def get_transforms(folder, run, mark='mark1'):
""" Gets the IMU transforms for a run """
gps_reader = GPSReader(folder + run + '_gps' + mark + '.out')
gps_data = gps_reader.getNumericData()
gps_times = utc_from_gps_log_all(gps_data)
imu_transforms = IMUTransforms(gps_data)
return imu_transforms, gps_times
def get_transforms(args, mark='mark1'):
""" Gets the IMU transforms for a run """
gps_reader = GPSReader(args['gps_' + mark])
gps_data = gps_reader.getNumericData()
gps_times = utc_from_gps_log_all(gps_data)
imu_transforms = IMUTransforms(gps_data)
return imu_transforms, gps_data, gps_times
def __init__(self, args, npz_file):
self.map_file = args['map']
self.lidar_params = args['params']['lidar']
self.radar_params = args['params']['radar']
self.radar_actors = []
self.rdr_pts = loadRDRCamMap(self.map_file)
self.count = 0
self.lidar_actor = None
self.lidar_data = np.load(npz_file)['data']
gps_filename = args['gps']
gps_reader = GPSReader(gps_filename)
GPSData = gps_reader.getNumericData()
self.imu_transforms = IMUTransforms(GPSData)
def read_imu_transforms(gps_file):
gps_reader = GPSReader(gps_file)
GPSData = gps_reader.getNumericData()
imu_transforms = IMUTransforms(GPSData)
return imu_transforms
Create new lidar files synced to video
'''
if __name__ == '__main__':
args = parse_args(sys.argv[1], sys.argv[2])
cam_num = int(sys.argv[2][-5])
video_file = args['video']
video_reader = VideoReader(video_file)
params = args['params']
cam = params['cam'][cam_num - 1]
gps_reader_mark2 = GPSReader(args['gps_mark2'])
gps_data_mark2 = gps_reader_mark2.getNumericData()
lidar_loader = LDRLoader(args['frames'])
imu_transforms_mark2 = IMUTransforms(gps_data_mark2)
gps_times_mark2 = utc_from_gps_log_all(gps_data_mark2)
frame_ldr_map = ''
# TODO Check this
if EXPORT_START != 0:
video_reader.setFrame(EXPORT_START)
count = 0
while count < EXPORT_NUM:
(success, I) = video_reader.getNextFrame()
if not success:
print 'Reached end of video'
break
fnum = video_reader.framenum * 2
import os
import sys
import h5py
from ArgParser import parse_args
from GPSReader import GPSReader
from GPSTransforms import IMUTransforms
from pipeline_config import ICP_TRANSFORMS_DIR, EXPORT_START, EXPORT_NUM,\
EXPORT_STEP
args = parse_args(sys.argv[1], sys.argv[2])
# Load INS data
gps_reader = GPSReader(args['gps'])
GPSData = gps_reader.getNumericData()
imu_transforms = IMUTransforms(GPSData)
if '--full' in sys.argv:
T_start = 0
T_end = GPSData.shape[0] - GPSData.shape[0] % EXPORT_STEP
else:
T_start = EXPORT_START
T_end = T_start + EXPORT_NUM * EXPORT_STEP
nt = T_end - T_start
imu_states = imu_transforms[T_start:T_end, 0:3, 3]
INS_VAR = 1.0 # PARAM
SCAN_VAR = 0.1 # PARAM
VEL_VAR = 0.5 # PARAM
def get_transforms(args):
""" Gets the IMU transforms for a run """
gps_reader = GPSReader(args['gps'])
gps_data = gps_reader.getNumericData()
imu_transforms = IMUTransforms(gps_data)
return imu_transforms
def get_transforms():
gps_reader = GPSReader(GPS_FILE)
gps_data = gps_reader.getNumericData()
imu_transforms = IMUTransforms(gps_data)
return imu_transforms