def preprocess_general(infile, outfile, output_size):
logger.info('Preprocessing file %r' % infile)
distance = image_distance_L1
diff_threshold = find_dt_threshold(infile,
topic_image_raw, distance=distance,
ignore_first=100, max_images=200)
zoomer = Zoomer(use_zoom=False, output_size=output_size,
min_zoom=100, max_zoom=101, zoom_factor=0)
bag = rosbag.Bag(infile)
info = yaml.load(bag._get_yaml_info())
for topic_dict in info['topics']:
if 'FloatArray' in topic_dict['type']:
command_topic = topic_dict['topic']
logger.info('Using command topick: %s' % command_topic)
data_stream = read_processed_data(infile, zoomer, command_topic)
tuples_stream = read_Y0UY1_tuples(data_stream,
image_distance=distance,
threshold=diff_threshold)
out_bag = rosbag.Bag(outfile, 'w')
for Y0, U, Y1 in tuples_stream:
write_tuple_to_bag(out_bag, Y0, U, Y1, x=None)
out_bag.close()
def preprocess(infile, outfile, output_size,
use_zoom=True,
min_zoom=100, max_zoom=200, zoom_factor=5):
logger.info('Preprocessing file %r' % infile)
distance = image_distance_L1
diff_threshold = find_dt_threshold(infile,
topic_image_raw, distance=distance,
ignore_first=100, max_images=300)
zoomer = Zoomer(use_zoom=use_zoom,
min_zoom=min_zoom,
max_zoom=max_zoom,
zoom_factor=zoom_factor,
output_size=output_size)
data_stream = read_processed_data(infile, zoomer)
tuples_stream = read_Y0UY1_tuples(data_stream,
image_distance=distance,
threshold=diff_threshold)
out_bag = rosbag.Bag(outfile, 'w')
# i = 0
for Y0, U, Y1 in tuples_stream:
write_tuple_to_bag(out_bag, Y0, U, Y1, x=zoomer.current_zoom)
# i += 1
# if i > 20:
# break
out_bag.close()
def preprocess(infile,
outfile,
output_size,
use_zoom=True,
min_zoom=100,
max_zoom=200,
zoom_factor=5):
logger.info('Preprocessing file %r' % infile)
distance = image_distance_L1
diff_threshold = find_dt_threshold(infile,
topic_image_raw,
distance=distance,
ignore_first=100,
max_images=300)
zoomer = Zoomer(use_zoom=use_zoom,
min_zoom=min_zoom,
max_zoom=max_zoom,
zoom_factor=zoom_factor,
output_size=output_size)
data_stream = read_processed_data(infile, zoomer)
tuples_stream = read_Y0UY1_tuples(data_stream,
image_distance=distance,
threshold=diff_threshold)
out_bag = rosbag.Bag(outfile, 'w')
# i = 0
for Y0, U, Y1 in tuples_stream:
write_tuple_to_bag(out_bag, Y0, U, Y1, x=zoomer.current_zoom)
# i += 1
# if i > 20:
# break
out_bag.close()
def preprocess_general(infile, outfile, output_size):
logger.info('Preprocessing file %r' % infile)
distance = image_distance_L1
diff_threshold = find_dt_threshold(infile,
topic_image_raw,
distance=distance,
ignore_first=100,
max_images=200)
zoomer = Zoomer(use_zoom=False,
output_size=output_size,
min_zoom=100,
max_zoom=101,
zoom_factor=0)
bag = rosbag.Bag(infile)
info = yaml.load(bag._get_yaml_info())
for topic_dict in info['topics']:
if 'FloatArray' in topic_dict['type']:
command_topic = topic_dict['topic']
logger.info('Using command topick: %s' % command_topic)
data_stream = read_processed_data(infile, zoomer, command_topic)
tuples_stream = read_Y0UY1_tuples(data_stream,
image_distance=distance,
threshold=diff_threshold)
out_bag = rosbag.Bag(outfile, 'w')
for Y0, U, Y1 in tuples_stream:
write_tuple_to_bag(out_bag, Y0, U, Y1, x=None)
out_bag.close()