diff --git a/generated_materials/camera_path_depth.json b/generated_materials/camera_path_depth.json
index 1c48c13729853e5b83723ef1147f06c12ddee4d3..832f05db0906b8d70889a90c16ab899a7da967ae 100644
--- a/generated_materials/camera_path_depth.json
+++ b/generated_materials/camera_path_depth.json
@@ -8,22 +8,22 @@
"aspect": 1.33333333333,
"camera_to_world": [
[
- -0.7712574369763269,
- 0.1513242754712088,
- -0.6182741540464238,
- 0.37396875264637797
+ -0.7794105921481128,
+ 0.2580277804141302,
+ -0.5709122466560741,
+ -0.15150902339942507
],
[
- -0.6360692717618674,
- -0.21990707861025355,
- 0.7396328537169178,
- 0.009873900166690274
+ -0.6246540202209707,
+ -0.2498903335022854,
+ 0.7398392908219299,
+ 0.170480890757302
],
[
- -0.024038457293159843,
- 0.9637125299746899,
- 0.26585769152075983,
- -0.07500160249766082
+ 0.04823363835652139,
+ 0.9332612098210632,
+ 0.3559452631714859,
+ -0.10236216822295188
],
[
0.0,
diff --git a/generated_materials/camera_path_rgb.json b/generated_materials/camera_path_rgb.json
index 1c48c13729853e5b83723ef1147f06c12ddee4d3..832f05db0906b8d70889a90c16ab899a7da967ae 100644
--- a/generated_materials/camera_path_rgb.json
+++ b/generated_materials/camera_path_rgb.json
@@ -8,22 +8,22 @@
"aspect": 1.33333333333,
"camera_to_world": [
[
- -0.7712574369763269,
- 0.1513242754712088,
- -0.6182741540464238,
- 0.37396875264637797
+ -0.7794105921481128,
+ 0.2580277804141302,
+ -0.5709122466560741,
+ -0.15150902339942507
],
[
- -0.6360692717618674,
- -0.21990707861025355,
- 0.7396328537169178,
- 0.009873900166690274
+ -0.6246540202209707,
+ -0.2498903335022854,
+ 0.7398392908219299,
+ 0.170480890757302
],
[
- -0.024038457293159843,
- 0.9637125299746899,
- 0.26585769152075983,
- -0.07500160249766082
+ 0.04823363835652139,
+ 0.9332612098210632,
+ 0.3559452631714859,
+ -0.10236216822295188
],
[
0.0,
diff --git a/generated_materials/poses/metadata.yaml b/generated_materials/poses/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..564b8f67b3a00fc51c48f1410a87d23a9ef77845
--- /dev/null
+++ b/generated_materials/poses/metadata.yaml
@@ -0,0 +1,28 @@
+rosbag2_bagfile_information:
+ version: 7
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 259999981220
+ starting_time:
+ nanoseconds_since_epoch: 1690361657153599669
+ message_count: 261
+ topics_with_message_count:
+ - topic_metadata:
+ name: /pose
+ type: geometry_msgs/msg/Pose
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ type_description_hash: RIHS01_d501954e9476cea2996984e812054b68026ae0bfae789d9a10b23daf35cc90fa
+ message_count: 261
+ compression_format: ""
+ compression_mode: ""
+ relative_file_paths:
+ - poses_0.mcap
+ files:
+ - path: poses_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1690361657153599669
+ duration:
+ nanoseconds: 259999981220
+ message_count: 261
+ custom_data: ~
\ No newline at end of file
diff --git a/generated_materials/poses/poses_0.mcap b/generated_materials/poses/poses_0.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..50ef4256420d7248aee8dbaffe0179bf48061811
Binary files /dev/null and b/generated_materials/poses/poses_0.mcap differ
diff --git a/launch/__pycache__/basic_sim_example_launch.cpython-310.pyc b/launch/__pycache__/basic_sim_example_launch.cpython-310.pyc
index c13c126399684f7c1289017b9ac5f90d9305862a..cd736e8dc02aa4cc87b2f6e2e7d69a4ccc1d9257 100644
Binary files a/launch/__pycache__/basic_sim_example_launch.cpython-310.pyc and b/launch/__pycache__/basic_sim_example_launch.cpython-310.pyc differ
diff --git a/launch/basic_sim_example_launch.py b/launch/basic_sim_example_launch.py
index 5e3b991f3e52518fa52b90dd566475b02d8cdd9c..21733ffecf51eb46544baa7036018fa524702f83 100644
--- a/launch/basic_sim_example_launch.py
+++ b/launch/basic_sim_example_launch.py
@@ -22,11 +22,6 @@ def generate_launch_description():
executable='sim_rgb_generator',
name='sim_rgb_generator'
),
- Node(
- package='nerf_sim',
- executable='pose_generator',
- name='pose_generator'
- ),
Node(
package='nerf_sim',
executable='pcd_generator',
