cal_bag_helpers.py

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#! /usr/bin/env python
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import roslib; roslib.load_manifest('calibration_estimation')
import rosbag

from calibration_estimation.sensors.multi_sensor import MultiSensor

def get_cam_info(bag_filename, cam_name):
    """ Look for cam info in the calibration bagfile """
    cam_info = None
    bag = rosbag.Bag(bag_filename)
    for topic, msg, t in bag.read_messages():
        if topic == "robot_measurement":
            for cam_measurement in msg.M_cam:
                if cam_measurement.camera_id == cam_name:
                    print "Found a sample with camera [%s] in it" % cam_measurement.camera_id
                    cam_info = cam_measurement.cam_info
                    break
            if cam_info != None:
                break
    return cam_info


def get_robot_description(bag_filename, use_topic=False):
    """ Get the robot description out of a bagfile """
    if use_topic:
        import rospy
        return rospy.get_param("robot_description")
    bag = rosbag.Bag(bag_filename)
    for topic, msg, t in bag.read_messages(topics=['robot_description']):
        if topic == 'robot_description':
            bag.close()
            return msg.data
    bag.close()
    return ""


def get_robot_measurement_count(bag_filename, sample_skip_list=[]):
    """ Get the number of measurements in our bagfile """
    msg_count = 0
    bag = rosbag.Bag(bag_filename)
    index = 0
    for topic, msg, t in bag.read_messages(topics=['robot_measurement']):
        if topic == 'robot_measurement':
            if index in sample_skip_list:
                print "Skipping sample:", index
            else:
                msg_count+=1
            index += 1
    bag.close()
    return msg_count


def get_multisensors(bag_filename, cur_sensors, sample_skip_list=[]):
    """ Get all sensors from bagfile. """
    bag = rosbag.Bag(bag_filename)
    multisensors = []
    index = 0
    for topic, msg, t in bag.read_messages(topics=['robot_measurement']):
        if topic == "robot_measurement":
            if index in sample_skip_list:
                print "Skipping sample:", index
            else:
                # Hack to rename laser id
                for cur_laser in msg.M_laser:
                    if cur_laser.laser_id in ["tilt_laser_6x8", "tilt_laser_8x6", "tilt_laser_7x6", "tilt_laser_6x7"]:
                        cur_laser.laser_id = "tilt_laser"
                ms = MultiSensor(cur_sensors)
                ms.sensors_from_message(msg)
                multisensors.append(ms)
            index += 1
    bag.close()
    return multisensors