def __init__(self):
self.node = cyber.Node("sendor_calibration_preprocessor")
self.writer = self.node.create_writer("/apollo/dreamview/progress",
preprocess_table_pb2.Progress, 6)
self.config = extractor_config_pb2.DataExtractionConfig()
self.progress = preprocess_table_pb2.Progress()
self.progress.percentage = 0.0
self.progress.log_string = "Preprocessing in progress..."
self.progress.status = preprocess_table_pb2.Status.UNKNOWN
try:
get_pb_from_text_file(FLAGS.config, self.config)
except text_format.ParseError:
print(f'Error: Cannot parse {FLAGS.config} as text proto')
self.records = []
for r in self.config.records.record_path:
self.records.append(str(r))
self.start_timestamp = -1
self.end_timestamp = -1
if self.config.io_config.start_timestamp == "FLOAT_MIN":
self.start_timestamp = np.finfo(np.float32).min
else:
self.start_timestamp = np.float32(
self.config.io_config.start_timestamp)
if self.config.io_config.end_timestamp == "FLOAT_MAX":
self.end_timestamp = np.finfo(np.float32).max
else:
self.end_timestamp = np.float32(
self.config.io_config.end_timestamp)
def main():
"""
Main function
"""
if CYBER_PATH is None:
print('Error: environment variable CYBER_PATH was not found, '
'set environment first.')
sys.exit(1)
os.chdir(CYBER_PATH)
parser = argparse.ArgumentParser(
description='A tool to extract data information for sensor calibration.')
# parser.add_argument("-i", "--record_path", action="append", default=[], required=True,
# dest='record_list',
# help="Specify the record file to extract data information.")
# parser.add_argument("-o", "--output_path", action="store", type=str,
# default="./extracted_data",
# help="The output directory to restore message.")
# # parser.add_argument("-z", "--compressed_file", action="store", type=str,
# # default="extraction_data", help="The output compressed filename.")
# parser.add_argument("-t", "--task_name", action="store", type=str, default="tmp",
# help="name of the data extraction task, e.g., Camera_Lidar_Calibration.")
# parser.add_argument("-c", "--channel_name", dest='channel_list', action="append",
# default=[], help="list of channel_name that needs parsing.")
# parser.add_argument("-s", "--start_timestamp", action="store", type=float,
# default=np.finfo(np.float32).min,
# help="Specify the begining time to extract data information.")
# parser.add_argument("-e", "--end_timestamp", action="store", type=float,
# default=np.finfo(np.float32).max,
# help="Specify the ending timestamp to extract data information.")
# parser.add_argument("-r", "--extraction_rate", action="store", type=int,
# default=10, help="extraction rate for channel with large storage cost.")
parser.add_argument("--config", action="store", type=str, required=True, dest="config",
help="protobuf text format configuration file abosolute path")
args = parser.parse_args()
config = extractor_config_pb2.DataExtractionConfig()
with open(args.config, "r") as f:
proto_block = f.read()
text_format.Merge(proto_block, config)
records = []
for r in config.records.record_path:
records.append(str(r))
valid_record_list = validate_record_files(records, kword='.record.')
channels, extraction_rates = parse_channel_config(config.channels.channel)
print('parsing the following channels: %s' % channels)
start_timestamp = -1
end_timestamp = -1
if config.io_config.start_timestamp == "FLOAT_MIN":
start_timestamp = np.finfo(np.float32).min
else:
start_timestamp = np.float32(config.io_config.start_timestamp)
if config.io_config.end_timestamp == "FLOAT_MAX":
end_timestamp = np.finfo(np.float32).max
else:
end_timestamp = np.float32(config.io_config.end_timestamp)
# Create directory to save the extracted data
# use time now() as folder name
output_relative_path = config.io_config.task_name + datetime.now().strftime("-%Y-%m-%d-%H-%M")
output_abs_path = os.path.join(config.io_config.output_path, output_relative_path)
ret = process_dir(output_abs_path, 'create')
if not ret:
print('Failed to create extrated data directory: %s' % output_abs_path)
sys.exit(1)
ret = extract_data(valid_record_list, output_abs_path, channels,
start_timestamp, end_timestamp, extraction_rates)
if not ret:
print('Failed to extract data!')
generate_compressed_file(input_path=config.io_config.output_path,
input_name=output_relative_path,
output_path=config.io_config.output_path,
compressed_file=config.io_config.task_name)
print('Data extraction is completed successfully!')
sys.exit(0)