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Add rosbags directory support #2

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Add rosbags directory support #2

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31 changes: 25 additions & 6 deletions uncertainty_mapping/draw_uncertainty.py
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
import os
import argparse
import rosbag2_py
import folium
Expand Down Expand Up @@ -26,7 +27,7 @@ def extract_gps_traces(bag_path, topic_name):
print(f"Topic '{topic_name}' not found in the bag.")
return []

print(f"Reading messages from topic '{topic_name}':")
print(f"Reading messages from: {bag_path} ")

traces = []
msg_type = get_message(topic_type_dict[topic_name])
Expand Down Expand Up @@ -148,15 +149,33 @@ def filter_points(points, min_distance=3):
prog="uncertainty_mapper",
description="Draws gps uncertainty onto a map to help indicate poor GPS locations/performance visually",
)
parser.add_argument("--input-bags", "-I", nargs="+")
parser.add_argument("--output-filename", "-O", default="map.html")
parser.add_argument("--input-bags-dir", "-I", required=True)
parser.add_argument("--output-filename", "-O", default="map")

args = parser.parse_args()

input_path = args.input_bags_dir
mcap_path_list = []
if os.path.isdir(input_path):
# Get all .mcap files in the directory
for file_name in sorted(os.listdir(input_path)):
if file_name.endswith('.mcap'):
mcap_path = os.path.join(input_path, file_name)
mcap_path_list.append(mcap_path)
elif os.path.isfile(input_path) and input_path.endswith('.mcap'):
mcap_path_list.append(input_path)
else:
print('The input path is not a valid .mcap file or directory')

print(f'Found {len(mcap_path_list)} mcap files')

TOPIC_NAME = "/sensor/gps/bestpos"
print(f"Searching for '{TOPIC_NAME}' messages...")

gps_traces = []
for path in args.input_bags:
for mcap_path in mcap_path_list:
gps_traces.extend(
extract_gps_traces(bag_path=path, topic_name="/sensor/gps/bestpos")
extract_gps_traces(bag_path=mcap_path, topic_name=TOPIC_NAME)
)

assert len(gps_traces) > 1, "No GPS traces present in bag"
Expand Down Expand Up @@ -184,4 +203,4 @@ def filter_points(points, min_distance=3):
)

# Save the map to an HTML file
m.save(args.output_filename)
m.save("output/" + args.output_filename + ".html")