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| #include <geometry_msgs/TransformStamped.h>
#include <rosbag/bag.h>
#include <rosbag/view.h>
#include <sensor_msgs/Imu.h>
#include "lidar_align/loader.h"
#include "lidar_align/transform.h"
#include <sensor_msgs/Imu.h>
namespace lidar_align {
Loader::Loader(const Config& config) : config_(config) {}
Loader::Config Loader::getConfig(ros::NodeHandle* nh) {
Loader::Config config;
nh->param("use_n_scans", config.use_n_scans, config.use_n_scans);
return config;
}
void Loader::parsePointcloudMsg(const sensor_msgs::PointCloud2 msg,
LoaderPointcloud* pointcloud) {
bool has_timing = false;
bool has_intensity = false;
for (const sensor_msgs::PointField& field : msg.fields) {
if (field.name == "time_offset_us") {
has_timing = true;
} else if (field.name == "intensity") {
has_intensity = true;
}
}
if (has_timing) {
pcl::fromROSMsg(msg, *pointcloud);
return;
} else if (has_intensity) {
Pointcloud raw_pointcloud;
pcl::fromROSMsg(msg, raw_pointcloud);
for (const Point& raw_point : raw_pointcloud) {
PointAllFields point;
point.x = raw_point.x;
point.y = raw_point.y;
point.z = raw_point.z;
point.intensity = raw_point.intensity;
if (!std::isfinite(point.x) || !std::isfinite(point.y) ||
!std::isfinite(point.z) || !std::isfinite(point.intensity)) {
continue;
}
pointcloud->push_back(point);
}
pointcloud->header = raw_pointcloud.header;
} else {
pcl::PointCloud<pcl::PointXYZ> raw_pointcloud;
pcl::fromROSMsg(msg, raw_pointcloud);
for (const pcl::PointXYZ& raw_point : raw_pointcloud) {
PointAllFields point;
point.x = raw_point.x;
point.y = raw_point.y;
point.z = raw_point.z;
if (!std::isfinite(point.x) || !std::isfinite(point.y) ||
!std::isfinite(point.z)) {
continue;
}
pointcloud->push_back(point);
}
pointcloud->header = raw_pointcloud.header;
}
}
bool Loader::loadPointcloudFromROSBag(const std::string& bag_path,
const Scan::Config& scan_config,
Lidar* lidar) {
rosbag::Bag bag;
try {
bag.open(bag_path, rosbag::bagmode::Read);
} catch (rosbag::BagException e) {
ROS_ERROR_STREAM("LOADING BAG FAILED: " << e.what());
return false;
}
std::vector<std::string> types;
types.push_back(std::string("sensor_msgs/PointCloud2"));
rosbag::View view(bag, rosbag::TypeQuery(types));
size_t scan_num = 0;
for (const rosbag::MessageInstance& m : view) {
std::cout << " Loading scan: \e[1m" << scan_num++ << "\e[0m from ros bag"
<< '\r' << std::flush;
LoaderPointcloud pointcloud;
parsePointcloudMsg(*(m.instantiate<sensor_msgs::PointCloud2>()),
&pointcloud);
lidar->addPointcloud(pointcloud, scan_config);
if (lidar->getNumberOfScans() >= config_.use_n_scans) {
break;
}
}
if (lidar->getTotalPoints() == 0) {
ROS_ERROR_STREAM(
"No points were loaded, verify that the bag contains populated "
"messages of type sensor_msgs/PointCloud2");
return false;
}
return true;
}
bool Loader::loadTformFromROSBag(const std::string& bag_path, Odom* odom) {
rosbag::Bag bag;
try {
bag.open(bag_path, rosbag::bagmode::Read);
} catch (rosbag::BagException e) {
ROS_ERROR_STREAM("LOADING BAG FAILED: " << e.what());
return false;
}
std::vector<std::string> types;
types.push_back(std::string("sensor_msgs/Imu"));
rosbag::View view(bag, rosbag::TypeQuery(types));
size_t imu_num = 0;
double shiftX=0,shiftY=0,shiftZ=0,velX=0,velY=0,velZ=0;
ros::Time time;
double timeDiff,lastShiftX,lastShiftY,lastShiftZ;
for (const rosbag::MessageInstance& m : view){
std::cout <<"Loading imu: \e[1m"<< imu_num++<<"\e[0m from ros bag"<<'\r'<< std::flush;
sensor_msgs::Imu imu=*(m.instantiate<sensor_msgs::Imu>());
Timestamp stamp = imu.header.stamp.sec * 1000000ll +imu.header.stamp.nsec / 1000ll;
if(imu_num==1){
time=imu.header.stamp;
Transform T(Transform::Translation(0,0,0),Transform::Rotation(1,0,0,0));
odom->addTransformData(stamp, T);
}
else{
timeDiff=(imu.header.stamp-time).toSec();
time=imu.header.stamp;
velX=velX+imu.linear_acceleration.x*timeDiff;
velY=velX+imu.linear_acceleration.y*timeDiff;
velZ=velZ+(imu.linear_acceleration.z-9.801)*timeDiff;
lastShiftX=shiftX;
lastShiftY=shiftY;
lastShiftZ=shiftZ;
shiftX=lastShiftX+velX*timeDiff+imu.linear_acceleration.x*timeDiff*timeDiff/2;
shiftY=lastShiftY+velY*timeDiff+imu.linear_acceleration.y*timeDiff*timeDiff/2;
shiftZ=lastShiftZ+velZ*timeDiff+(imu.linear_acceleration.z-9.801)*timeDiff*timeDiff/2;
Transform T(Transform::Translation(shiftX,shiftY,shiftZ),
Transform::Rotation(imu.orientation.w,
imu.orientation.x,
imu.orientation.y,
imu.orientation.z));
odom->addTransformData(stamp, T);
}
}
if (odom->empty()) {
ROS_ERROR_STREAM("No odom messages found!");
return false;
}
return true;
}
bool Loader::loadTformFromMaplabCSV(const std::string& csv_path, Odom* odom) {
std::ifstream file(csv_path, std::ifstream::in);
size_t tform_num = 0;
while (file.peek() != EOF) {
std::cout << " Loading transform: \e[1m" << tform_num++
<< "\e[0m from csv file" << '\r' << std::flush;
Timestamp stamp;
Transform T;
if (getNextCSVTransform(file, &stamp, &T)) {
odom->addTransformData(stamp, T);
}
}
return true;
}
bool Loader::getNextCSVTransform(std::istream& str, Timestamp* stamp,
Transform* T) {
std::string line;
std::getline(str, line);
if (line[0] == '#') {
return false;
}
std::stringstream line_stream(line);
std::string cell;
std::vector<std::string> data;
while (std::getline(line_stream, cell, ',')) {
data.push_back(cell);
}
if (data.size() < 9) {
return false;
}
constexpr size_t TIME = 0;
constexpr size_t X = 2;
constexpr size_t Y = 3;
constexpr size_t Z = 4;
constexpr size_t RW = 5;
constexpr size_t RX = 6;
constexpr size_t RY = 7;
constexpr size_t RZ = 8;
*stamp = std::stoll(data[TIME]) / 1000ll;
*T = Transform(Transform::Translation(std::stod(data[X]), std::stod(data[Y]),
std::stod(data[Z])),
Transform::Rotation(std::stod(data[RW]), std::stod(data[RX]),
std::stod(data[RY]), std::stod(data[RZ])));
return true;
}
}
|
