remove_tf.py
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00001 #!/usr/bin/python
00002 """
00003 Copyright (c) 2012,
00004 Systems, Robotics and Vision Group
00005 University of the Balearican Islands
00006 All rights reserved.
00007 
00008 Redistribution and use in source and binary forms, with or without
00009 modification, are permitted provided that the following conditions are met:
00010     * Redistributions of source code must retain the above copyright
00011       notice, this list of conditions and the following disclaimer.
00012     * Redistributions in binary form must reproduce the above copyright
00013       notice, this list of conditions and the following disclaimer in the
00014       documentation and/or other materials provided with the distribution.
00015     * Neither the name of Systems, Robotics and Vision Group, University of 
00016       the Balearican Islands nor the names of its contributors may be used to 
00017       endorse or promote products derived from this software without specific 
00018       prior written permission.
00019 
00020 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00021 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00022 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00023 DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
00024 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00025 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00026 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00027 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00028 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00029 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00030 """
00031 
00032 
00033 PKG = 'bag_tools' # this package name
00034 
00035 import roslib; roslib.load_manifest(PKG)
00036 import rospy
00037 import rosbag
00038 import os
00039 import sys
00040 import argparse
00041 
00042 def remove_tf(inbag,outbag,frame_ids):
00043   print '   Processing input bagfile: ', inbag
00044   print '  Writing to output bagfile: ', outbag
00045   print '         Removing frame_ids: ', ' '.join(frame_ids)
00046 
00047   outbag = rosbag.Bag(outbag,'w')
00048   for topic, msg, t in rosbag.Bag(inbag,'r').read_messages():
00049       if topic == "/tf":
00050           new_transforms = []
00051           for transform in msg.transforms:
00052               if transform.header.frame_id not in frame_ids and transform.child_frame_id not in frame_ids:
00053                   new_transforms.append(transform)
00054           msg.transforms = new_transforms
00055       outbag.write(topic, msg, t)
00056   print 'Closing output bagfile and exit...'
00057   outbag.close();
00058 
00059 if __name__ == "__main__":
00060 
00061   parser = argparse.ArgumentParser(
00062       description='removes all transforms from the /tf topic that contain one of the given frame_ids in the header as parent or child.')
00063   parser.add_argument('-i', metavar='INPUT_BAGFILE', required=True, help='input bagfile')
00064   parser.add_argument('-o', metavar='OUTPUT_BAGFILE', required=True, help='output bagfile')
00065   parser.add_argument('-f', metavar='FRAME_ID', required=True, help='frame_id(s) of the transforms to remove from the /tf topic', nargs='+')
00066   args = parser.parse_args()
00067 
00068   try:
00069     remove_tf(args.i,args.o,args.f)
00070   except Exception, e:
00071     import traceback
00072     traceback.print_exc()


bag_tools
Author(s): Stephan Wirth , Miquel Massot
autogenerated on Mon Oct 6 2014 07:48:00