Update of /cvsroot/playerstage/code/player/utils
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv26107
Modified Files:
Tag: release-2-0-patches
Makefile.am
Added Files:
Tag: release-2-0-patches
playerlog2carmenlog.py
Log Message:
added player log converter
--- NEW FILE: playerlog2carmenlog.py ---
#!/usr/bin/env python
# Simple parser to convert Player-format logfiles to CARMEN-format
# logfiles.
# Brian Gerkey <[EMAIL PROTECTED]>
# Hauke Strasdat
# NOTES:
# - So far, this parser handles only position (ODOM) and laser (FLASER)
# messages. This is sufficient for most mapping tasks.
#
# - Both 1-degree and 0.5-degree laser scans are handled (downsampled to
# CARMEN's 1-degree format).
#
# - Only a 180-degree FOV is allowed.
#
# - I have guessed at some details of the CARMEN log format, but I'm
# pretty sure that I got the data correct
#
# - x-offset of the laser is handled correctly now. A warning appears if
# a y/yaw offset is uded in the player logfile
import string
import sys
import fileinput
import math
USAGE = 'USAGE: playerlog2carmenlog.y <player.log> <carmen.log>'
if __name__ == '__main__':
if len(sys.argv) != 3:
print USAGE
sys.exit(-1)
infilename = sys.argv[1]
outfilename = sys.argv[2]
# Read in the entire file
instream = fileinput.input(infilename)
outfile = open(outfilename, 'w+')
x = 0.000000
y = 0.000000
theta = 0.000000
offset_x = 0.0
host = 'nohost'
for line in instream:
if line[0] == '#':
continue
lsplit = string.split(line)
if len(lsplit) < 6:
print 'Discarding invalid line: ' + line
continue
type = lsplit[3]
msgtype = int(lsplit[5])
msgsubtype = int(lsplit[6])
# only want data messages
if type == 'laser' and msgtype == 4:
offset_x = float(lsplit[7])
offset_y = float(lsplit[8])
offset_theta = float(lsplit[9])
print "laser offset:", offset_x, offset_y, offset_theta
if offset_y != 0 or offset_theta != 0:
print "WARNING: Can not deal with y or theta offset! Values ignored!"
continue
elif msgtype != 1:
print 'Skipping message with type ' + `msgtype`
continue
# we're interested in odometry
if type == 'position2d':
if msgsubtype != 1:
print 'Skipping position2d message with subtype ' + `msgsubtype`
continue
header = 'ODOM'
time = lsplit[0]
x = float(lsplit[7])
y = float(lsplit[8])
theta = float(lsplit[9])
tv = lsplit[10]
rv = lsplit[11]
accel = '0.000'
outfile.write(header + ' ' + str(x) + ' ' + str(y) + ' ' + str(theta) + '
' + tv + ' ' + rv + ' ' + accel + ' ' + time + ' ' + host + ' ' + time + '\n')
# we're also interested in laser scans
elif type == 'laser':
if msgsubtype != 1:
print 'Skipping laser message with subtype ' + `msgsubtype`
continue
header = 'FLASER'
time = lsplit[0]
min_angle = lsplit[8]
max_angle = lsplit[9]
if (min_angle != '-1.5708') or (max_angle != '+1.5708'):
print 'Sorry, CARMEN requires 180-degree FOV for laser'
sys.exit(-1)
num_readings = int(lsplit[12])
if (num_readings != 181) and (num_readings != 361):
print 'Sorry, I can only convert 1-deg and 0.5-deg resolution logs'
sys.exit(-1)
i = 0
scanstr = ''
while i < (num_readings - 1):
range = lsplit[13 + 2*i]
scanstr += range + ' '
i += num_readings/180
l_x = x + offset_x*math.cos(theta)
l_y = y + offset_x*math.sin(theta)
outfile.write(header + ' 180 ' + scanstr +
str(l_x) + ' ' + str(l_y) + ' ' + str(theta) + ' ' +
str(x) + ' ' + str(y) + ' ' + str(theta) + ' ' +
time + ' ' + host + ' ' + time + '\n')
else:
#print 'Ignoring line of type ' + type
pass
Index: Makefile.am
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/Makefile.am,v
retrieving revision 1.27.2.1
retrieving revision 1.27.2.2
diff -C2 -d -r1.27.2.1 -r1.27.2.2
*** Makefile.am 7 Jun 2006 16:12:55 -0000 1.27.2.1
--- Makefile.am 2 Nov 2007 00:25:05 -0000 1.27.2.2
***************
*** 1,4 ****
--- 1,7 ----
SUBDIRS = playervcr playernav playercam playerprint playerjoy playerwritemap
playerv dgps_server pmap
+
+ dist_bin_SCRIPTS = playerlog2carmenlog.py
+
#barcodes
#playermap
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