Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add /tf_static filter #14

Open
wants to merge 3 commits into
base: master
Choose a base branch
from
Open

Add /tf_static filter #14

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
b062aaa
Add /tf_static filter
ulterzlw Apr 15, 2021
dbc5545
Remove empty transform
ulterzlw Apr 11, 2022
ea2f82f
rename frame_id for sensor_msgs/PointCloud2
ulterzlw Mar 24, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 2 additions & 1 deletion src/filter_frames.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,13 +8,14 @@
#include "ui_filter_frames.h"

FilterFrames::FilterFrames(const rosbag::Bag& bag,
const std::string& tf,
FilterFrames::FramesSet& filtered_frames,
QWidget* parent)
: QDialog(parent), ui(new Ui::FilterFrames), _bag(bag), _frames_to_filter(filtered_frames)
{
ui->setupUi(this);

std::vector<std::string> topics = {"/tf"};
std::vector<std::string> topics = {tf};
rosbag::View bag_view(bag, rosbag::TopicQuery(topics));

QProgressDialog progress_dialog;
Expand Down
1 change: 1 addition & 0 deletions src/filter_frames.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@ class FilterFrames : public QDialog
using FramesSet = std::set<std::pair<std::string,std::string>>;

explicit FilterFrames(const rosbag::Bag& bag,
const std::string& tf,
FramesSet &filtered_frames,
QWidget *parent = nullptr );

Expand Down
55 changes: 46 additions & 9 deletions src/rosbag_editor.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
#include <topic_tools/shape_shifter.h>
#include <tf/tfMessage.h>
#include <tf2_msgs/TFMessage.h>
#include <sensor_msgs/PointCloud2.h>

#include <QDir>
#include <QString>
Expand Down Expand Up @@ -133,6 +134,9 @@ void RosbagEditor::changeEnabledWidgets()

bool contains_tf = !ui->tableWidgetInput->findItems( "/tf", Qt::MatchExactly ).empty();
ui->pushButtonFilterTF->setEnabled( ui->checkBoxFilterTF->isChecked() && contains_tf );

bool contains_tf_static = !ui->tableWidgetInput->findItems( "/tf_static", Qt::MatchExactly ).empty();
ui->pushButtonFilterTFStatic->setEnabled( ui->checkBoxFilterTFStatic->isChecked() && contains_tf_static );
}

void RosbagEditor::on_pushButtonMove_pressed()
Expand All @@ -156,6 +160,8 @@ void RosbagEditor::on_pushButtonMove_pressed()
ui->tableWidgetOutput->setItem(row, 0, new QTableWidgetItem(topic_name) );
QLineEdit* topic_editor = new QLineEdit(ui->tableWidgetOutput);
ui->tableWidgetOutput->setCellWidget(row, 1, topic_editor);
QLineEdit* topic_editor2 = new QLineEdit(ui->tableWidgetOutput);
ui->tableWidgetOutput->setCellWidget(row, 2, topic_editor2);
}
}

Expand Down Expand Up @@ -240,13 +246,19 @@ void RosbagEditor::on_pushButtonSave_pressed()

std::vector<std::string> input_topics;
std::map<std::string,std::string> topis_renamed;
std::map<std::string,std::string> frameid_renamed;

for(int row = 0; row < ui->tableWidgetOutput->rowCount(); ++row)
{
std::string name = ui->tableWidgetOutput->item(row,0)->text().toStdString();
QLineEdit* line_edit = qobject_cast<QLineEdit*>(ui->tableWidgetOutput->cellWidget(row, 1));
std::string renamed = line_edit->text().toStdString();
QLineEdit* line_edit2 = qobject_cast<QLineEdit*>(ui->tableWidgetOutput->cellWidget(row, 2));
std::string frameid = line_edit2->text().toStdString();
input_topics.push_back( name );
if( ! frameid.empty()){
frameid_renamed.insert(std::make_pair(name, frameid));
}
if( renamed.empty())
{
topis_renamed.insert( std::make_pair(name,name));
Expand All @@ -272,6 +284,7 @@ void RosbagEditor::on_pushButtonSave_pressed()
progress_dialog.setRange(0, bag_view.size()-1);

bool do_tf_filtering = _filtered_frames.size() > 0 && ui->checkBoxFilterTF->isChecked();
bool do_tf_static_filtering = _filtered_frames.size() > 0 && ui->checkBoxFilterTFStatic->isChecked();

for(const rosbag::MessageInstance& msg: bag_view)
{
Expand All @@ -298,24 +311,35 @@ void RosbagEditor::on_pushButtonSave_pressed()
};


if( msg.getTopic() == "/tf" && do_tf_filtering )
const std::string& datatype = msg.getDataType();
if( (msg.getTopic() == "/tf" && do_tf_filtering) || (msg.getTopic() == "/tf_static" && do_tf_static_filtering) )
{
tf::tfMessage::Ptr tf = msg.instantiate<tf::tfMessage>();
if (tf)
if (datatype == "tf/tfMessage")
{
tf::tfMessage::Ptr tf = msg.instantiate<tf::tfMessage>();
removeTransform(tf->transforms);
out_bag.write( name, msg.getTime(), tf, msg.getConnectionHeader());
if(!tf->transforms.empty())
out_bag.write( name, msg.getTime(), tf, msg.getConnectionHeader());
}

