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 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(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
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 #t = utc_from_gps_log(gps_data_mark2[fnum, :])
''' 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 #t = utc_from_gps_log(gps_data_mark2[fnum, :])