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Output FIle #10

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Oct 20, 2024
+10 −10
Merged

Output FIle #10

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4 changes: 2 additions & 2 deletions ros/include/kinematic_icp_ros/nodes/offline_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
#include <string>

// ROS
#include <filesystem>
#include <rclcpp/node.hpp>
#include <rclcpp/node_options.hpp>
#include <sophus/se3.hpp>
Expand All @@ -51,8 +52,7 @@ class OfflineNode {
// store data for the experiments
using PoseWithStamp = std::pair<double, Sophus::SE3d>;
std::vector<PoseWithStamp> poses_with_timestamps_;
std::string output_dir_;
std::string poses_filename_;
std::filesystem::path output_pose_file_;

// Offline node specifics
BagMultiplexer bag_multiplexer_;
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16 changes: 8 additions & 8 deletions ros/src/kinematic_icp_ros/nodes/offline_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,12 +38,12 @@
#include "kinematic_icp_ros/utils/indicators.hpp"

namespace {
std::string generateOutputFilename(const std::string &bag_filename) {
std::filesystem::path generateOutputFilename(const std::string &bag_filename) {
size_t last_dot = bag_filename.find_last_of(".");
std::string output_file = bag_filename.substr(0, last_dot);
output_file += "_kinematic_icp_poses_tum.txt";
std::filesystem::path output_path(output_file);
return output_path.filename().string();
return output_path.filename();
}
} // namespace

Expand All @@ -55,21 +55,21 @@ OfflineNode::OfflineNode(const rclcpp::NodeOptions &options) {
odometry_server_ = std::make_shared<LidarOdometryServer>(node_);

auto bag_filename = node_->declare_parameter<std::string>("bag_filename");
poses_filename_ = generateOutputFilename(bag_filename);
output_dir_ = node_->declare_parameter<std::string>("output_dir");
const auto poses_filename = generateOutputFilename(bag_filename);
output_pose_file_ = std::filesystem::path(node_->declare_parameter<std::string>("output_dir"));
output_pose_file_ /= poses_filename;
auto tf_bridge = std::make_shared<BufferableBag::TFBridge>(node_);
bag_multiplexer_.AddBag(BufferableBag(bag_filename, tf_bridge, pcl_topic_));
}

void OfflineNode::writePosesInTumFormat() {
const std::string output_file = output_dir_ + poses_filename_;
std::ofstream file(output_file);
std::ofstream file(output_pose_file_);
if (!file.is_open()) {
std::cerr << "Error opening file: " << output_file << std::endl;
std::cerr << "Error opening file: " << output_pose_file_ << std::endl;
return;
}

RCLCPP_INFO_STREAM(node_->get_logger(), "Saving poses in TUM format in " << output_file);
RCLCPP_INFO_STREAM(node_->get_logger(), "Saving poses in TUM format in " << output_pose_file_);

// Iterate over the poses and timestamps
for (const auto &[timestamp, pose] : poses_with_timestamps_) {
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