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rs-rosbag-inspector.cpp
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rs-rosbag-inspector.cpp
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// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
#include "print_helpers.h"
#include "rosbag_content.h"
#include "files_container.h"
#include <iostream>
#include <fstream>
#include <vector>
#include <set>
#include <map>
#include <string>
#include <sstream>
#include <iomanip>
#include <chrono>
#include <mutex>
#include <regex>
#include <thread>
#include <os.h>
#include <glad/glad.h>
#define GLFW_INCLUDE_GLU
#include <GLFW/glfw3.h>
#include <imgui.h>
#include <imgui_impl_glfw.h>
#include <imgui_internal.h>
#ifdef _MSC_VER
#ifndef NOMINMAX
#define NOMINMAX
#endif
#endif
using namespace rosbag_inspector;
files_container files; // Container of loaded files
std::map<std::string, uint64_t> num_topics_to_show;
class gui_window
{
public:
gui_window(const std::string& title, uint32_t width, uint32_t height) :
_window(glfwCreateWindow(width, height, title.c_str(), nullptr, nullptr)),
_first_frame(true),
_w(0), _h(0)
{
if (!_window)
throw std::runtime_error("Could not open OpenGL window, please check your graphic drivers");
init_window();
}
operator bool()
{
int display_w, display_h;
glfwGetFramebufferSize(_window, &display_w, &display_h);
glViewport(0, 0, display_w, display_h);
glClearColor(0, 0, 0, 1);
glClear(GL_COLOR_BUFFER_BIT);
if (!_first_frame)
{
ImGui::Render();
glfwSwapBuffers(_window);
}
bool res = !glfwWindowShouldClose(_window);
glfwPollEvents();
glfwGetWindowSize(_window, &_w, &_h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
ImGui_ImplGlfw_NewFrame(1);
_first_frame = false;
return res;
}
int width() const
{
return _w;
}
int height() const
{
return _h;
}
private:
void init_window()
{
glfwMakeContextCurrent(_window);
gladLoadGLLoader((GLADloadproc)glfwGetProcAddress);
glfwSetWindowUserPointer(_window, &files);
glfwSetDropCallback(_window, [](GLFWwindow* w, int count, const char** paths)
{
auto f = reinterpret_cast<files_container*>(glfwGetWindowUserPointer(w));
if (count <= 0)
return;
f->AddFiles(std::vector<std::string>(paths, paths + count));
});
ImGui_ImplGlfw_Init(_window, true);
glfwSetScrollCallback(_window, [](GLFWwindow * w, double xoffset, double yoffset)
{
ImGuiIO& io = ImGui::GetIO();
io.MouseWheel += yoffset;
});
}
GLFWwindow* _window;
int _w, _h;
bool _first_frame;
};
ImVec4 from_rgba(uint8_t r, uint8_t g, uint8_t b, uint8_t a, bool consistent_color = false)
{
auto res = ImVec4(r / (float)255, g / (float)255, b / (float)255, a / (float)255);
return res;
}
static const ImVec4 light_blue = from_rgba(0, 174, 239, 255, true); // Light blue color for selected elements such as play button glyph when paused
static const ImVec4 regular_blue = from_rgba(0, 115, 200, 255, true); // Checkbox mark, slider grabber
static const ImVec4 light_grey = from_rgba(0xc3, 0xd5, 0xe5, 0xff, true); // Text
static const ImVec4 dark_window_background = from_rgba(9, 11, 13, 255);
static const ImVec4 almost_white_bg = from_rgba(230, 230, 230, 255, true);
static const ImVec4 black = from_rgba(0, 0, 0, 255, true);
static const ImVec4 transparent = from_rgba(0, 0, 0, 0, true);
static const ImVec4 white = from_rgba(0xff, 0xff, 0xff, 0xff, true);
static const ImVec4 scrollbar_bg = from_rgba(14, 17, 20, 255);
static const ImVec4 scrollbar_grab = from_rgba(54, 66, 67, 255);
static const ImVec4 grey{ 0.5f,0.5f,0.5f,1.f };
static const ImVec4 dark_grey = from_rgba(30, 30, 30, 255);
static const ImVec4 sensor_header_light_blue = from_rgba(80, 99, 115, 0xff);
static const ImVec4 sensor_bg = from_rgba(36, 44, 51, 0xff);
static const ImVec4 redish = from_rgba(255, 46, 54, 255, true);
static const ImVec4 dark_red = from_rgba(200, 46, 54, 255, true);
static const ImVec4 button_color = from_rgba(62, 77, 89, 0xff);
static const ImVec4 header_window_bg = from_rgba(36, 44, 54, 0xff);
static const ImVec4 header_color = from_rgba(62, 77, 89, 255);
static const ImVec4 title_color = from_rgba(27, 33, 38, 255);
static const ImVec4 device_info_color = from_rgba(33, 40, 46, 255);
static const ImVec4 yellow = from_rgba(229, 195, 101, 255, true);
static const ImVec4 green = from_rgba(0x20, 0xe0, 0x20, 0xff, true);
void draw_menu_bar()
{
if (ImGui::BeginMenuBar())
{
if (ImGui::BeginMenu("File"))
{
if (ImGui::MenuItem("Load File..."))
