log_recorder.cpp

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#include <ros/ros.h>

#include <laser_geometry/laser_geometry.h>

#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/surface/mls.h>
#include <pcl_conversions/pcl_conversions.h>

#include <string>
#include <fstream>

using namespace std;
using namespace ros;

string outputFile="~/Desktop/temp.txt";

void savePointCloud2(const sensor_msgs::PointCloud2& cloud)
{       
    pcl::PointCloud<pcl::PointXYZ> pclCloud;
    pcl::PCLPointCloud2 pcl_pc;
    pcl_conversions::toPCL(cloud, pcl_pc);
    pcl::fromPCLPointCloud2(pcl_pc, pclCloud);
    
        ofstream file(outputFile.c_str(),ios::app);
        
        //get points into grid to reorder them
        for(uint i=0;i<pclCloud.points.size();i++)
                file<<pclCloud.points[i].x<<" "<<pclCloud.points[i].y<<" ";
        
        file<<cloud.header.stamp<<endl;

        return;
}

void saveLaserScan(const sensor_msgs::LaserScan& scan)
{
        ofstream file(outputFile.c_str(),ios::app);
        
        double min=0.1;//10 cm
        double max=50.;//50 m
        static bool init=false;
        
        if(init)
        {
                //write header
                file<<"# ros-bag to log converter"<<endl;
                file<<"# Jorge Almeida"<<endl;
                file<<"# Formato do ficheiro:"<<endl;
                file<<"# cada linha representa um scan diferente"<<endl;
                file<<"# é assumido que todos os pontos num scan foram obtidos ao mesmo tempo"<<endl;
                file<<"# o instante de tempo a que o scan corresponde aparece sempre na ultima coluna de uma linha"<<endl;
                file<<"# todos os scans têm o mesmo número de pontos"<<endl;
                file<<"# os valores aqui apresentados correspondem às distancias em metros"<<endl;
                file<<"# os valores de distancia são sempre positivos, um valor negativo é uma medida falhada"<<endl;
                file<<"# as distancias correspondem a ângulos de medição consecutivos começando em angle_min e terminando em angle_max"<<endl;
                file<<"# os valores desses ângulos vêm em radianos"<<endl;
                file<<"# podes calcular a frequência dos scans usando o tempo de cada um, o valor de scan_time é o valor médio/ótimo (tempo entre scans)"<<endl;
                file<<"# angle_min: "<<scan.angle_min<<endl;
                file<<"# angle_max: "<<scan.angle_max<<endl;
                file<<"# scan_time: "<<scan.scan_time<<endl;
                
                init=false;
        }
        
        for(uint i=0;i<scan.ranges.size();i++)
        {
                if(scan.ranges[i]<min || scan.ranges[i]>max)
                        file<<-1<<" ";
                else
                        file<<scan.ranges[i]<<" ";
        }
        file<<scan.header.stamp<<endl;
}

int main(int argc,char**argv)
{
        // Initialize ROS
        init(argc,argv,"mht");
        
        NodeHandle nh("~");
        
        Subscriber laser_handler = nh.subscribe("/scan", 1000, saveLaserScan);
        Subscriber point_handler = nh.subscribe("/points", 1000, savePointCloud2);
        
        nh.getParam("output", outputFile);
        
        if(remove(outputFile.c_str()) != 0 )
                perror( "Error deleting file" );
        
        cout<<"Writing to "<<outputFile<<endl;
        cout<<"Subscribed to "<<names::remap("/scan")<<endl;
        cout<<"Subscribed to "<<names::remap("/points")<<endl;

        cout<<"Spinning"<<endl;
        spin();
        return 0;
}