Merge branch 'clearpathrobotics-indigo' into kinetic

Author: miquelmassot

bag_tools/CMakeLists.txt

@@ -31,22 +31,26 @@ install(TARGETS
 )
 
 install(PROGRAMS
-    scripts/stereo_sequence_publisher.py
-    scripts/replace_msg_time_with_hdr.py
-    scripts/remove_tf.py
-    scripts/make_video.py
-    scripts/image_sequence_publisher.py
-    scripts/gps_to_std_gt.py
-    scripts/extract_topics.py
-    scripts/cut.py
-    scripts/check_delay.py
-    scripts/change_topics.py
-    scripts/change_frame_id.py
-    scripts/change_camera_info.py
-    scripts/camera_info_parser.py
-    scripts/batch_process.py
-    scripts/bag_add_time_offset.py
     scripts/add_header_time_offset.py
+    scripts/bag_add_time_offset.py
+    scripts/batch_process.py
+    scripts/camera_info_parser.py
+    scripts/change_camera_info.py
+    scripts/change_frame_id.py
+    scripts/change_topics.py
+    scripts/check_delay.py
+    scripts/check_drop.py
+    scripts/cut.py
+    scripts/extract_topics.py
+    scripts/gps_to_std_gt.py
+    scripts/image_sequence_publisher.py
+    scripts/make_video.py
+    scripts/merge.py
+    scripts/plot.py
+    scripts/remove_tf.py
+    scripts/replace_msg_time_with_hdr.py
+    scripts/stereo_sequence_publisher.py
+    scripts/transform_tf.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 

bag_tools/scripts/check_drop.py

@@ -0,0 +1,179 @@
+#!/usr/bin/python
+"""
+Copyright (c) 2015,
+Enrique Fernandez Perdomo
+Clearpath Robotics, Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * 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.
+    * Neither the name of Systems, Robotics and Vision Group, University of 
+      the Balearican Islands 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 <COPYRIGHT HOLDER> 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 rospy
+import rosbag
+
+import numpy
+import argparse
+
+# Workaround to avoid issues with X11 rendering when running on background:
+import matplotlib as mpl
+mpl.use('Agg')
+
+import matplotlib.pyplot as plt
+
+def check_drop(inbags, plot_format='png'):
+  # Retrieve msg time, bag time and sequence number for all topics and messages:
+  msg_time = {}
+  bag_time = {}
+  seq = {}
+
+  for inbag in inbags:
+    rospy.loginfo('   Processing input bagfile: %s', inbag)
+    for topic, msg, t in rosbag.Bag(inbag,'r').read_messages():
+      if topic == "/tf":
+        for transform in msg.transforms:
+          key = "/tf: " + transform.header.frame_id + " -> " + transform.child_frame_id
+          if key not in msg_time:
+            msg_time[key] = []
+            bag_time[key] = []
+            seq[key] = []
+          else:
+            msg_time[key].append(transform.header.stamp.to_sec())
+            bag_time[key].append(t.to_sec())
+            seq[key].append(transform.header.seq)
+      elif msg._has_header:
+        key = topic
+        if key not in msg_time:
+          msg_time[key] = []
+          bag_time[key] = []
+          seq[key] = []
+        else:
+          msg_time[key].append(msg.header.stamp.to_sec())
+          bag_time[key].append(t.to_sec())
+          seq[key].append(msg.header.seq)
+
+  # Convert lists to numpy.arrays:
+  for key in msg_time.iterkeys():
+    msg_time[key] = numpy.array(msg_time[key])
+    bag_time[key] = numpy.array(bag_time[key])
+    seq[key] = numpy.array(seq[key])
+
+  # Compute differences:
+  msg_time_diff = {}
+  bag_time_diff = {}
+  seq_diff = {}
+
+  min_time = []
+  for key in msg_time.iterkeys():
+    msg_time_diff[key] = numpy.diff(msg_time[key])
+    min_time.append(msg_time[key][0])
+    bag_time_diff[key] = numpy.diff(bag_time[key])
+    seq_diff[key] = numpy.diff(seq[key])
+
+  min_time = numpy.min(min_time)
+
+  # Compute min, max and mean differences:
+  basename = inbags[0].replace('.bag', '')
+
+  max_len = max(len(topic) for topic in msg_time_diff.keys())
+  topics = msg_time_diff.keys()
+  topics.sort()
+
+
+  for topic in topics:
+    msg_time_diff_topic = msg_time_diff[topic]
+    bag_time_diff_topic = bag_time_diff[topic]
+    seq_diff_topic = seq_diff[topic]
+
+    if len(msg_time_diff_topic) == 0:
+      rospy.logwarn('%s has no messages', topic.ljust(max_len + 2))
+      continue
+
+    msg_time_diff_min = numpy.min(msg_time_diff_topic)
+    msg_time_diff_max = numpy.max(msg_time_diff_topic)
+    msg_time_diff_mean = numpy.mean(msg_time_diff_topic)
+    msg_time_diff_median = numpy.median(msg_time_diff_topic)
+
+    bag_time_diff_min = numpy.min(bag_time_diff_topic)
+    bag_time_diff_max = numpy.max(bag_time_diff_topic)
+    bag_time_diff_mean = numpy.mean(bag_time_diff_topic)
+    bag_time_diff_median = numpy.median(bag_time_diff_topic)
+
+    seq_diff_min = numpy.min(seq_diff_topic)
+    seq_diff_max = numpy.max(seq_diff_topic)
+    seq_diff_mean = numpy.mean(seq_diff_topic)
+    seq_diff_median = numpy.median(seq_diff_topic)
+
+    rospy.loginfo('%s message time: mean = %s, min = %s, max = %s, median = %s', topic.ljust(max_len + 2), msg_time_diff_mean, msg_time_diff_min, msg_time_diff_max, msg_time_diff_median)
+    rospy.loginfo('%s bag     time: mean = %s, min = %s, max = %s, median = %s', topic.ljust(max_len + 2), bag_time_diff_mean, bag_time_diff_min, bag_time_diff_max, bag_time_diff_median)
+    rospy.loginfo('%s          seq: mean = %s, min = %s, max = %s, median = %s', topic.ljust(max_len + 2), seq_diff_mean, seq_diff_min, seq_diff_max, seq_diff_median)
+
+    # Create and save plots:
+    mt = msg_time[topic][1:] - min_time  
+
+    try:
+      fig = plt.figure()
+      fig.set_size_inches(20, 15)
+
+      plt.subplot(311)
+      plt.title(topic + ' - Message time difference [s]')
+      plt.plot(mt, msg_time_diff_topic,'b')
+      plt.plot([mt[0], mt[-1]], [msg_time_diff_min, msg_time_diff_min], 'r--')
+      plt.plot([mt[0], mt[-1]], [msg_time_diff_max, msg_time_diff_max], 'r--')
+      plt.plot([mt[0], mt[-1]], [msg_time_diff_mean, msg_time_diff_mean], 'g')
+
+      plt.subplot(312)
+      plt.title(topic + ' - Bag time difference [s]')
+      plt.plot(mt, bag_time_diff_topic,'b')
+      plt.plot([mt[0], mt[-1]], [bag_time_diff_min, bag_time_diff_min], 'r--')
+      plt.plot([mt[0], mt[-1]], [bag_time_diff_max, bag_time_diff_max], 'r--')
+      plt.plot([mt[0], mt[-1]], [bag_time_diff_mean, bag_time_diff_mean], 'g')
+
+      plt.subplot(313)
+      plt.title(topic + ' - Sequence number difference')
+      plt.plot(mt, seq_diff_topic, 'b')
+      plt.plot([mt[0], mt[-1]], [seq_diff_min, seq_diff_min], 'r--')
+      plt.plot([mt[0], mt[-1]], [seq_diff_max, seq_diff_max], 'r--')
+      plt.plot([mt[0], mt[-1]], [seq_diff_mean, seq_diff_mean], 'g')
+
+
+      plt.savefig(basename + topic.replace('/', '_').replace(' ', '_').replace(':', '_') + '.' + plot_format)
+      plt.close(fig)
+    except OverflowError as e:
+      rospy.logerr('%s: Failed to save plots as %s image files (try other format, e.g. svg): %s', topic.ljust(max_len + 2), plot_format, e.message)
+
+if __name__ == "__main__":
+  rospy.init_node('check_drop', anonymous=True)
+
+  parser = argparse.ArgumentParser(
+      description='Checks the header.seq and header.stamp difference to detect '
+                  'message dropping in a bagfile. Prints out min, max and mean '
+                  'differences and all values are shown on a plot.')
+  parser.add_argument('inbag', help='input bagfile(s)', nargs='+')
+  parser.add_argument('--plot_format', help='output plot format', default='png')
+  args = parser.parse_args()
+  try:
+    check_drop(args.inbag, args.plot_format)
+  except Exception, e:
+    import traceback
+    traceback.print_exc()

