object_d = detector.update(ret)
avaliables = detector.availiable_obejct_keys
if pressed_key in avaliables:
target = avaliables[pressed_key]
elif pressed_key == ord("q"):
target = None
elif target in object_d.keys():
pass
else:
target = None
if args.save:
save_data.append(copy.deepcopy(object_d))
if args.render:
pressed_key = v.draw(ret["map_n"],
objects=object_d,
target=target
or list(avaliables.values()))
if pressed_key == ESC:
break
if args.save:
import pickle
try:
pickle.dump(save_data, open(args.path.replace(".h5", ".pkl"),
"wb"))
except Exception as e:
os.remove(args.path.replace(".h5", ".pkl"))
raise e
setup_logger()
data = read_data(args.path)
lidar_data = data['lidar_data']
extra_data = data['extra_data']
map = LidarMap(lidar_config)
v = Visualizer("map_n", lidar_config["map_size"], zoom=5)
fpstimer = FPSTimer()
save_data = []
for l, e in zip(lidar_data, extra_data):
with fpstimer:
ret = map.update(l, e)
if args.save:
save_data.append(ret)
if args.render:
stop = v.draw(ret["map_n"])
if stop:
break
if args.save:
import pickle
try:
pickle.dump(save_data, open(args.path.replace(".h5", ".pkl"),
"wb"))
except Exception as e:
os.remove(args.path.replace(".h5", ".pkl"))
raise e
