:
features.append(_create_feature(coords, quality, timestamps))
if features:
out = {'feature_collection': {'features': features}}
yield marv.push(out)
def positions(stream):
yield marv.set_header(title=stream.topic)
pytype = get_message_type(stream)
rosmsg = pytype()
erroneous = 0
e_offset = None
n_offset = None
u_offset = None
positions = []
while True:
msg = yield marv.pull(stream)
if msg is None:
break
rosmsg.deserialize(msg.data)
if not hasattr(rosmsg, 'status') or \
np.isnan(rosmsg.longitude) or \
np.isnan(rosmsg.latitude) or \
np.isnan(rosmsg.altitude) or \
np.isnan(rosmsg.position_covariance[0]):
erroneous += 1
continue
e, n, _, _ = utm.from_latlon(rosmsg.latitude, rosmsg.longitude)
if e_offset is None:
e_offset = e
n_offset = n
u_offset = rosmsg.altitude
e = e - e_offset
n = n - n_offset
u = rosmsg.altitude - u_offset
# TODO: why do we accumulate?
positions.append([rosmsg.header.stamp.to_sec(),
rosmsg.latitude,
rosmsg.longitude,
rosmsg.altitude,
e, n, u,
rosmsg.status.status,
np.sqrt(rosmsg.position_covariance[0])])
if erroneous:
log = yield marv.get_logger()
log.warn('skipped %d erroneous messages', erroneous)
if positions:
yield marv.push({'values': positions})
def images(stream, image_width, max_frames, convert_32FC1_scale,
convert_32FC1_offset):
"""
Extract max_frames equidistantly spread images from each sensor_msgs/Image stream.
Args:
stream: sensor_msgs/Image stream
image_width (int): Scale to image_width, keeping aspect ratio.
max_frames (int): Maximum number of frames to extract.
"""
yield marv.set_header(title=stream.topic)
pytype = get_message_type(stream)
rosmsg = pytype()
interval = int(math.ceil(stream.msg_count / max_frames))
digits = int(math.ceil(math.log(stream.msg_count) / math.log(10)))
name_template = '%s-{:0%sd}.jpg' % (stream.topic.replace('/',
':')[1:], digits)
counter = count()
while True:
msg = yield marv.pull(stream)
if msg is None:
break
idx = counter.next()
if idx % interval:
continue
rosmsg.deserialize(msg.data)
try:
mono, img = ros2cv(rosmsg, convert_32FC1_scale,
convert_32FC1_offset)
except cv_bridge.CvBridgeError as e:
log = yield marv.get_logger()
log.error('could not convert image %s', e)
return
height = int(round(image_width * img.shape[0] / img.shape[1]))
scaled_img = cv2.resize(img, (image_width, height),
interpolation=cv2.INTER_AREA)
name = name_template.format(idx)
imgfile = yield marv.make_file(name)
cv2.imwrite(imgfile.path, scaled_img, (cv2.IMWRITE_JPEG_QUALITY, 60))
yield imgfile
def imus(stream):
yield marv.set_header(title=stream.topic)
pytype = get_message_type(stream)
rosmsg = pytype()
erroneous = 0
imus = []
while True:
msg = yield marv.pull(stream)
if msg is None:
break
rosmsg.deserialize(msg.data)
if np.isnan(rosmsg.orientation.x):
erroneous += 1
continue
# TODO: why do we accumulate?
imus.append([rosmsg.header.stamp.to_sec(), yaw_angle(rosmsg.orientation)])
if erroneous:
log = yield marv.get_logger()
log.warn('skipped %d erroneous messages', erroneous)
yield marv.push({'values': imus})
def navsatorients(stream):
log = yield marv.get_logger()
yield marv.set_header(title=stream.topic)
pytype = get_message_type(stream)
rosmsg = pytype()
erroneous = 0
navsatorients = []
while True:
msg = yield marv.pull(stream)
if msg is None:
break
rosmsg.deserialize(msg.data)
if np.isnan(rosmsg.yaw):
erroneous += 1
continue
# TODO: why do we accumulate?
navsatorients.append([rosmsg.header.stamp.to_sec(), rosmsg.yaw])
if erroneous:
log.warn('skipped %d erroneous messages', erroneous)
yield marv.push({'values': navsatorients})
def images(stream, image_width, max_frames, convert_32FC1_scale, convert_32FC1_offset):
"""
Extract max_frames equidistantly spread images from each sensor_msgs/Image stream.
