Revision: 6366
http://playerstage.svn.sourceforge.net/playerstage/?rev=6366&view=rev
Author: gerkey
Date: 2008-04-18 15:50:59 -0700 (Fri, 18 Apr 2008)
Log Message:
-----------
updated the parser
Modified Paths:
--------------
code/player/trunk/utils/playerlog2carmenlog.py
Modified: code/player/trunk/utils/playerlog2carmenlog.py
===================================================================
--- code/player/trunk/utils/playerlog2carmenlog.py 2008-04-18 08:38:29 UTC
(rev 6365)
+++ code/player/trunk/utils/playerlog2carmenlog.py 2008-04-18 22:50:59 UTC
(rev 6366)
@@ -97,36 +97,77 @@
# 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
+ if msgsubtype == 1:
+ 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)
- 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')
+ elif msgsubtype == 2:
+ # split the pose from the scan out as an ODOM message
+ header = 'ODOM'
+ time = lsplit[0]
+ x = float(lsplit[8])
+ y = float(lsplit[9])
+ theta = float(lsplit[10])
+ tv = '0.000'
+ rv = '0.000'
+ accel = '0.000'
+ outfile.write(header + ' ' + str(x) + ' ' + str(y) + ' ' + str(theta)
+ ' ' + tv + ' ' + rv + ' ' + accel + ' ' + time + ' ' + host + ' ' + time +
'\n')
- outfile.write(header + ' 180 ' + scanstr +
- str(l_x) + ' ' + str(l_y) + ' ' + str(theta) + ' ' +
- str(x) + ' ' + str(y) + ' ' + str(theta) + ' ' +
- time + ' ' + host + ' ' + time + '\n')
+ header = 'FLASER'
+ time = lsplit[0]
+ min_angle = lsplit[11]
+ max_angle = lsplit[12]
+ 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[15])
+ 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[16 + 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 'Skipping laser message with subtype ' + `msgsubtype`
+ continue
else:
#print 'Ignoring line of type ' + type
pass
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