diff --git a/nerf_sim/__pycache__/pcd_publisher_node.cpython-310.pyc b/nerf_sim/__pycache__/pcd_publisher_node.cpython-310.pyc
index c3bece276be9d80d65c3276c56c3ef7c5e6b36ec..bc9c295ab84705e2998f32bae67002b86deb0836 100644
Binary files a/nerf_sim/__pycache__/pcd_publisher_node.cpython-310.pyc and b/nerf_sim/__pycache__/pcd_publisher_node.cpython-310.pyc differ
diff --git a/nerf_sim/__pycache__/pose_generator.cpython-310.pyc b/nerf_sim/__pycache__/pose_generator.cpython-310.pyc
index 67e6559c5b41dae210b955b205be963e4f746e07..fcb88db098f574a8652cf77fc9b4600a47258f01 100644
Binary files a/nerf_sim/__pycache__/pose_generator.cpython-310.pyc and b/nerf_sim/__pycache__/pose_generator.cpython-310.pyc differ
diff --git a/nerf_sim/pcd_publisher_node.py b/nerf_sim/pcd_publisher_node.py
index 4b102b58fa6d3407b438271d48067a2585443dcf..d40063bb3b45901b74603c8ba6c317412957f370 100644
--- a/nerf_sim/pcd_publisher_node.py
+++ b/nerf_sim/pcd_publisher_node.py
@@ -19,7 +19,7 @@ class PCDPublisher(Node):
self.pcd_publisher = self.create_publisher(sensor_msgs.PointCloud2, 'pcd', 10)
# subscribe to pose coming in from topic
- self.subscription = self.create_subscription(Pose, 'pose', self.listener_callback, 10)
+ self.subscription = self.create_subscription(Pose, 'pose', self.listener_callback, 1)
self.subscription
self.render = RenderLiDAR()
diff --git a/nerf_sim/pose_generator.py b/nerf_sim/pose_generator.py
index 5daeadc9636736e864b960204652246f2e54ee68..da8fa3b83d949384832605fc143b73595cc892a9 100644
--- a/nerf_sim/pose_generator.py
+++ b/nerf_sim/pose_generator.py
@@ -13,19 +13,21 @@ class MinimalPublisher(Node):
def __init__(self):
super().__init__('minimal_publisher')
self.publisher_ = self.create_publisher(Pose, 'pose', 1)
- timer_period = 10 # seconds
+ timer_period = 1 # seconds
self.timer = self.create_timer(timer_period, self.timer_callback)
self.i = 0
orig = open('/workspace/ros2_iron/src/nerf_sim/test_materials/left_fisheye.json', 'r')
- orig_json = json.load(orig)
+ self.orig_json = json.load(orig)
# testing using a single pose only
- self.pose = np.matrix(orig_json['camera_path'][0]['camera_to_world'])
+ # self.pose = np.matrix(orig_json['camera_path'][0]['camera_to_world'])
def timer_callback(self):
+ self.pose = np.matrix(self.orig_json['camera_path'][self.i]['camera_to_world'])
+
msg = Pose()
- msg.position.x = self.pose[0,3] + 0.5
+ msg.position.x = self.pose[0,3]
msg.position.y = self.pose[1,3]
msg.position.z = self.pose[2,3]
@@ -39,6 +41,9 @@ class MinimalPublisher(Node):
msg.orientation.w = quat[3]
self.publisher_.publish(msg)
self.get_logger().info('Publishing: "%s"' % msg)
+
+ if self.i < len(self.orig_json['camera_path']):
+ self.i+=1
def main(args=None):
diff --git a/test_materials/left_fisheye.json b/test_materials/left_fisheye.json
index 3c5264b38043f4018a1defbecab1ec47aee9bfbe..ca2ab224e7f160aa7a7771225b83a5a48ec3b98c 100644
--- a/test_materials/left_fisheye.json
+++ b/test_materials/left_fisheye.json
@@ -6,22 +6,10222 @@
{
"camera_to_world": [
[
- -0.7712575118708358,
- 0.15132428740157347,
- -0.6182741780720471,
- -0.126031247353622
+ -0.8482171702910052,
+ 0.21365736059402132,
+ -0.484642419748611,
+ -0.14218515787282268
],
[
- -0.6360692942400918,
- -0.21990709008089557,
- 0.7396329230555223,
- 0.009873900166690274
+ -0.5266178479980205,
+ -0.24245881215501855,
+ 0.8147928766150683,
+ 0.056657894959520234
],
[
- -0.024038461336182593,
- 0.9637125350711779,
- 0.26585770378602064,
- -0.07500160249766082
+ 0.05658067384069954,
+ 0.9463425503581747,
+ 0.3181734789936162,
+ -0.10527174464665959
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "fov": 70,
+ "aspect": 1.33333333333
+ },
+ {
+ "camera_to_world": [
+ [
+ -0.848126770468076,
+ 0.21368077339012975,
+ -0.48478969900390256,
+ -0.1422909329058562
+ ],
+ [
+ -0.5267772181355405,
+ -0.2426317996073302,
+ 0.8146379981480728,
+ 0.05664857370609288
+ ],
+ [
+ 0.05644707799654798,
+ 0.9462929002513581,
+ 0.3183448278212824,
+ -0.10520393055026504
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "fov": 70,
+ "aspect": 1.33333333333
+ },
+ {
+ "camera_to_world": [
