[Personalrobots-commit] SF.net SVN: personalrobots:[22916] pkg/trunk/sandbox/web

[<rob...@us...>]

Revision: 22916
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22916&view=rev
Author:   rob_wheeler
Date:     2009-08-25 23:41:42 +0000 (Tue, 25 Aug 2009)

Log Message:
-----------
A rosweb plugin that serves tiles from the map_server as JPEG images

Added Paths:
-----------
    pkg/trunk/sandbox/web/map_tiler/
    pkg/trunk/sandbox/web/map_tiler/manifest.xml
    pkg/trunk/sandbox/web/map_tiler/src/
    pkg/trunk/sandbox/web/map_tiler/src/map_tiler/
    pkg/trunk/sandbox/web/map_tiler/src/map_tiler/__init__.py
    pkg/trunk/sandbox/web/map_tiler/src/map_tiler/handler.py

Added: pkg/trunk/sandbox/web/map_tiler/manifest.xml
===================================================================
--- pkg/trunk/sandbox/web/map_tiler/manifest.xml	                        (rev 0)
+++ pkg/trunk/sandbox/web/map_tiler/manifest.xml	2009-08-25 23:41:42 UTC (rev 22916)
@@ -0,0 +1,19 @@
+<package>
+  <description brief="map_tiler">
+
+     rosweb plugin to serve map tiles as jpeg
+
+  </description>
+  <author>Rob Wheeler</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://pr.willowgarage.com/wiki/map_tiler</url>
+  <depend package="rosweb2"/>
+  <depend package="nav_msgs"/>
+  <export>
+    <rosweb2 plugin="map_tiler.handler"/>
+  </export>
+
+</package>
+
+

Added: pkg/trunk/sandbox/web/map_tiler/src/map_tiler/__init__.py
===================================================================
--- pkg/trunk/sandbox/web/map_tiler/src/map_tiler/__init__.py	                        (rev 0)
+++ pkg/trunk/sandbox/web/map_tiler/src/map_tiler/__init__.py	2009-08-25 23:41:42 UTC (rev 22916)
@@ -0,0 +1 @@
+import map_tiler.handler

Added: pkg/trunk/sandbox/web/map_tiler/src/map_tiler/handler.py
===================================================================
--- pkg/trunk/sandbox/web/map_tiler/src/map_tiler/handler.py	                        (rev 0)
+++ pkg/trunk/sandbox/web/map_tiler/src/map_tiler/handler.py	2009-08-25 23:41:42 UTC (rev 22916)
@@ -0,0 +1,54 @@
+#!/usr/bin/env python
+
+import rospy
+import rosservice
+import Image
+import cStringIO
+import time
+
+_map_cache = {}
+_scale_cache = {}
+
+def config_plugin():
+  return [{'url': '/map', 'handler': map_tiler_handler}]
+
+def map_tiler_handler(self, path, qdict):
+  service_name = qdict.get('service', ['static_map'])[0]
+  scale = float(qdict.get('scale', [1])[0])
+  x = int(qdict.get('x', [0])[0])
+  y = int(qdict.get('y', [0])[0])
+  width = int(qdict.get('width', [256])[0])
+  height = int(qdict.get('height', [256])[0])
+  map_key = service_name
+  scale_key = '%s:%s' % (service_name, scale)
+  start_time = time.time()
+  try:
+    im = _scale_cache[scale_key]
+  except KeyError:
+    try:
+      im = _map_cache[map_key]
+    except KeyError:
+      rospy.wait_for_service(service_name)
+      service_class = rosservice.get_service_class_by_name('/' + service_name)
+      service_proxy = rospy.ServiceProxy(service_name, service_class)
+      resp = service_proxy()
+      size = (resp.map.info.width, resp.map.info.height)
+      im = Image.frombuffer('L', size, resp.map.data, "raw", 'L', 0, -1)
+      remap = {0:255, 100: 0, 255:128}
+      im = im.point(lambda x: remap.get(x, 0))
+      _map_cache[map_key] = im
+    if scale != 1:
+      size = im.size
+      im = im.resize((int(size[0] / scale), int(size[1] / scale)), Image.BICUBIC)
+    _scale_cache[scale_key] = im
+
+  im = im.crop((x, y, x + width, y + height))
+  buf = cStringIO.StringIO()
+  im.save(buf, format='JPEG')
+  jpeg = buf.getvalue()
+  self.send_response(200)
+  self.send_header('Content-Type', 'image/jpeg')
+  self.send_header('Content-Length', str(len(jpeg)))
+  self.end_headers()
+  self.wfile.write(jpeg)
+  print " Overall time: %f\n" % (time.time() - start_time)


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