114 lines
3.7 KiB
Python
114 lines
3.7 KiB
Python
import rclpy
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from rclpy.node import Node
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from rclpy.executors import MultiThreadedExecutor
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from sensor_msgs.msg import PointCloud2
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import sensor_msgs_py.point_cloud2 as pc2
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import numpy as np
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import matplotlib.pyplot as plt
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import struct
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from io import BytesIO
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import threading
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import time
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class PointCloudSaver(Node):
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def __init__(self, node_name: str, pointcloud_topic: str, buffer, timeout_ms: int):
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super().__init__(node_name)
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self.subscription = self.create_subscription(
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PointCloud2,
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pointcloud_topic,
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self.callback,
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10
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)
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self.buffer = buffer
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self.finished = False
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self.points = []
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self.end_time = self.get_clock().now().nanoseconds + (timeout_ms * 1_000_000)
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self.cmap = plt.get_cmap('jet')
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def callback(self, msg):
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now = self.get_clock().now().nanoseconds
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for p in pc2.read_points(msg, field_names=("x", "y", "z", "intensity"), skip_nans=True):
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self.points.append([p[0], p[1], p[2], p[3]])
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if now > self.end_time:
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if not self.points:
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self.get_logger().warn("No points received!")
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self.destroy_node()
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self.finished = True
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return
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np_points = np.array(self.points, dtype=np.float32)
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intensities = np_points[:, 3]
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norm_int = (intensities - intensities.min()) / (intensities.ptp() + 1e-8)
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# Map normalized intensity to RGB colormap
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colors = self.cmap(norm_int)[:, :3] # RGB 0-1
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colors = (colors * 255).astype(np.uint8)
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rgb_int = np.left_shift(colors[:,0].astype(np.uint32), 16) | \
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np.left_shift(colors[:,1].astype(np.uint32), 8) | \
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colors[:,2].astype(np.uint32)
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filename = "pointcloud.pcd"
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self.write_pcd_with_intensity_rgb(filename, np_points, rgb_int)
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self.get_logger().info(f"Saved {filename}")
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self.destroy_node()
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self.finished = True
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def write_pcd_with_intensity_rgb(self, filename, points, rgb_int):
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header = f"""# .PCD v0.7 - Point Cloud Data file format
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VERSION 0.7
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FIELDS x y z intensity rgb
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SIZE 4 4 4 4 4
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TYPE F F F F U
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COUNT 1 1 1 1 1
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WIDTH {points.shape[0]}
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HEIGHT 1
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VIEWPOINT 0 0 0 1 0 0 0
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POINTS {points.shape[0]}
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DATA binary
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"""
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self.buffer.write(header.encode('ascii'))
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for i in range(points.shape[0]):
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# x, y, z, intensity as float32, rgb as uint32
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self.buffer.write(struct.pack('ffffI', points[i,0], points[i,1], points[i,2], points[i,3], rgb_int[i]))
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def monitor_nodes(nodes):
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"""Separate thread that monitors node status and shuts down ROS when done."""
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while rclpy.ok():
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if all(node.finished for node in nodes):
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print("All nodes finished. Shutting down ROS.")
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rclpy.shutdown()
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break
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time.sleep(0.1) # check periodically
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def main():
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rclpy.init()
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file_velodyne = open('/root/velodyne.pcd', "wb+")
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file_livox = open('/root/livox.pcd', "wb+")
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executor = MultiThreadedExecutor()
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nodes = [
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PointCloudSaver('velodyne_pcd_saver', '/velodyne_points', file_velodyne, 5000),
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PointCloudSaver('livox_pcd_saver', '/livox/lidar', file_livox, 5000),
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]
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monitor_thread = threading.Thread(target=monitor_nodes, args=(nodes,), daemon=True)
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monitor_thread.start()
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for node in nodes:
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executor.add_node(node)
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try:
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executor.spin()
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finally:
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monitor_thread.join()
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print("Executor and monitor thread exited cleanly.")
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file_velodyne.close()
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file_livox.close()
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if __name__ == "__main__":
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main()
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