def __init__(self, timeline, thumbnail_height=160):
super(ImageTimelineRenderer, self).__init__(timeline, msg_combine_px=40.0)
self.thumbnail_height = thumbnail_height
self.thumbnail_combine_px = 20.0 # use cached thumbnail if it's less than this many pixels away
self.min_thumbnail_width = 8 # don't display thumbnails if less than this many pixels across
self.quality = Image.NEAREST # quality hint for thumbnail scaling
self.thumbnail_cache = TimelineCache(self._load_thumbnail, lambda topic, msg_stamp, thumbnail: self.timeline.scene().update())
def __init__(self, timeline, thumbnail_height=160):
super(ImageTimelineRenderer, self).__init__(timeline, msg_combine_px=40.0)
self.thumbnail_height = thumbnail_height
self.thumbnail_combine_px = 20.0 # use cached thumbnail if it's less than this many pixels away
self.min_thumbnail_width = 8 # don't display thumbnails if less than this many pixels across
self.quality = Image.NEAREST # quality hint for thumbnail scaling
self.thumbnail_cache = TimelineCache(self._load_thumbnail, lambda topic, msg_stamp, thumbnail: self.timeline.scene().update())
class ImageTimelineRenderer(TimelineRenderer):
"""
Draws thumbnails of sensor_msgs/Image or sensor_msgs/CompressedImage in the timeline.
"""
def __init__(self, timeline, thumbnail_height=160):
super(ImageTimelineRenderer, self).__init__(timeline, msg_combine_px=40.0)
self.thumbnail_height = thumbnail_height
self.thumbnail_combine_px = 20.0 # use cached thumbnail if it's less than this many pixels away
self.min_thumbnail_width = 8 # don't display thumbnails if less than this many pixels across
self.quality = Image.NEAREST # quality hint for thumbnail scaling
self.thumbnail_cache = TimelineCache(self._load_thumbnail, lambda topic, msg_stamp, thumbnail: self.timeline.scene().update())
# TimelineRenderer implementation
def get_segment_height(self, topic):
return self.thumbnail_height
def draw_timeline_segment(self, painter, topic, stamp_start, stamp_end, x, y, width, height):
"""
draws a stream of images for the topic
:param painter: painter object, ''QPainter''
:param topic: topic to draw, ''str''
:param stamp_start: stamp to start drawing, ''rospy.Time''
:param stamp_end: stamp to end drawing, ''rospy.Time''
:param x: x to draw images at, ''int''
:param y: y to draw images at, ''int''
:param width: width in pixels of the timeline area, ''int''
:param height: height in pixels of the timeline area, ''int''
"""
if x < self.timeline._history_left:
width += x - self.timeline._history_left
x = self.timeline._history_left
max_interval_thumbnail = self.timeline.map_dx_to_dstamp(self.thumbnail_combine_px)
max_interval_thumbnail = max(0.1, max_interval_thumbnail)
thumbnail_gap = 6
thumbnail_x, thumbnail_y, thumbnail_height = x + 1, y + 1, height - 2 - thumbnail_gap # leave 1px border
# set color to white draw rectangle over messages
painter.setBrush(QBrush(Qt.white))
painter.drawRect(x, y, width, height - thumbnail_gap)
thumbnail_width = None
while True:
available_width = (x + width) - thumbnail_x
# Check for enough remaining to draw thumbnail
if width > 1 and available_width < self.min_thumbnail_width:
break
# Try to display the thumbnail, if its right edge is to the right of the timeline's left side
if not thumbnail_width or thumbnail_x + thumbnail_width >= self.timeline._history_left:
stamp = self.timeline.map_x_to_stamp(thumbnail_x, clamp_to_visible=False)
thumbnail_bitmap = self.thumbnail_cache.get_item(topic, stamp, max_interval_thumbnail)
# Cache miss
if not thumbnail_bitmap:
thumbnail_details = (thumbnail_height,)
self.thumbnail_cache.enqueue((topic, stamp, max_interval_thumbnail, thumbnail_details))
if not thumbnail_width:
break
else:
thumbnail_width, _ = thumbnail_bitmap.size
if width > 1:
if available_width < thumbnail_width:
thumbnail_width = available_width - 1
QtImage = ImageQt(thumbnail_bitmap)
pixmap = QPixmap.fromImage(QtImage)
painter.drawPixmap(thumbnail_x, thumbnail_y, thumbnail_width, thumbnail_height, pixmap)
thumbnail_x += thumbnail_width
if width == 1:
break
painter.setPen(QPen(Qt.black))
painter.setBrush(QBrush(Qt.transparent))
if width == 1:
painter.drawRect(x, y, thumbnail_x - x, height - thumbnail_gap - 1)
else:
painter.drawRect(x, y, width, height - thumbnail_gap - 1)
return True
def close(self):
if self.thumbnail_cache:
self.thumbnail_cache.stop()
self.thumbnail_cache.join()
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
class ImageTimelineRenderer(TimelineRenderer):
"""
Draws thumbnails of sensor_msgs/Image or sensor_msgs/CompressedImage in the timeline.