{
auto ret = file_dialog_open(rs2::file_dialog_mode::open_file, "ROS-bag\0*.bag\0", NULL, NULL);
if (ret)
{
files.AddFiles({ ret });
}
}
ImGui::EndMenu();
}
ImGui::EndMenuBar();
}
}
int draw_files_left_panel(int flags)
{
ImGui::BeginChild("Loaded Files", ImVec2(150, 0), true, flags);
static int selected = 0;
for (int i = 0; i < files.size(); i++)
{
ImGui::PushStyleColor(ImGuiCol_Text, white);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
ImGui::PushStyleColor(ImGuiCol_Header, grey);
ImGui::PushStyleColor(ImGuiCol_HeaderHovered, light_grey);
if (ImGui::Selectable(files[i].file_name.c_str(), selected == i, 0, ImVec2(100, 0)))
{
selected = i;
num_topics_to_show.clear();
}
ImGui::PopStyleColor(4);
if (ImGui::IsItemHovered())
{
ImGui::BeginTooltip();
ImGui::PushTextWrapPos(450.0f);
ImGui::TextUnformatted("Right click for more options");
ImGui::PopTextWrapPos();
ImGui::EndTooltip();
}
std::string label = tmpstringstream() << "file operations " << files[i].file_name.c_str();
if (ImGui::BeginPopupContextItem(label.c_str()))
{
ImGui::Text("Choose operation");
ImGui::Separator();
if (ImGui::BeginMenu("Sort by"))
{
if (ImGui::MenuItem("Hardware Timestamp"))
{
}
if (ImGui::MenuItem("Arrival Timestamp"))
{
}
if (ImGui::MenuItem("System Timestamp"))
{
}
if (ImGui::MenuItem("Capture Timestamp"))
{
}
ImGui::EndMenu();
}
ImGui::EndPopup();
}
label = "x##" + files[i].file_name;
ImGui::SameLine();
ImGui::SetCursorPosX(120);
if (ImGui::SmallButton(label.c_str()))
{
int next = files.remove_file(i);
if (selected >= i)
selected = std::max(0, selected - 1);
i = next - 1; //since we will "i++" next
}
}
ImGui::EndChild();
return selected;
}
void draw_bag_content(rosbag_content& bag, int flags)
{
ImGui::BeginChild("Bag Content", ImVec2(0, 0), false, flags);
ImGui::PushStyleColor(ImGuiCol_Text, white);
std::ostringstream oss;
ImGui::Text("\t%s", std::string(tmpstringstream() << std::left << std::setw(20) << "Path: " << bag.path).c_str());
ImGui::Text("\t%s", std::string(tmpstringstream() << std::left << std::setw(20) << "Bag Version: " << bag.version).c_str());
ImGui::Text("\t%s", std::string(tmpstringstream() << std::left << std::setw(20) << "Duration: " << pretty_time(bag.file_duration)).c_str());
ImGui::Text("\t%s", std::string(tmpstringstream() << std::left << std::setw(20) << "Size: " << bag.size << " MB").c_str());
ImGui::Text("\t%s", std::string(tmpstringstream() << std::left << std::setw(20) << "Compression: " << bag.compression_info.compression_type).c_str());
ImGui::Text("\t%s", std::string(tmpstringstream() << std::left << std::setw(20) << "uncompressed: " << bag.compression_info.uncompressed).c_str());
ImGui::Text("\t%s", std::string(tmpstringstream() << std::left << std::setw(20) << "compressed: " << bag.compression_info.compressed).c_str());
if (ImGui::CollapsingHeader("Topics"))
{
for (auto&& topic_to_message_type : bag.topics_to_message_types)
{
std::string topic = topic_to_message_type.first;
std::vector<std::string> messages_types = topic_to_message_type.second;
std::ostringstream oss;
int max_topic_len = 100;
oss << std::left << std::setw(max_topic_len) << topic
<< " " << std::left << std::setw(10) << messages_types.size() << std::setw(6) << std::string(" msg") + (messages_types.size() > 1 ? "s" : "")
<< ": " << std::left << std::setw(40) << messages_types.front() << std::endl;
std::string line = oss.str();
auto pos = ImGui::GetCursorPos();
ImGui::SetCursorPos({ pos.x + 20, pos.y });
if (ImGui::CollapsingHeader(line.c_str()))
{
rosbag::View messages(bag.bag, rosbag::TopicQuery(topic));
uint64_t count = 0;
constexpr uint64_t num_next_items_to_show = 10;
num_topics_to_show[topic] = std::max(num_topics_to_show[topic], num_next_items_to_show);
uint64_t max = num_topics_to_show[topic];
auto win_pos = ImGui::GetWindowPos();
ImGui::SetWindowPos({ win_pos.x + 20, win_pos.y });
for (auto&& m : messages)
{
count++;