Args:
stream: sensor_msgs/Image stream
image_width (int): Scale to image_width, keeping aspect ratio.
max_frames (int): Maximum number of frames to extract.
"""
yield marv.set_header(title=stream.topic)
pytype = get_message_type(stream)
rosmsg = pytype()
interval = int(math.ceil(stream.msg_count / max_frames))
digits = int(math.ceil(math.log(stream.msg_count) / math.log(10)))
name_template = '%s-{:0%sd}.jpg' % (stream.topic.replace('/', ':')[1:], digits)
counter = count()
while True:
msg = yield marv.pull(stream)
if msg is None:
break
idx = counter.next()
if idx % interval:
continue
rosmsg.deserialize(msg.data)
if rosmsg.encoding == '32FC1':
img = cv2.convertScaleAbs(numpy.nan_to_num(imgmsg_to_cv2(rosmsg, 'passthrough')),
None, convert_32FC1_scale, convert_32FC1_offset)
elif rosmsg.encoding == '8UC1':
img = imgmsg_to_cv2(rosmsg)
else:
img = imgmsg_to_cv2(rosmsg, "rgb8")
height = int(round(image_width * img.shape[0] / img.shape[1]))
scaled_img = cv2.resize(img, (image_width, height),
interpolation=cv2.INTER_AREA)
name = name_template.format(idx)
imgfile = yield marv.make_file(name)
cv2.imwrite(imgfile.path, scaled_img, (cv2.IMWRITE_JPEG_QUALITY, 60))
yield imgfile
def gnss_plots(gps, orientation):
# TODO: framework does not yet support multiple foreach
# pick only first combination for now
log = yield marv.get_logger()
gps, orientation = yield marv.pull_all(gps, orientation)
if gps is None:
log.error('No gps messages')
raise marv.Abort()
gtitle = gps.title
gps = yield marv.pull(gps) # There is only one message
# Check whether there are any valid messages left
if gps is None:
log.error('No valid gps messages')
raise marv.Abort()
gps = gps['values']
if orientation is not None:
otitle = orientation.title
orientation = yield marv.pull(orientation)
if orientation is None:
log.warn('No orientations found')
otitle = 'none'
orientation = []
else:
orientation = orientation['values']
name = '__'.join(x.replace('/', ':')[1:]
for x in [gtitle, otitle]) + '.jpg'
title = '{} with {}'.format(gtitle, otitle)
yield marv.set_header(title=title)
plotfile = yield marv.make_file(name)
fig = plt.figure()
fig.subplots_adjust(wspace=0.3)
ax1 = fig.add_subplot(1, 3, 1) # e-n plot
ax2 = fig.add_subplot(2, 3, 2) # orientation plot
ax3 = fig.add_subplot(2, 3, 3) # e-time plot
ax4 = fig.add_subplot(2, 3, 5) # up plot
ax5 = fig.add_subplot(2, 3, 6) # n-time plot
# masking for finite values
gps = np.array(gps)
gps = gps[np.isfinite(gps[:, 1])]
# precompute plot vars
c = cm.prism(gps[:, 7] / 2)
ax1.scatter(gps[:, 4],
gps[:, 5],
c=c,
edgecolor='none',
s=3,
label="green: RTK\nyellow: DGPS\nred: Single")
xfmt = md.DateFormatter('%H:%M:%S')
ax3.xaxis.set_major_formatter(xfmt)
ax4.xaxis.set_major_formatter(xfmt)
ax5.xaxis.set_major_formatter(xfmt)
if orientation:
ax2.xaxis.set_major_formatter(xfmt)
orientation = np.array(orientation)
ax2.plot([datetime.fromtimestamp(x) for x in orientation[:, 0]],
orientation[:, 1])
ax3.plot([datetime.fromtimestamp(x) for x in gps[:, 0]], gps[:, 4])
ax4.plot([datetime.fromtimestamp(x) for x in gps[:, 0]], gps[:, 6])
ax5.plot([datetime.fromtimestamp(x) for x in gps[:, 0]], gps[:, 5])
fig.autofmt_xdate()
ax1.legend(loc='upper right', title='')
ax1.set_ylabel('GNSS northing [m]')
ax1.set_xlabel('GNSS easting [m]')
ax2.set_ylabel('Heading over time [rad]')
ax3.set_ylabel('GNSS easting over time [m]')
ax4.set_ylabel('GNSS height over time [m]')
ax5.set_ylabel('GNSS northing over time [m]')
fig.set_size_inches(16, 9)
try:
fig.savefig(plotfile.path)
except:
plt.close()
yield plotfile
