environment

This article works in the following environment.

item	value
CPU	Core i5-8250U
Ubuntu	16.04
ROS	Kinetic
python	2.7.12
mongodb	2.6.10

For installation, refer to ROS Course 02 Installation. Also, the program in this article has been uploaded to github. See ROS Course 11 git repository.

Overview

So far, various data have been displayed on the browser, but it is troublesome to display the image acquired by ROS on the browser. Even if you save it as a ROS image, it cannot be displayed in the browser. You can export the image to a file with ROS once and view it in a browser, but I don't really want to use the file system with ROS. Here, the image data is encoded in Base64 and displayed in the browser. Also, by saving this data with mongodb, you can save the information even if the power is turned off. The base64 format is a textual representation of binary data. Converts a 3-byte binary to 4 ASCII characters.

Source code

Receive rosservice and save Image in mongodb. Delete the database. Send data to the browser.

ROS node to access mongodb

`web_lecture/scripts/mongo_image.py`


#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
from std_srvs.srv import Empty, EmptyResponse
from sensor_msgs.msg import Image
from web_lecture.msg import StringStamp
from web_lecture.srv import StringStampList, StringStampListResponse
from mongodb_store.message_store import MessageStoreProxy
from cv_bridge import CvBridge, CvBridgeError
import base64
import cv2

class MongoImage:
    def __init__(self):
        rospy.Service('shot', Empty, self.shotCallback)
        rospy.Service('delete', Empty, self.deleteCallback)
        rospy.Service('request', StringStampList, self.requestCallback)
        rospy.Subscriber("/image_raw", Image, self.imageCallback)
        self.last_image = Image()
        self.scale = 0.5
        self.bridge = CvBridge()
        self.last_base64 = None
        self.msg_store = MessageStoreProxy(database="srs", collection="image_stamp")

    def imageCallback(self, msg):
        self.last_image = msg

    def shotCallback(self, msg):
        frame = self.bridge.imgmsg_to_cv2(self.last_image, "bgr8")
        height = frame.shape[0]
        width = frame.shape[1]
        frame2 = cv2.resize(frame , (int(width*self.scale), int(height*self.scale)))
        encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 50]
        result, frame3 = cv2.imencode(".jpg ", frame2, encode_param)
        mongo_data = StringStamp()
        mongo_data.stamp = rospy.get_rostime()
        mongo_data.data = base64.b64encode(frame3)
        try:
            p_id = self.msg_store.insert(mongo_data)            
        except rospy.ServiceException, e:
            print "Service call failed: %s"%e
        return EmptyResponse()

    def deleteCallback(self, msg):
        list = self.msg_store.query(StringStamp._type)
        for item in list:
            self.msg_store.delete(str(item[1]["_id"]))
        return EmptyResponse()

    def requestCallback(self, msg):
        mongo_list = self.msg_store.query(StringStamp._type)
        output = []
        try:
            for item in mongo_list:
                output.append(item[0])
        except rospy.ServiceException, e:
            print "Service call failed: %s"%e  
        return StringStampListResponse(output)

if __name__ == '__main__':
    rospy.init_node('mongo_image')
    mongo_image = MongoImage()
    rospy.spin()

Create jpg format data from opencv format with base64.b64 encode (cv2.imencode (".jpg ", frame, encode_param)) and convert it to base64 format.
There is no api to delete all at once in mongodb. Get the list with query once and then delete.

HTML to display with blowser

`web_lecture/www/image_view.html`


<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en" lang="en">
  <head>
    <meta http-equiv="content-type" content="text/html;charset=utf-8"/>
    web_lecture index.html
  </head>
  <body>
    <p>
      <a href="pub.html">pub.html</a> <br/>
      <a href="sub.html">sub.html</a> <br/>
      <a href="camera.html">camera.html</a> <br/>
      <a href="camera_full.html">camera_full.html</a> <br/>
      <a href="twist.html">twist.html</a> <br/>
      <a href="gamepad_api_test.html">gamepad_api_test.html</a> <br/>
      <a href="gamepad.html">gamepad.html</a> <br/>
      <a href="image_view.html">image_view.html</a> <br/>
    </p>
  </body>
</html>

Run

`Run`


mkdir ~/.ros/mongo
roslaunch web_lecture mongo_image.launch

Press "shot" to save the image in the camera.
Press "request" to display the saved image in blowser.
Press "delete" to delete all saved images.

reference

Embed image in html with base64 Convert to base64 with python

Link to table of contents page

Link to ROS course table of contents

[PYTHON] ROS Lecture 114 DataBase handles images and accesses them from a browser