56 lines
1.4 KiB
Python
Executable File
56 lines
1.4 KiB
Python
Executable File
#!/usr/bin/env python
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import sys
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import os
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import rospy
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import argparse
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from geometry_msgs.msg import TransformStamped
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def callback(data):
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global out_file, time_offset
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if not out_file:
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return
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if not time_offset:
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time_offset = rospy.Time().now() - data.header.stamp
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out_file.write('{},{},{},{},{},{},{},{}\n'.format(
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data.header.stamp + time_offset,
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data.transform.translation.x,
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data.transform.translation.y,
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data.transform.translation.z,
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data.transform.rotation.w,
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data.transform.rotation.x,
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data.transform.rotation.y,
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data.transform.rotation.z
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))
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def listener():
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rospy.init_node('listener', anonymous=True)
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rospy.Subscriber('/vrpn_client/raw_transform', TransformStamped, callback)
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rospy.spin()
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if __name__ == '__main__':
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parser = argparse.ArgumentParser(description='Record Motion Capture messages from ROS (/vrpn_client/raw_transform).')
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parser.add_argument('-d', '--dataset-path', required=True, help="Path to store the result")
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args = parser.parse_args()
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dataset_path = args.dataset_path
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out_file = None
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time_offset = None
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if not os.path.exists(dataset_path):
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os.makedirs(dataset_path)
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out_file = open(dataset_path + '/data.csv', 'w')
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out_file.write('#timestamp [ns], p_RS_R_x [m], p_RS_R_y [m], p_RS_R_z [m], q_RS_w [], q_RS_x [], q_RS_y [], q_RS_z []\n')
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listener()
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out_file.close()
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