bag_tools/scripts/merge.py

@@ -0,0 +1,77 @@
+#!/usr/bin/python
+"""
+Copyright (c) 2015,
+Enrique Fernandez Perdomo
+Clearpath Robotics, Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * 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.
+    * Neither the name of Systems, Robotics and Vision Group, University of 
+      the Balearican Islands 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 <COPYRIGHT HOLDER> 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.
+"""
+
+from __future__ import print_function
+
+import rosbag
+
+import argparse
+import os
+import sys
+
+def merge(inbags, outbag='output.bag', topics=None, exclude_topics=[], raw=True):
+  # Open output bag file:
+  try:
+    out = rosbag.Bag(outbag, 'a' if os.path.exists(outbag) else 'w')
+  except IOError as e:
+    print('Failed to open output bag file %s!: %s' % (outbag, e.message), file=sys.stderr)
+    return 127
+
+  # Write the messages from the input bag files into the output one:
+  for inbag in inbags:
+    try:
+      print('   Processing input bagfile: %s' % inbag)
+      for topic, msg, t in rosbag.Bag(inbag, 'r').read_messages(topics=topics, raw=raw):
+        if topic not in args.exclude_topics:
+          out.write(topic, msg, t, raw=raw)
+    except IOError as e:
+      print('Failed to open input bag file %s!: %s' % (inbag, e.message), file=sys.stderr)
+      return 127
+
+  out.close()
+
+  return 0
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(
+      description='Merge multiple bag files into a single one.')
+  parser.add_argument('inbag', help='input bagfile(s)', nargs='+')
+  parser.add_argument('--output', help='output bag file', default='output.bag')
+  parser.add_argument('--topics', help='topics to merge from the input bag files', nargs='+', default=None)
+  parser.add_argument('--exclude_topics', help='topics not to merge from the input bag files', nargs='+', default=[])
+  args = parser.parse_args()
+
+  try:
+    sys.exit(merge(args.inbag, args.output, args.topics, args.exclude_topics))
+  except Exception, e:
+    import traceback
+    traceback.print_exc()