def updateRadar(self):
# Taken from testDrawRadarOnMap.py
fren = self.iren.GetRenderWindow().GetRenderers().GetFirstRenderer()
t = self.start + self.step * self.count
radar_data = loadRDR(self.rdr_pts[t])[0]
if radar_data.shape[0] > 0:
#Convert from radar to lidar ref-frame
radar_data[:, :3] = calibrateRadarPts(radar_data[:, :3],
self.radar_params)
#Convert from lidar to IMU ref-frame
radar_data[:, :3] = np.dot(
self.lidar_params['T_from_l_to_i'][:3, :3],
radar_data[:, :3].transpose()).transpose()
h_radar_data = np.hstack(
(radar_data[:, :3], np.ones((radar_data.shape[0], 1))))
radar_data[:, :3] = np.dot(
self.imu_transforms[t],
h_radar_data.transpose()).transpose()[:, :3]
for i in xrange(len(self.radar_actors)):
fren.RemoveActor(self.radar_actors[i])
self.radar_actors = []
self.radar_clouds = []
for i in xrange(radar_data.shape[0]):
self.radar_clouds.append(VtkBoundingBox(radar_data[i, :]))
(ax, ay, az) = euler_from_matrix(self.imu_transforms[t])
box = self.radar_clouds[i].get_vtk_box(rot=az * 180 / np.pi)
self.radar_actors.append(box)
fren.AddActor(self.radar_actors[i])
def updateRadar(self):
# Taken from testDrawRadarOnMap.py
fren = self.iren.GetRenderWindow().GetRenderers().GetFirstRenderer()
t = self.start + self.step * self.count
radar_data = loadRDR(self.rdr_pts[t])[0]
if radar_data.shape[0] > 0:
#Convert from radar to lidar ref-frame
radar_data[:, :3] = calibrateRadarPts(radar_data[:, :3], self.radar_params)
#Convert from lidar to IMU ref-frame
radar_data[:, :3] = np.dot(self.lidar_params['T_from_l_to_i'][:3, :3],
radar_data[:, :3].transpose()).transpose()
h_radar_data = np.hstack((radar_data[:, :3], np.ones((radar_data.shape[0], 1))))
radar_data[:, :3] = np.dot(self.imu_transforms[t],
h_radar_data.transpose()).transpose()[:, :3]
for i in xrange(len(self.radar_actors)):
fren.RemoveActor(self.radar_actors[i])
self.radar_actors = []
self.radar_clouds = []
for i in xrange(radar_data.shape[0]):
self.radar_clouds.append(VtkBoundingBox(radar_data[i, :]))
(ax, ay, az) = euler_from_matrix(self.imu_transforms[t])
box = self.radar_clouds[i].get_vtk_box(rot=az*180/np.pi)
self.radar_actors.append(box)
fren.AddActor(self.radar_actors[i])
radar_data = []
json_name = 'radar.json'
json_radar_name = driverseat_run + json_name
zip_radar_name = json_radar_name + '.zip'
print driverseat_run
if not os.path.isfile(json_radar_name):
print '\tExporting ' + json_name
radar_times = [
int(f.split('/')[-1][:-4])
for f in sorted(glob.glob(radar_folder + '*'))
]
for i in xrange(0, gps_times_mk2.shape[0], sub_samp):
radar_idx = mk2_to_radar(i, radar_times, gps_times_mk2)
time = radar_times[radar_idx]
radar_file = radar_folder + str(time) + '.rdr'
rdr = loadRDR(radar_file)
data = {
time: {
'O': rdr[0].tolist(),
'T': rdr[1].tolist()
}
}
radar_data.append(data)
json.dump(radar_data, open(json_radar_name, 'w'))
if not os.path.isfile(zip_radar_name):
print '\tZipping...'
data = '\n'.join(
[x for x in open(json_radar_name, 'r').readlines()])
json_zip = ZipFile(zip_radar_name, 'w', ZIP_DEFLATED)
json_zip.writestr(json_name, data)
run, 'mark1')
_, gps_times_mk2 = get_transforms(remote_run, run, 'mark2')
radar_data = []
json_name = 'radar.json'
json_radar_name = driverseat_run + json_name
zip_radar_name = json_radar_name + '.zip'
print driverseat_run
if not os.path.isfile(json_radar_name):
print '\tExporting ' + json_name
radar_times = [int(f.split('/')[-1][:-4]) for
f in sorted(glob.glob(radar_folder + '*'))]
for i in xrange(0, gps_times_mk2.shape[0], sub_samp):
radar_idx = mk2_to_radar(i, radar_times, gps_times_mk2)
time = radar_times[radar_idx]
radar_file = radar_folder + str(time) + '.rdr'
rdr = loadRDR(radar_file)
data = {time:{'O':rdr[0].tolist(), 'T':rdr[1].tolist()}}
radar_data.append(data)
json.dump(radar_data, open(json_radar_name, 'w'))
if not os.path.isfile(zip_radar_name):
print '\tZipping...'
data = '\n'.join([x for x in open(json_radar_name,
'r').readlines()])
json_zip = ZipFile(zip_radar_name, 'w', ZIP_DEFLATED)
json_zip.writestr(json_name, data)
json_zip.close()
configurator.set('radar_json', True)
if configurator.config['gps_json'] == False:
