From 12a939112bbf3f5944b1b931410b7f26cf94ccc0 Mon Sep 17 00:00:00 2001
From: Alcolado Nuthall <gn00217@cvplws235.eps.surrey.ac.uk>
Date: Wed, 26 Jul 2023 10:23:39 +0100
Subject: [PATCH] feat: support rosbag play
---
generated_materials/camera_path_depth.json | 24 +-
generated_materials/camera_path_rgb.json | 24 +-
generated_materials/poses/metadata.yaml | 28 +
generated_materials/poses/poses_0.mcap | Bin 0 -> 30505 bytes
.../basic_sim_example_launch.cpython-310.pyc | Bin 840 -> 802 bytes
launch/basic_sim_example_launch.py | 5 -
.../pcd_publisher_node.cpython-310.pyc | Bin 2871 -> 2876 bytes
.../pose_generator.cpython-310.pyc | Bin 1863 -> 1905 bytes
nerf_sim/pcd_publisher_node.py | 2 +-
nerf_sim/pose_generator.py | 13 +-
test_materials/left_fisheye.json | 10227 +++++++++++++++-
11 files changed, 10275 insertions(+), 48 deletions(-)
create mode 100644 generated_materials/poses/metadata.yaml
create mode 100644 generated_materials/poses/poses_0.mcap
diff --git a/generated_materials/camera_path_depth.json b/generated_materials/camera_path_depth.json
index 1c48c13..832f05d 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 1c48c13..832f05d 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 0000000..564b8f6
--- /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
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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
GIT binary patch
delta 125
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diff --git a/launch/basic_sim_example_launch.py b/launch/basic_sim_example_launch.py
index 5e3b991..21733ff 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
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diff --git a/nerf_sim/__pycache__/pose_generator.cpython-310.pyc b/nerf_sim/__pycache__/pose_generator.cpython-310.pyc
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diff --git a/nerf_sim/pcd_publisher_node.py b/nerf_sim/pcd_publisher_node.py
index 4b102b5..d40063b 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 5daeadc..da8fa3b 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 3c5264b..ca2ab22 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,
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+ 0.3181734789936162,
+ -0.10527174464665959
+ ],
+ [
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+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "fov": 70,
+ "aspect": 1.33333333333
+ },
+ {
+ "camera_to_world": [
+ [
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+ 0.21368077339012975,
+ -0.48478969900390256,
+ -0.1422909329058562
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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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+ ]
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+}
\ No newline at end of file
--
GitLab