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#!/usr/bin/env python | |
# -*- coding: utf-8 -*- | |
# Software License Agreement (BSD License) | |
# | |
# Copyright (c) 2016, Martin Guenther | |
# All rights reserved. | |
# | |
# Redistribution and use in source and binary forms, with or without | |
# modification, are permitted provided that the following conditions | |
# are met: | |
# | |
# * Redistributions of source code must retain the above copyright | |
# notice, this list of conditions and the following disclaimer. | |
# * Redistributions in binary form must reproduce the above | |
# copyright notice, this list of conditions and the following | |
# disclaimer in the documentation and/or other materials provided | |
# with the distribution. | |
# * Neither the name of Willow Garage, Inc. nor the names of its | |
# contributors may be used to endorse or promote products derived | |
# from this software without specific prior written permission. | |
# | |
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | |
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | |
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | |
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | |
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | |
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | |
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | |
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | |
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | |
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | |
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | |
# POSSIBILITY OF SUCH DAMAGE. | |
'''This is a converter for the Intel Research Lab SLAM dataset | |
( http://kaspar.informatik.uni-freiburg.de/~slamEvaluation/datasets/intel.clf ) | |
to rosbag''' | |
import rospy | |
import rosbag | |
from sensor_msgs.msg import LaserScan | |
from math import pi | |
from tf2_msgs.msg import TFMessage | |
from geometry_msgs.msg import TransformStamped | |
import tf | |
def make_tf_msg(x, y, theta, t): | |
trans = TransformStamped() | |
trans.header.stamp = t | |
trans.header.frame_id = '/odom' | |
trans.child_frame_id = '/laser' | |
trans.transform.translation.x = x | |
trans.transform.translation.y = y | |
q = tf.transformations.quaternion_from_euler(0, 0, theta) | |
trans.transform.rotation.x = q[0] | |
trans.transform.rotation.y = q[1] | |
trans.transform.rotation.z = q[2] | |
trans.transform.rotation.w = q[3] | |
msg = TFMessage() | |
msg.transforms.append(trans) | |
return msg | |
with open('intel.clf') as dataset: | |
with rosbag.Bag('intel.bag', 'w') as bag: | |
for line in dataset.readlines(): | |
line = line.strip() | |
tokens = line.split(' ') | |
if len(tokens) <= 2: | |
continue | |
if tokens[0] == 'FLASER': | |
msg = LaserScan() | |
num_scans = int(tokens[1]) | |
if num_scans != 180 or len(tokens) < num_scans + 9: | |
rospy.logwarn("unsupported scan format") | |
continue | |
msg.header.frame_id = 'laser' | |
t = rospy.Time(float(tokens[(num_scans + 8)])) | |
msg.header.stamp = t | |
msg.angle_min = -90.0 / 180.0 * pi | |
msg.angle_max = 90.0 / 180.0 * pi | |
msg.angle_increment = pi / num_scans | |
msg.time_increment = 0.2 / 360.0 | |
msg.scan_time = 0.2 | |
msg.range_min = 0.001 | |
msg.range_max = 50.0 | |
msg.ranges = [float(r) for r in tokens[2:(num_scans + 2)]] | |
bag.write('laser', msg, t) | |
odom_x, odom_y, odom_theta = [float(r) for r in tokens[(num_scans + 2):(num_scans + 5)]] | |
tf_msg = make_tf_msg(odom_x, odom_y, odom_theta, t) | |
bag.write('tf', tf_msg, t) | |
elif tokens[0] == 'ODOM': | |
odom_x, odom_y, odom_theta = [float(t) for t in tokens[1:4]] | |
t = rospy.Time(float(tokens[7])) | |
tf_msg = make_tf_msg(odom_x, odom_y, odom_theta, t) | |
bag.write('tf', tf_msg, t) |
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Is there any generalized code for converting any .clf file to .bag format??????I was trying the same code for 'aces.clf' file, but it was giving IO error.