Source code for marv_robotics.cam

# -*- coding: utf-8 -*-
#
# This file is part of MARV Robotics
#
# Copyright 2016-2017 Ternaris
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from __future__ import absolute_import, division, print_function

import math
import subprocess
from itertools import count

import cv_bridge
import cv2
import marv
import numpy

from marv.types import File
from .bag import get_message_type, messages

imgmsg_to_cv2 = cv_bridge.CvBridge().imgmsg_to_cv2


[docs]@marv.node(File) @marv.input('stream', foreach=marv.select(messages, '*:sensor_msgs/Image')) @marv.input('speed', default=4) @marv.input('convert_32FC1_scale', default=1) @marv.input('convert_32FC1_offset', default=0) 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
[docs]@marv.node(File) @marv.input('stream', foreach=marv.select(messages, '*:sensor_msgs/Image')) @marv.input('image_width', default=320) @marv.input('max_frames', default=50) @marv.input('convert_32FC1_scale', default=1) @marv.input('convert_32FC1_offset', default=0) 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