"""
def __init__(self, timeline, thumbnail_height=160):
super(ImageTimelineRenderer, self).__init__(timeline, msg_combine_px=40.0)
self.thumbnail_height = thumbnail_height
self.thumbnail_combine_px = 20.0 # use cached thumbnail if it's less than this many pixels away
self.min_thumbnail_width = 8 # don't display thumbnails if less than this many pixels across
self.quality = Image.NEAREST # quality hint for thumbnail scaling
self.thumbnail_cache = TimelineCache(self._load_thumbnail, lambda topic, msg_stamp, thumbnail: self.timeline.scene().update())
# TimelineRenderer implementation
def get_segment_height(self, topic):
return self.thumbnail_height
def draw_timeline_segment(self, painter, topic, stamp_start, stamp_end, x, y, width, height):
"""
draws a stream of images for the topic
:param painter: painter object, ''QPainter''
:param topic: topic to draw, ''str''
:param stamp_start: stamp to start drawing, ''rospy.Time''
:param stamp_end: stamp to end drawing, ''rospy.Time''
:param x: x to draw images at, ''int''
:param y: y to draw images at, ''int''
:param width: width in pixels of the timeline area, ''int''
:param height: height in pixels of the timeline area, ''int''
"""
if x < self.timeline._history_left:
width += x - self.timeline._history_left
x = self.timeline._history_left
max_interval_thumbnail = self.timeline.map_dx_to_dstamp(self.thumbnail_combine_px)
max_interval_thumbnail = max(0.1, max_interval_thumbnail)
thumbnail_gap = 6
thumbnail_x, thumbnail_y, thumbnail_height = x + 1, y + 1, height - 2 - thumbnail_gap # leave 1px border
# set color to white draw rectangle over messages
painter.setBrush(QBrush(Qt.white))
painter.drawRect(x, y, width, height - thumbnail_gap)
thumbnail_width = None
while True:
available_width = (x + width) - thumbnail_x
# Check for enough remaining to draw thumbnail
if width > 1 and available_width < self.min_thumbnail_width:
break
# Try to display the thumbnail, if its right edge is to the right of the timeline's left side
if not thumbnail_width or thumbnail_x + thumbnail_width >= self.timeline._history_left:
stamp = self.timeline.map_x_to_stamp(thumbnail_x, clamp_to_visible=False)
thumbnail_bitmap = self.thumbnail_cache.get_item(topic, stamp, max_interval_thumbnail)
# Cache miss
if not thumbnail_bitmap:
thumbnail_details = (thumbnail_height,)
self.thumbnail_cache.enqueue((topic, stamp, max_interval_thumbnail, thumbnail_details))
if not thumbnail_width:
break
else:
thumbnail_width, _ = thumbnail_bitmap.size
if width > 1:
if available_width < thumbnail_width:
thumbnail_width = available_width - 1
QtImage = ImageQt(thumbnail_bitmap)
pixmap = QPixmap.fromImage(QtImage)
painter.drawPixmap(thumbnail_x, thumbnail_y, thumbnail_width, thumbnail_height, pixmap)
thumbnail_x += thumbnail_width
if width == 1:
break
painter.setPen(QPen(QBrush(Qt.black)))
painter.setBrush(QBrush(Qt.transparent))
if width == 1:
painter.drawRect(x, y, thumbnail_x - x, height - thumbnail_gap - 1)
else:
painter.drawRect(x, y, width, height - thumbnail_gap - 1)
return True
def close(self):
if self.thumbnail_cache:
self.thumbnail_cache.stop()
self.thumbnail_cache.join()
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, ex:
print >> sys.stderr, 'Error loading image on topic %s: %s' % (topic, str(ex))
pil_image = None
if not pil_image:
print >> sys.stderr, 'Disabling renderer on %s' % topic
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, ex:
print >> sys.stderr, 'Error loading image on topic %s: %s' % (topic, str(ex))
raise
return None, None
