tf2_visualization: tf2_visualization: rxbag

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00003 # Copyright (c) 2010, Willow Garage, Inc.
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00033 # Author: Tim Field
00034 
00035 PKG = 'tf2_visualization'
00036 import roslib; roslib.load_manifest(PKG)
00037 
00038 import wx
00039 
00040 from rxbag import bag_helper, TopicMessageView
00041 
00042 def get_rxbag_plugins():
00043     return [(FrameViewerView, None, ['tf/tfMessage'])]
00044 
00045 from tf2_visualization.frame_viewer_panel import FrameViewerPanel
00046 from tf2_visualization.tf_interface       import TFInterface
00047 
00048 class FrameViewerView(TopicMessageView):
00049     name = 'Frame Viewer'
00050 
00051     def __init__(self, timeline, parent):
00052         TopicMessageView.__init__(self, timeline, parent)
00053 
00054         self.tf_interface  = TFInterface(use_listener=False)
00055         self.viewer        = FrameViewerPanel(self.parent, self.tf_interface, False)
00056         self.buffer_length = roslib.rostime.Duration(10.0)
00057 
00058     def message_viewed(self, bag, msg_details):
00059         TopicMessageView.message_viewed(self, bag, msg_details)
00060 
00061         topic, _, t = msg_details[:3]
00062 
00063         tf_entries = list(self.timeline.get_entries_with_bags(topic, t - self.buffer_length, t))
00064         self.tf_interface.buffer.clear()
00065         for bag, entry in tf_entries:
00066             _, msg, msg_stamp = self.timeline.read_message(bag, entry.position)
00067             for transform in msg.transforms:
00068                 self.tf_interface.buffer.set_transform(transform, '')
00069         self.tf_interface.set_data_timestamp(t.to_sec())
00070 
00071     def message_cleared(self):
00072         TopicMessageView.message_cleared(self)
00073 
00074         self.tf_interface.buffer.clear()
rxbag_plugin.py