tf2_msgs::TFMessage::Ptr tf2 = msg.instantiate<tf2_msgs::TFMessage>();
if (tf2)
if (datatype == "tf2_msgs/TFMessage")
{
tf2_msgs::TFMessage::Ptr tf2 = msg.instantiate<tf2_msgs::TFMessage>();
removeTransform(tf2->transforms);
out_bag.write( name, msg.getTime(), tf2, msg.getConnectionHeader());
if(!tf2->transforms.empty())
out_bag.write( name, msg.getTime(), tf2, msg.getConnectionHeader());
}
}
else{
out_bag.write( name, msg.getTime(), msg, msg.getConnectionHeader());
if(frameid_renamed.find(msg.getTopic()) != frameid_renamed.end()){
if( datatype == "sensor_msgs/PointCloud2"){
sensor_msgs::PointCloud2::Ptr mm = msg.instantiate<sensor_msgs::PointCloud2>();
mm->header.frame_id=frameid_renamed.find(msg.getTopic())->second;
out_bag.write( name, msg.getTime(), mm, msg.getConnectionHeader());
}
}else{
out_bag.write( name, msg.getTime(), msg, msg.getConnectionHeader());
}
}
}
out_bag.close();
Expand Down Expand Up @@ -352,7 +376,20 @@ void RosbagEditor::on_checkBoxFilterTF_toggled(bool checked)

void RosbagEditor::on_pushButtonFilterTF_pressed()
{
FilterFrames dialog(_bag, _filtered_frames, this);
FilterFrames dialog(_bag, "/tf", _filtered_frames, this);
dialog.exec();

}

void RosbagEditor::on_checkBoxFilterTFStatic_toggled(bool checked)
{
bool contains_tf_static = !ui->tableWidgetInput->findItems( "/tf_static", Qt::MatchExactly ).empty();
ui->pushButtonFilterTFStatic->setEnabled( checked && contains_tf_static );
}

void RosbagEditor::on_pushButtonFilterTFStatic_pressed()
{
FilterFrames dialog(_bag, "/tf_static", _filtered_frames, this);
dialog.exec();

}
4 changes: 4 additions & 0 deletions src/rosbag_editor.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,10 @@ private slots:

void on_pushButtonFilterTF_pressed();

void on_checkBoxFilterTFStatic_toggled(bool checked);

void on_pushButtonFilterTFStatic_pressed();

private:
Ui::RosbagEditor *ui;
QString _loade_filename;
Expand Down
47 changes: 31 additions & 16 deletions src/rosbag_editor.ui
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -76,12 +76,12 @@
<attribute name="horizontalHeaderVisible">
<bool>true</bool>
</attribute>
<attribute name="horizontalHeaderMinimumSectionSize">
<number>150</number>
</attribute>
<attribute name="horizontalHeaderDefaultSectionSize">
<number>200</number>
</attribute>
<attribute name="horizontalHeaderMinimumSectionSize">
<number>150</number>
</attribute>
<attribute name="horizontalHeaderShowSortIndicator" stdset="0">
<bool>true</bool>
</attribute>
Expand Down Expand Up @@ -282,12 +282,12 @@
<property name="selectionMode">
<enum>QAbstractItemView::ExtendedSelection</enum>
</property>
<attribute name="horizontalHeaderMinimumSectionSize">
<number>150</number>
</attribute>
<attribute name="horizontalHeaderDefaultSectionSize">
<number>200</number>
</attribute>
<attribute name="horizontalHeaderMinimumSectionSize">
<number>150</number>
</attribute>
<attribute name="horizontalHeaderStretchLastSection">
<bool>true</bool>
</attribute>
Expand All @@ -304,6 +304,11 @@
<string>Renamed topic (optional)</string>
</property>
</column>
<column>
<property name="text">
<string>Renamed frame_id (optional)</string>
</property>
</column>
</widget>
</item>
<item>
Expand Down Expand Up @@ -453,22 +458,32 @@
<enum>Qt::NoFocus</enum>
</property>
<property name="text">
<string>Edit filter</string>
<string>Edit /tf filter</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
<widget class="QCheckBox" name="checkBoxFilterTFStatic">
<property name="focusPolicy">
<enum>Qt::NoFocus</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
<property name="text">
<string>Filter /tf_static frames</string>
</property>
</spacer>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButtonFilterTFStatic">
<property name="enabled">
<bool>false</bool>
</property>
<property name="focusPolicy">
<enum>Qt::NoFocus</enum>
</property>
<property name="text">
<string>Edit /tf_static filter</string>
</property>
</widget>
</item>
</layout>
</widget>
Expand Down