/
lidar-converter.js
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/
lidar-converter.js
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// Copyright (c) 2019 Uber Technologies, Inc.
//
// 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.
/* eslint-disable camelcase */
import uuid from 'uuid/v4';
import BaseConverter from './base-converter';
import {loadLidarData} from '../parsers/parse-lidar-points';
// load file
export default class LidarConverter extends BaseConverter {
constructor(rootDir, streamDir, {disabledStreams = []} = {}) {
super(rootDir, streamDir);
this.LIDAR_POINTS = '/lidar/points';
this.disabled = disabledStreams
.map(pattern => RegExp(pattern).test(this.LIDAR_POINTS))
.some(x => x === true);
}
async convertMessage(messageNumber, xvizBuilder) {
if (this.disabled) {
return;
}
const {data} = await this.loadMessage(messageNumber);
const lidarData = loadLidarData(data);
xvizBuilder
.primitive(this.LIDAR_POINTS)
.points(lidarData.positions)
.colors(lidarData.colors)
.id(uuid());
}
getMetadata(xvizMetaBuilder) {
const xb = xvizMetaBuilder;
xb.stream(this.LIDAR_POINTS)
.category('primitive')
.type('point')
.streamStyle({
fill_color: '#00a',
radius_pixels: 1
})
// laser scanner relative to GPS position
// http://www.cvlibs.net/datasets/kitti/setup.php
.coordinate('VEHICLE_RELATIVE')
.pose({
x: 0.81,
y: -0.32,
z: 1.73
});
}
}