ImGui::Columns(2, "Message", true);
ImGui::Separator();
ImGui::Text("Timestamp"); ImGui::NextColumn();
ImGui::Text("Content"); ImGui::NextColumn();
ImGui::Separator();
ImGui::Text("%s", pretty_time(std::chrono::nanoseconds(m.getTime().toNSec())).c_str()); ImGui::NextColumn();
ImGui::Text("%s", bag.instanciate_and_cache(m, count).c_str());
ImGui::Columns(1);
ImGui::Separator();
if (count >= max)
{
int left = messages.size() - max;
if (left > 0)
{
ImGui::Text("... %d more messages", left);
ImGui::SameLine();
std::string label = tmpstringstream() << "Show More ##" << topic;
if (ImGui::Button(label.c_str()))
{
num_topics_to_show[topic] += 10;
}
else
{
break;
}
}
}
}
ImGui::SetWindowPos(win_pos);
}
if (ImGui::IsItemHovered())
{
if (topic.size() > max_topic_len)
{
ImGui::BeginTooltip();
ImGui::PushTextWrapPos(450.0f);
ImGui::Text("%s", topic.c_str());
ImGui::PopTextWrapPos();
ImGui::EndTooltip();
}
}
}
}
ImGui::PopStyleColor();
ImGui::EndChild();
}
void draw_error_modal()
{
if (files.has_errors())
{
ImGui::PushStyleColor(ImGuiCol_TitleBg, redish);
ImGui::PushStyleColor(ImGuiCol_TitleBgActive, redish);
ImGui::OpenPopup("Error");
if (ImGui::BeginPopupModal("Error", NULL, ImGuiWindowFlags_AlwaysAutoResize))
{
std::string msg = tmpstringstream() << "Error: " << files.get_last_error();
ImGui::TextWrapped("%s", msg.c_str());
ImGui::Separator();
if (ImGui::Button("OK", ImVec2(120, 0)))
{
ImGui::CloseCurrentPopup();
files.clear_errors();
}
ImGui::EndPopup();
ImGui::PopStyleColor(2);
}
}
}
enum sort_type
{
hw_time,
capture_time,
system_time,
arrival_time
};
inline void sort(sort_type m_sort_type, const std::string& in, const std::string& out)
{
//TODO: Save sort type to file
rosbag::Bag bag_in(in);
rosbag::Bag bag_out(out);
rosbag::View entire_bag_view(bag_in);
for (auto&& m : entire_bag_view)
{
// 1. Write frame with new timestamp
// 2. Get all metadata of this frame and write it
if (m.isType<sensor_msgs::Image>())
{
}
if (m.isType<sensor_msgs::Imu>())
{
}
if (m.isType<geometry_msgs::Transform>())
{
}
if (m.isType<geometry_msgs::Twist>() || m.isType<geometry_msgs::Accel>())
{
}
if (m.getTime() == rs2rosinternal::TIME_MIN)
{
bag_out.write(m.getTopic(), m.getTime(), m);
continue;
}
if (m.getTopic().find("/option/") != std::string::npos)
{
}
}
}
int main(int argc, const char** argv)
{
if (!glfwInit())
{
return 1;
}
gui_window window("RealSense Rosbag Inspector", 1280, 720);
while (window)
{
ImGui::PushStyleColor(ImGuiCol_Button, grey);
ImGui::PushStyleColor(ImGuiCol_ButtonHovered, light_grey);
ImGui::PushStyleColor(ImGuiCol_ButtonActive, light_grey);
ImGui::PushStyleColor(ImGuiCol_Text, black);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
ImGui::PushStyleColor(ImGuiCol_Header, from_rgba(0, 115, 210, 255));
ImGui::PushStyleColor(ImGuiCol_HeaderHovered, from_rgba(20, 130, 230, 255));
ImGui::PushStyleColor(ImGuiCol_HeaderActive, from_rgba(0, 115, 210, 255));
ImGui::PushStyleColor(ImGuiCol_WindowBg, from_rgba(37, 40, 48, 255));
ImGui::PushStyleColor(ImGuiCol_PopupBg, almost_white_bg);
ImGuiStyle& style = ImGui::GetStyle();
style.FramePadding.x = 10;
style.FramePadding.y = 5;
int flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoSavedSettings;
static bool open = true;
ImGui::SetNextWindowSize({ float(window.width()), float(window.height()) }, flags | ImGuiSetCond_FirstUseEver);
if (ImGui::Begin("Rosbag Inspector", nullptr, flags | ImGuiWindowFlags_MenuBar))
{
draw_menu_bar();
int selected = draw_files_left_panel(flags);
ImGui::SameLine();
if (files.size() > 0)
{
draw_bag_content(files[selected], flags);
}
draw_error_modal();
}
ImGui::End();
ImGui::PopStyleColor(10);
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
ImGui_ImplGlfw_Shutdown();
glfwTerminate();
return 0;
}
#ifdef WIN32
int CALLBACK WinMain(
_In_ HINSTANCE hInstance,
_In_ HINSTANCE hPrevInstance,
_In_ LPSTR lpCmdLine,
_In_ int nCmdShow
) {
main(0, nullptr);
}
#endif