valschmidt / kmall Goto Github PK

Hi, I'm trying to use the kmall_to_ros_bag.py script with the aim to obtain a point cloud file from it. This is how I call the script
'python kmall_to_ros_bag.py -o myBagFile.bag myKmFile.kmall'
, which creates the 'myBagFile.bag' file ok. Then I convert it to a pcd file with this script,
"
import rosbag
import sensor_msgs.point_cloud2 as pc2
import numpy as np
import open3d as o3d

def bag_to_pcd(bag_file, topic, output_pcd_file):
accumulated_points = []

with rosbag.Bag(bag_file, 'r') as bag:
    for _, msg, _ in bag.read_messages(topics=[topic]):
        pc_data = pc2.read_points(msg, field_names=("x", "y", "z"), skip_nans=True)
        pc_np = np.array(list(pc_data))
        pc_xyz = pc_np[:, :3]
        accumulated_points.append(pc_xyz)

# Concatenate all points
if accumulated_points:
    all_points = np.concatenate(accumulated_points, axis=0)
    point_cloud = o3d.geometry.PointCloud()
    point_cloud.points = o3d.utility.Vector3dVector(all_points)
    o3d.io.write_point_cloud(output_pcd_file, point_cloud)

if name == "main":
bag_file = "myBagFile.bag"
topic = "mbes/pings"
output_pcd_file = "myPclFile.pcd"

bag_to_pcd(bag_file, topic, output_pcd_file)

"
, which also makes the 'myPclFile.pcd' file ok. However, when displaying the pcd file in a point cloud viewer, all the scans end up in the same spot, as if the vessel was not moving (which it is). I'm sure there must be a dead simple detail that I'm missing, but I'm not able to figure how. Do you have the possibility to show me how I can make sure that I get the navigation, attitudes as well as compensation for svp into the exported files?
Kind regards

Hi, I have used your script to try to extract the SPO datagram so I have added the following function to extract the SPO datagrams.

this works for the majority of the kmall files logged with our SIS5 system but or few of them we get this error

Unfortunately my python / datagram decoding skills are pretty low so I was wondering if you could have a look.. I might be able to provide you the kmall file..

Recently "Rev G" of the Kmall format was released. This introduced a new version of a few datagrams (at least the MRZ datagram). But we are not (yet) checking the datagram version number so changes we make to support this new one will break reading the old one if we're not careful. We need to add datagram version checking.

We've added a script to test the kmall module against several data files, but not all the data files have not been included in the repository, which makes the script kind of useless. We need to add those data files. (Eventually we should probably migrate the test script to a set of unit tests.)

The module does not yet parse out the installation parameters from the string encased within the datagram. These need to get parsed so they are generally available within the module.

The module needs a method to extract the XYZ data in geographic or projected (UTM) coordinates, both at a record and file level.

The comments in kmall.py say "see Coordinate systems for definition" in many places, but I can't find that section in the comments or documents.

Can a brief summary of the coordinate system be added?