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Fixed bag_to_pcd processing of static transforms #375

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Fixed bag_to_pcd processing of static transforms #375

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45 changes: 30 additions & 15 deletions pcl_ros/tools/bag_to_pcd.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,8 +49,7 @@ Cloud Data) format.
#include <rosbag/view.h>
#include <pcl_conversions/pcl_conversions.h>
#include "pcl_ros/transforms.h"
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include <tf2_ros/buffer.h>

typedef sensor_msgs::PointCloud2 PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
Expand All @@ -60,18 +59,14 @@ typedef PointCloud::ConstPtr PointCloudConstPtr;
int
main (int argc, char** argv)
{
ros::init (argc, argv, "bag_to_pcd");
//ros::init (argc, argv, "bag_to_pcd");
if (argc < 4)
{
std::cerr << "Syntax is: " << argv[0] << " <file_in.bag> <topic> <output_directory> [<target_frame>]" << std::endl;
std::cerr << "Example: " << argv[0] << " data.bag /laser_tilt_cloud ./pointclouds /base_link" << std::endl;
return (-1);
}

// TF
tf::TransformListener tf_listener;
tf::TransformBroadcaster tf_broadcaster;

rosbag::Bag bag;
rosbag::View view;
rosbag::View::iterator view_it;
Expand All @@ -86,6 +81,9 @@ int
return (-1);
}

// TF
tf2_ros::Buffer tf_buffer;//{ros::DURATION_MAX * 0.5};

// check that target topic exists in the bag file:
rosbag::View topic_list_view(bag);
std::string target_topic;
Expand Down Expand Up @@ -115,8 +113,12 @@ int
return (-1);
}

view.addQuery (bag, rosbag::TypeQuery ("tf/tfMessage"));
view.addQuery (bag, rosbag::TypeQuery ("tf2_msgs/TFMessage"));
// If target frame is specified, we need to read the transform tree
//if (argc > 4)
{
view.addQuery(bag, rosbag::TypeQuery("tf/tfMessage"));
view.addQuery(bag, rosbag::TypeQuery("tf2_msgs/TFMessage"));
}
view_it = view.begin ();

std::string output_dir = std::string (argv[3]);
Expand All @@ -135,17 +137,30 @@ int
std::cerr << "Saving recorded sensor_msgs::PointCloud2 messages on topic " << target_topic << " to " << output_dir << std::endl;

PointCloud cloud_t;
ros::Duration r (0.001);
// Loop over the whole bag file
while (view_it != view.end ())
{
// Handle TF messages first
tf::tfMessage::ConstPtr tf = view_it->instantiate<tf::tfMessage> ();
auto tf = view_it->instantiate<tf::tfMessage> ();
auto tf2 = view_it->instantiate<tf2_msgs::TFMessage> ();
const auto& topic = view_it->getTopic();
// For some reason, tf2_msgs/TFMessage sometimes gets interpreted as a TF1
// type, so we need to distinguish static TFs for this case, too.
if (tf != NULL)
{
tf_broadcaster.sendTransform (tf->transforms);
ros::spinOnce ();
r.sleep ();
const auto is_static = topic.rfind("_static") != std::string::npos;
for (const auto& transform : tf->transforms)
{
tf_buffer.setTransform(transform, "bag_to_pcd", is_static);
}
}
else if (tf2 != NULL)
{
const auto is_static = topic.rfind("_static") != std::string::npos;
for (const auto& transform : tf2->transforms)
{
tf_buffer.setTransform(transform, "bag_to_pcd", is_static);
}
}
else
{
Expand All @@ -161,7 +176,7 @@ int
if(argc > 4)
{
// Transform it
if (!pcl_ros::transformPointCloud (argv[4], *cloud, cloud_t, tf_listener))
if (!pcl_ros::transformPointCloud (argv[4], *cloud, cloud_t, tf_buffer))
{
++view_it;
continue;
Expand Down