# -*- 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