def read_input_data(self, dirpath):
control_data = Dataset.read_raw_control_data(
os.path.join(dirpath, "input", "input_control.csv"))
laser_intensity_data = Dataset.read_raw_laser_intensity_data(
os.path.join(dirpath, "input", "input_laser.csv"))
self.ts2control = {}
self.ts2laser = {}
self.ts2intensity = {}
control_i = 0
laser_intensity_i = 0
for ts, time in enumerate(self.timestamps):
if self.ts2sensor[ts] == 'gps':
pass
elif self.ts2sensor[ts] == 'control':
assert_feq(time, control_data[control_i][0], 2)
self.ts2control[ts] = control_data[control_i][1:]
control_i += 1
elif self.ts2sensor[ts] == 'laser':
assert_feq(time, laser_intensity_data[laser_intensity_i][0], 2)
row = laser_intensity_data[laser_intensity_i]
self.ts2laser[ts] = row[1:1 + LASER_COLS]
self.ts2intensity[ts] = row[1 + LASER_COLS:]
laser_intensity_i += 1
else:
assert False
assert control_i == len(control_data)
assert laser_intensity_i == len(laser_intensity_data)
def read_ground_data(self, dirpath):
# Obstacles:
self.ground_obstacles = []
path = os.path.join(dirpath, "eval_data", "eval_obstacles.csv")
with open(path) as csv_file:
reader = csv.reader(csv_file)
header = reader.next()
assert header[0] == 'GPSLon'
for row in reader:
assert len(row) == 2
self.ground_obstacles.append((float(row[0]), float(row[1])))
# Everything else:
gps_data = Dataset.read_raw_gps_data(
os.path.join(dirpath, "eval_data", "eval_gps.csv"))
control_data = Dataset.read_raw_control_data(
os.path.join(dirpath, "eval_data", "eval_control.csv"))
laser_intensity_data = Dataset.read_raw_laser_intensity_data(
os.path.join(dirpath, "eval_data", "eval_laser.csv"))
self.ground_ts2gps = {}
self.ground_ts2control = {}
self.ground_ts2laser = {}
self.ground_ts2intensity = {}
gps_i = 0
control_i = 0
laser_intensity_i = 0
for ts, time in enumerate(self.timestamps):
if self.ts2sensor[ts] == 'gps':
assert_feq(time, gps_data[gps_i][0], 2)
row = gps_data[gps_i]
self.ground_ts2gps[ts] = [row[2], row[1], row[3]]
gps_i += 1
elif self.ts2sensor[ts] == 'control':
assert_feq(time, control_data[control_i][0], 2)
self.ground_ts2control[ts] = control_data[control_i][1:]
control_i += 1
elif self.ts2sensor[ts] == 'laser':
assert_feq(time, laser_intensity_data[laser_intensity_i][0], 2)
row = laser_intensity_data[laser_intensity_i]
self.ground_ts2laser[ts] = row[1:1 + LASER_COLS]
self.ground_ts2intensity[ts] = row[1 + LASER_COLS:]
laser_intensity_i += 1
else:
assert False
assert gps_i == len(gps_data)
assert control_i == len(control_data)
assert laser_intensity_i == len(laser_intensity_data)
