上海比较好的网站建设公司,宿迁网站设计,在哪个网站上做外贸好,如何做微信下单小程序ROS笔记之rosbag的快速切片(C实现) —— 杭州 2023-12-21 夜 code review 文章目录 ROS笔记之rosbag的快速切片(C实现)1.运行效果2.文件结构3.fast_rosbag_slice.cpp4.CMakeLists.txt5.package.xml6.对fast_rosbag_slice.cpp进行函数封装 正常该功能是ROS官方命令行#xff1a…ROS笔记之rosbag的快速切片(C实现) —— 杭州 2023-12-21 夜 code review 文章目录 ROS笔记之rosbag的快速切片(C实现)1.运行效果2.文件结构3.fast_rosbag_slice.cpp4.CMakeLists.txt5.package.xml6.对fast_rosbag_slice.cpp进行函数封装 正常该功能是ROS官方命令行rosbag filter来实现但速度太慢. 代码抄自大佬的Githubhttps://github.com/berndpfrommer/fast_rosbag_slice.git 1.运行效果 input_bag的情况 运行想得到后50s的bag rosrun fast_rosbag_slice fast_rosbag_slice -i a.bag -o output.bag -s 1686903228.56 -e 1686903278.56耗时8.68s(windows虚拟机环境) output_bag的情况 2.文件结构 3.fast_rosbag_slice.cpp // -*-c-*-------------------------------------------------------------------- // Copyright 2022 Bernd Pfrommer bernd.pfrommergmail.com // // Licensed under the Apache License, Version 2.0 (the License); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at // // http://www.apache.org/licenses/LICENSE-2.0 // // Unless required by applicable law or agreed to in writing, software // distributed under the License is distributed on an AS IS BASIS, // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License.#include rosbag/bag.h #include rosbag/view.h #include unistd.h#include chrono #include iostream #include limitsvoid usage() {std::cout usage: std::endl;std::cout fast_rosbag_slice -i input_bag -o output_bag -s start_time -e stop_time std::endl; }static size_t process_bag(const std::string inBagName, const std::string outBagName, const double startTime,const double endTime) {std::cout reading from bag: inBagName std::endl;std::cout writing to bag: outBagName std::endl;rosbag::Bag inBag;inBag.open(inBagName, rosbag::bagmode::Read);rosbag::Bag outBag;outBag.open(outBagName, rosbag::bagmode::Write);rosbag::View view(inBag);size_t numMessages(0);for (const rosbag::MessageInstance m : view) {if (m.getTime().toSec() endTime) {break;}if (m.getTime().toSec() startTime) {outBag.write(m.getTopic(), m.getTime(), m);numMessages;}}inBag.close();outBag.close();return (numMessages); }int main(int argc, char ** argv) {int opt;ros::Time::init();std::string inBag;std::string outBag;double startTime(0);double endTime(std::numeric_limitsdouble::max());while ((opt getopt(argc, argv, i:o:s:e:h)) ! -1) {switch (opt) {case i:inBag optarg;break;case o:outBag optarg;break;case s:startTime atof(optarg);break;case e:endTime atof(optarg);break;case h:usage();return (-1);default:std::cout unknown option: opt std::endl;usage();return (-1);break;}}if (inBag.empty() || outBag.empty()) {std::cout missing input or output bag name! std::endl;usage();return (-1);}const auto start std::chrono::high_resolution_clock::now();size_t numMsg process_bag(inBag, outBag, startTime, endTime);const auto end std::chrono::high_resolution_clock::now();auto total_duration std::chrono::duration_caststd::chrono::microseconds(end - start).count();std::cout total time: total_duration * 1e-6 s std::endl;std::cout message processing rate: numMsg * 1e6 / total_duration hz std::endl;return (0); }4.CMakeLists.txt # # Copyright 2022 Bernd Pfrommer bernd.pfrommergmail.com # # Licensed under the Apache License, Version 2.0 (the License); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an AS IS BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. cmake_minimum_required(VERSION 3.5) project(fast_rosbag_slice)set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} -g -Wall -Wextra -Wpedantic -Werror) set (CMAKE_CXX_STANDARD 14)find_package(catkin REQUIRED COMPONENTSroscpprosbag)catkin_package()include_directories(${catkin_INCLUDE_DIRS} )# --------- sync test add_executable(fast_rosbag_slice src/fast_rosbag_slice.cpp) target_link_libraries(fast_rosbag_slice ${catkin_LIBRARIES}) # # volumetric tracking node and nodelet # install(TARGETS fast_rosbag_sliceARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} )5.package.xml ?xml version1.0? package format3namefast_rosbag_slice/nameversion1.0.0/versiondescriptionfast rosbag time slicer/descriptionmaintainer emailbernd.pfrommergmail.comBernd Pfrommer/maintainerlicenseApache2/licensebuildtool_depend condition$ROS_VERSION 1catkin/buildtool_dependdepend condition$ROS_VERSION 1roscpp/dependdepend condition$ROS_VERSION 1rosbag/dependexportbuild_type condition$ROS_VERSION 1catkin/build_type/export/package6.对fast_rosbag_slice.cpp进行函数封装 运行 代码 #include chrono #include iostream #include limits #include rosbag/bag.h #include rosbag/view.hstatic size_t process_bag(const std::string inBagName, const std::string outBagName, const double startTime,const double endTime) {std::cout reading from bag: inBagName std::endl;std::cout writing to bag: outBagName std::endl;rosbag::Bag inBag;inBag.open(inBagName, rosbag::bagmode::Read);rosbag::Bag outBag;outBag.open(outBagName, rosbag::bagmode::Write);rosbag::View view(inBag);size_t numMessages(0);for (const rosbag::MessageInstance m : view) {if (m.getTime().toSec() endTime) {break;}if (m.getTime().toSec() startTime) {outBag.write(m.getTopic(), m.getTime(), m);numMessages;}}inBag.close();outBag.close();return (numMessages); }int main() {std::string inBag /home/user/bag/a.bag;std::string outBag /home/user/bag/output.bag;double startTime 1686903228.56;double endTime 1686903278.56;const auto start std::chrono::high_resolution_clock::now();size_t numMsg process_bag(inBag, outBag, startTime, endTime);const auto end std::chrono::high_resolution_clock::now();auto total_duration std::chrono::duration_caststd::chrono::microseconds(end - start).count();std::cout total time: total_duration * 1e-6 s std::endl;std::cout message processing rate: numMsg * 1e6 / total_duration hz std::endl;return (0); }