def get(self, start_response, content, **kwargs):
if content:
out = str(content)
else:
out = "Topic found, but no content is available."
return server.response_200(start_response, out, content_type='application/json')
def get(self, start_response, content, **kwargs):
if content:
out = msgconv.extract_values(content) if content is not None else None
out = json.dumps(out)
else:
out = "Topic found, but no content is available."
return server.response_200(start_response, str(out), content_type='application/json')
def get(self, start_response, content, maxsize=0, crop=False, **kwargs):
maxsize = int(maxsize)
crop = bool(crop)
if content.__class__.__name__ == "OccupancyGrid":
#im = PIL.Image.frombytes('P', (content.info.width, content.info.height), bytes(content.data))
from numpy import array
im_bytes = array(content.data)
im_bytes.shape = (content.info.width, content.info.height)
im_bytes = im_bytes.astype('u1')
im = PIL.Image.fromarray(im_bytes, 'P')
#generate the color palette
palette = []
for i in range(0, 256):
if i <= 100:
palette.extend([(100-i) * 255/100] * 3)
else:
palette.extend([170, 170, 255])
im.putpalette(palette)
if crop:
bg = PIL.Image.new(im.mode, im.size, im.getpixel((0,0)))
diff = PIL.ImageChops.difference(im, bg)
bbox = diff.getbbox()
if bbox:
im = im.crop(bbox)
print "Cropped"
else:
im = bg
if maxsize > 0 and maxsize < max(im.size[0], im.size[1]):
im.thumbnail([maxsize]*2)
if not self.can_use_palette():
im = im.convert()
output = StringIO.StringIO()
im.save(output, format=self.get_image_type())
return server.response_200(start_response,output.getvalue(), content_type=self.get_mime_type())
else:
return server.response_500(start_response,"No image converter for this topic type.")
