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add support to mcap format, fix viewer issue
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| # Copyright 2024 R(obots) V(ision) and P(erception) group | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions are met: | ||
| # | ||
| # 1. Redistributions of source code must retain the above copyright notice, | ||
| # this list of conditions and the following disclaimer. | ||
| # | ||
| # 2. Redistributions in binary form must reproduce the above copyright notice, | ||
| # this list of conditions and the following disclaimer in the documentation | ||
| # and/or other materials provided with the distribution. | ||
| # | ||
| # 3. Neither the name of the copyright holder nor the names of its contributors | ||
| # may be used to endorse or promote products derived from this software | ||
| # without specific prior written permission. | ||
| # | ||
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
| # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| # POSSIBILITY OF SUCH DAMAGE. | ||
|
|
||
| import os | ||
| import sys | ||
| from pathlib import Path | ||
| from typing import Tuple | ||
| import natsort | ||
| from mad_icp.apps.utils.point_cloud2 import read_point_cloud | ||
| import numpy as np | ||
|
|
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|
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| class McapReader: | ||
| def __init__(self, data_dir: Path, min_range=0, | ||
| max_range=200, *args, **kwargs): | ||
| """ | ||
| :param data_dir: Directory containing rosbags or path to a rosbag file | ||
| :param topics: Topic to read | ||
| :param min_range: minimum range for the points | ||
| :param max_range: maximum range for the points | ||
| :param args: | ||
| :param kwargs: | ||
| """ | ||
| self.topic = kwargs.pop('topic') | ||
|
|
||
| if not self.topic: | ||
| raise Exception("You have to specify a topic") | ||
|
|
||
| try: | ||
| from mcap.reader import make_reader | ||
| from mcap_ros2.reader import read_ros2_messages | ||
| except ModuleNotFoundError: | ||
| print("mcap package not installed: run 'pip install -U mcap-ros2-support'") | ||
| sys.exit(-1) | ||
|
|
||
| print("Reading the following topic: ", self.topic) | ||
|
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| self.min_range = min_range | ||
| self.max_range = max_range | ||
|
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| assert os.path.isfile(data_dir), "mcap dataloader expects an existing MCAP file" | ||
| mcap_file = str(data_dir) | ||
|
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| self.bag = make_reader(open(mcap_file, "rb")) | ||
| self.summary = self.bag.get_summary() | ||
| self.topic = self.check_topic(self.topic) | ||
| self.num_messages = sum( | ||
| count | ||
| for (id, count) in self.summary.statistics.channel_message_counts.items() | ||
| if self.summary.channels[id].topic == self.topic | ||
| ) | ||
| self.msgs = read_ros2_messages(mcap_file, topics=[self.topic]) | ||
| self.read_point_cloud = read_point_cloud | ||
|
|
||
| def __len__(self): | ||
| return self.num_messages | ||
|
|
||
| def __enter__(self): | ||
| return self | ||
|
|
||
| def __exit__(self, exc_type, exc_val, exc_tb): | ||
| return | ||
|
|
||
| def __getitem__(self, item) -> Tuple[float, Tuple[np.ndarray, np.ndarray]]: | ||
| msg = next(self.msgs).ros_msg | ||
| points, _ = read_point_cloud( | ||
| msg, min_range=self.min_range, max_range=self.max_range) | ||
| cloud_stamp = msg.header.stamp.sec + msg.header.stamp.nanosec * 1e-9 | ||
| return cloud_stamp, points | ||
|
|
||
| def __del__(self): | ||
| if hasattr(self, "bag"): | ||
| del self.bag | ||
|
|
||
| def check_topic(self, topic: str) -> str: | ||
| # Extract schema id from the .mcap file that encodes the PointCloud2 msg | ||
| schema_id = [ | ||
| schema.id | ||
| for schema in self.summary.schemas.values() | ||
| if schema.name == "sensor_msgs/msg/PointCloud2" | ||
| ][0] | ||
|
|
||
| point_cloud_topics = [ | ||
| channel.topic | ||
| for channel in self.summary.channels.values() | ||
| if channel.schema_id == schema_id | ||
| ] | ||
|
|
||
| def print_available_topics_and_exit(): | ||
| print(50 * "-") | ||
| for t in point_cloud_topics: | ||
| print(f"topic : {t}") | ||
| print(50 * "-") | ||
| sys.exit(1) | ||
|
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||
| if topic and topic in point_cloud_topics: | ||
| return topic | ||
| # when user specified the topic check that exists | ||
| if topic and topic not in point_cloud_topics: | ||
| print(f"Error: Input bag does not contain any topic with this name: {topic}") | ||
| print_available_topics_and_exit() |
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