修改读取nuScenes数据集逻辑

CMakeLists.txt

@@ -72,6 +72,7 @@ include_directories(
 add_executable(${PROJECT_NAME} 
         ${PROJECT_SOURCE_DIR}/src/main.cpp 
         ${PROJECT_SOURCE_DIR}/src/SendRosMsg.cpp 
+        ${PROJECT_SOURCE_DIR}/src/NuScenesRosMsg.cpp 
         )
 
 target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})

launch/jfx_node_ros.launch

 <launch>
   <arg name="parampath"  default="$(find jfx_node_ros)/config/params.yaml"/>
-  <arg name="run_mode"  default="1"/>
+  <arg name="run_mode"  default="3"/>
   <arg name="originDataPath"  default="/media/sf_originData/data"/>
   <arg name="gps_load_file"  default="/media/sf_originData/102022041610.nav/102022041610_traj.txt"/>
   <arg name="outPutSaveDir"  default="/media/sf_originData/detect_data/"/>
@@ -18,7 +18,10 @@
   <arg name="play_save_pcd_folder"  default="/media/sf_originData/save_data/60_90_csv31_1650064407084/pcd"/>
   <arg name="play_save_image0_folder"  default="/media/sf_originData/save_data/60_90_csv31_1650064407084/image0"/>
   <arg name="play_save_image1_folder"  default="/media/sf_originData/save_data/60_90_csv31_1650064407084/image1"/>
-  <node pkg="jfx_node_ros" type="jfx_node_ros" name="jfx_node_ros" output="screen" >
+  <arg name="nuScenes_json_dir"  default="/media/sf_shared/nuScenes"/>
+  <arg name="scene_name"  default="scene-1100"/>
+  <arg name="nuScenes_save_dir"  default="/media/sf_shared/nuScenes/output"/>
+  <node pkg="jfx_node_ros" type="jfx_node_ros" name="jfx_node_ros" output="screen" launch-prefix="gdb -ex run --args">
     <param name="parampath" value="$(arg parampath)" />
     <param name="run_mode" value="$(arg run_mode)" />
     <param name="originDataPath" value="$(arg originDataPath)" />
@@ -38,5 +41,8 @@
     <param name="play_save_pcd_folder" value="$(arg play_save_pcd_folder)" />
     <param name="play_save_image0_folder" value="$(arg play_save_image0_folder)" />
     <param name="play_save_image1_folder" value="$(arg play_save_image1_folder)" />
+    <param name="nuScenes_json_dir" value="$(arg nuScenes_json_dir)" />
+    <param name="scene_name" value="$(arg scene_name)" />
+    <param name="nuScenes_save_dir" value="$(arg nuScenes_save_dir)" />
   </node>
 </launch>

src/main.cpp

@@ -12,6 +12,8 @@
 #include <fstream>
 #include <sstream>
 #include "SendRosMsg.hpp"
+#include "nlohmann_json/json.hpp"
+#include "NuScenesRosMsg.hpp"
 
 struct FileInfo
 {
@@ -216,7 +218,21 @@ int main(int argc, char** argv) {
             printf("finish error ret = %d",ret);
         ros::spin();        
     }
+    else if(run_mode == 3)
+    {
+        NuScenesRosMsg nuScenesMsg = {};
+        nuScenesMsg.Play(phpriv_nh);
 
+        ros::spin();        
+    }
+    else if(run_mode == 4)
+    {
+        NuScenesRosMsg nuScenesMsg = {};
+        nuScenesMsg.SaveGT(phpriv_nh);
+        
+        ros::spin();        
+
+    }
 
     return 0;
 }