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main.go
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main.go
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// Package main is a rosbag parser.
package main
import (
"bytes"
"context"
"encoding/json"
"fmt"
"image"
"image/png"
"io"
"os"
"github.com/edaniels/golog"
"github.com/pkg/errors"
goutils "go.viam.com/utils"
"go.viam.com/rdk/pointcloud"
"go.viam.com/rdk/rimage"
"go.viam.com/rdk/rimage/transform"
"go.viam.com/rdk/ros"
"go.viam.com/rdk/utils"
"go.viam.com/rdk/vision/segmentation"
)
var logger = golog.NewDebugLogger("rosbag_parser")
// Arguments for the rosbag parser.
type Arguments struct {
RosbagFile string `flag:"0"`
}
func main() {
goutils.ContextualMain(mainWithArgs, logger)
}
// saveImageAsPng saves image as png in current directory.
func saveImageAsPng(img image.Image, filename string) error {
path := ""
//nolint:gosec
f, err := os.Create(path + filename)
if err != nil {
return err
}
err = png.Encode(f, img)
if err != nil {
return err
}
err = f.Close()
if err != nil {
return err
}
return nil
}
// extractPlanes extract planes from an image and depth map.
func extractPlanes(ctx context.Context, img *rimage.Image, dm *rimage.DepthMap) (*segmentation.SegmentedImage, error) {
// Set camera matrices in image-with-depth
camera, err := transform.NewDepthColorIntrinsicsExtrinsicsFromJSONFile(utils.ResolveFile("ros/data/intel515_parameters.json"))
if err != nil {
return nil, err
}
// Get the pointcloud from the image-with-depth
pcl, err := camera.RGBDToPointCloud(img, dm)
if err != nil {
return nil, err
}
// Extract the planes from the point cloud
planeSeg := segmentation.NewPointCloudPlaneSegmentation(pcl, 50, 150000)
planes, _, err := planeSeg.FindPlanes(ctx)
if err != nil {
return nil, err
}
// Project the pointcloud planes into an image
segments := make([]pointcloud.PointCloud, 0, len(planes))
for _, plane := range planes {
cloud, err := plane.PointCloud()
if err != nil {
return nil, err
}
segments = append(segments, cloud)
}
segImage, err := segmentation.PointCloudSegmentsToMask(camera.ColorCamera, segments)
if err != nil {
return nil, err
}
return segImage, nil
}
func mainWithArgs(ctx context.Context, args []string, logger golog.Logger) error {
var argsParsed Arguments
if err := goutils.ParseFlags(args, &argsParsed); err != nil {
return err
}
rb, err := ros.ReadBag(argsParsed.RosbagFile)
if err != nil {
return err
}
topics := []string{"/L515_ImageWithDepth"}
err = ros.WriteTopicsJSON(rb, 0, 0, topics)
if err != nil {
return err
}
var message ros.L515Message
for _, v := range rb.TopicsAsJSON {
count := 0
for {
// Read bytes into JSON structure
measurement, err := v.ReadBytes('\n')
if err != nil {
if errors.Is(err, io.EOF) {
break
}
return err
}
err = json.Unmarshal(measurement[:len(measurement)-1], &message)
if err != nil {
return err
}
// Create & display image
img1, _, err := image.Decode(bytes.NewReader(message.ColorData.Data))
if err != nil {
return err
}
img2, _, err := image.Decode(bytes.NewReader(message.DepthData.Data))
if err != nil {
return err
}
img := rimage.ConvertImage(img1)
dm, err := rimage.ConvertImageToDepthMap(context.Background(), img2)
if err != nil {
return err
}
imgNrgba := rimage.Overlay(img, dm)
err = saveImageAsPng(imgNrgba, "img_"+fmt.Sprint(count)+".png")
if err != nil {
return err
}
// Apply plane segmentation on image
segImg, err := extractPlanes(ctx, img, dm)
if err != nil {
return err
}
err = saveImageAsPng(segImg, "seg_img_"+fmt.Sprint(count)+".png")
if err != nil {
return err
}
count++
}
}
return nil
}