scans.py

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#!/usr/bin/env python

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# Author: Bhaskara Marthi

# Script to visualize saved scans


import roslib
roslib.load_manifest('flirtlib_ros')

import sys
import geometry_msgs.msg as gm
import sensor_msgs.msg as sm
import rospy
import tf.transformations as trans
from math import sin, cos
import mongo_ros as mr
import flirtlib_ros.msg as fm

def scan2cloud(scan, pose):
    x0 = pose.position.x
    y0 = pose.position.y
    print "Angle is ", pose.orientation
    theta0 = trans.euler_from_quaternion([pose.orientation.x, pose.orientation.y,
                                        pose.orientation.z, pose.orientation.w])[2]
    print "Base pos is {0}, {1}, {2}".format(x0, y0, theta0)
    cloud = sm.PointCloud()
    cloud.header.frame_id='/map'
    cloud.header.stamp = rospy.Time.now()
    cloud.points = []
    for i, r in enumerate(scan.ranges):
        theta = theta0 + scan.angle_min + i*scan.angle_increment 
        p = gm.Point32(x0+cos(theta)*r, y0+sin(theta)*r, 0)
        cloud.points.append(p)

    return cloud


def main():
    rospy.init_node('test_scan')
    c=mr.MessageCollection('flirtlib_place_rec', 'scans', fm.RefScanRos,
                           db_host='mongo.willowgarage.com')
    l = list(c.query({}))
    if len(sys.argv!=2):
        print "Usage: {0} SCAN_NUM".format(sys.argv[0])
    i = int(sys.argv[1])
    print "Visualizing scan ", i
    msg = l[i][0]
    cl = scan2cloud(msg.scan, msg.pose)
    pub = rospy.Publisher('saved_cloud', sm.PointCloud, latch=True)
    pub.publish(cl)
    rospy.spin()

if __name__=='__main__':
    sys.exit(main())