+ [
+ -0.8481527204173384,
+ 0.2134710212306142,
+ -0.48483996345912356,
+ -0.1422832242616402
+ ],
+ [
+ -0.526744473128551,
+ -0.24240957807054894,
+ 0.8147272717942237,
+ 0.05664420638810035
+ ],
+ [
+ 0.056390844110123156,
+ 0.9463973336336537,
+ 0.3180442279951541,
+ -0.10529846477012171
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "fov": 70,
+ "aspect": 1.33333333333
+ },
+ {
+ "camera_to_world": [
+ [
+ -0.8481681440963785,
+ 0.21367452184675842,
+ -0.4847222484079966,
+ -0.14227304826648488
+ ],
+ [
+ -0.5266927801344515,
+ -0.24233714721078772,
+ 0.814781592996794,
+ 0.056674731193411314
+ ],
+ [
+ 0.056631881072800976,
+ 0.9463699106030792,
+ 0.3180829897527358,
+ -0.10521464442607191
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "fov": 70,
+ "aspect": 1.33333333333
+ },
+ {
+ "camera_to_world": [
+ [
+ -0.8481481842243062,
+ 0.21368652270222085,
+ -0.4847465509831919,
+ -0.14226105302294023
+ ],
+ [
+ -0.526734331002912,
+ -0.24257594722873577,
+ 0.814680478961376,
+ 0.05664171750720012
+ ],
+ [
+ 0.05649834924007705,
+ 0.9463057792721924,
+ 0.318297420614055,
+ -0.10521513197745452
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "fov": 70,
+ "aspect": 1.33333333333
+ },
+ {
+ "camera_to_world": [
+ [
+ -0.8481587954156736,
+ 0.21336292024637726,
+ -0.48487571624445736,
+ -0.14226877361774953
+ ],
+ [
+ -0.5267401529489912,
+ -0.24234598718592346,
+ 0.8147482636571349,
+ 0.05666639246707528
+ ],
+ [
+ 0.056329404283605666,
+ 0.9464379419358374,
+ 0.3179342473376556,
+ -0.10530001394411266
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "fov": 70,
+ "aspect": 1.33333333333
+ },
+ {
+ "camera_to_world": [
+ [
+ -0.848220770339252,
+ 0.21360144590480737,
+ -0.4846627570899822,
+ -0.14221064987553053
+ ],
+ [
+ -0.5266263518331649,
+ -0.24257684197290136,
+ 0.8147534387305586,
+ 0.05661411607606744
+ ],
+ [
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+ 0.3182462663713053,
+ -0.10525711876370156
+ ],
+ [
+ 0.0,
+ 0.0,
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+ 1.0
+ ]
+ ],
+ "fov": 70,
+ "aspect": 1.33333333333
+ },
+ {
+ "camera_to_world": [
+ [
+ -0.8482374070231234,
+ 0.21349118646113616,
+ -0.4846782724889728,
+ -0.14224136496708473
+ ],
+ [
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+ 0.05666580051652575
+ ],
+ [
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+ 0.31821878681068233,
+ -0.10524663656992898
+ ],
+ [
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+ 1.0
+ ]
+ ],
+ "fov": 70,
+ "aspect": 1.33333333333
+ },
+ {
+ "camera_to_world": [
+ [
+ -0.8482500738423612,
+ 0.2134287547872033,
+ -0.4846837430266172,
+ -0.14220350925540703
+ ],
+ [
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+ ],
+ [
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+ -0.10528643638146482
+ ],
+ [
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+ ]
+ ],
+ "fov": 70,
+ "aspect": 1.33333333333
+ },
+ {
+ "camera_to_world": [
+ [
+ -0.8482356374065261,
+ 0.21343389434693566,
+ -0.48471123938335253,
+ -0.14221800547889762
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+ [
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+ ],
+ [
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+ -0.10535473622404724
+ ],
+ [
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+ ]
+ ],
+ "fov": 70,
+ "aspect": 1.33333333333
+ },
+ {
+ "camera_to_world": [
+ [
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+ 0.2152874480758334,
+ -0.4839092478884726,
+ -0.1415776908870665
+ ],
+ [
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+ ],
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+ ],
+ [
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+ ]
+ ],
+ "fov": 70,
+ "aspect": 1.33333333333
+ },
+ {
+ "camera_to_world": [
+ [
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+ ]
+ ],
+ "fov": 70,
+ "aspect": 1.33333333333
+ },
+ {
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+ "aspect": 1.33333333333
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\ No newline at end of file