def _load_image_file_names(self):
"""Load image files names
Note: this function only obtains the image file names, it does not load
images to memory
Parameters
----------
sequence_data_path : str
Path to where VO sequence data is
"""
data_path = join(self.base_dir, self.date, self.drive_dir)
self.image_00_files = walkdir(join(data_path, "image_00"), ".png")
self.image_00_files.sort(
key=lambda f: int("".join(filter(str.isdigit, f))))
self.image_01_files = walkdir(join(data_path, "image_01"), ".png")
self.image_01_files.sort(
key=lambda f: int("".join(filter(str.isdigit, f))))
self.image_02_files = walkdir(join(data_path, "image_02"), ".png")
self.image_02_files.sort(
key=lambda f: int("".join(filter(str.isdigit, f))))
self.image_03_files = walkdir(join(data_path, "image_03"), ".png")
self.image_03_files.sort(
key=lambda f: int("".join(filter(str.isdigit, f))))
def preprocess_images(self):
""" Preprocess images """
image_files = walkdir(self.images_dir)
nb_images = len(image_files)
# Loop through calibration images
for i in range(nb_images):
# Load images and find chessboard corners
image = cv2.imread(image_files[i])
corners = self.chessboard.find_corners(image)
self.images.append(image)
# Calculate camera to chessboard transform
K = self.intrinsics.K()
P_c = self.chessboard.calc_corner_positions(corners, K)
nb_corners = corners.shape[0]
self.corners2d.append(corners.reshape((nb_corners, 2)))
self.corners3d.append(P_c)
# Undistort corners in camera 0
corners_ud = self.intrinsics.undistort_points(corners)
image_ud, K_new = self.intrinsics.undistort_image(image)
pixels_ud = self.ideal2pixel(corners_ud, K_new)
self.images_ud.append(image_ud)
# Calculate camera to chessboard transform
K_new = self.intrinsics.K_new
P_c = self.chessboard.calc_corner_positions(pixels_ud, K_new)
self.corners2d_ud.append(pixels_ud)
self.corners3d_ud.append(P_c)
self.corners2d = np.array(self.corners2d)
self.corners3d = np.array(self.corners3d)
self.corners2d_ud = np.array(self.corners2d_ud)
self.corners3d_ud = np.array(self.corners3d_ud)
def _load_image_file_names(self, sequence_data_path):
"""Load image files names
Note: this function only obtains the image file names, it does not load
images to memory
Parameters
----------
sequence_data_path : str
Path to where VO sequence data is
"""
image_0_path = join(sequence_data_path, "image_0")
image_1_path = join(sequence_data_path, "image_1")
self.image_0_files = walkdir(image_0_path, ".png")
self.image_1_files = walkdir(image_1_path, ".png")
self.image_0_files.sort(
key=lambda f: int("".join(filter(str.isdigit, f))))
self.image_1_files.sort(
key=lambda f: int("".join(filter(str.isdigit, f))))
def _load_oxts_data(self):
"""Load Oxts data"""
path = join(self.base_dir, self.date, self.drive_dir, "oxts", "data")
oxts_files = walkdir(path, ".txt")
oxts_files.sort(key=lambda f: int("".join(filter(str.isdigit, f))))
# Load oxts data
for i in range(len(oxts_files)):
# Open and load text file
oxts_file = open(oxts_files[i], "r")
data = oxts_file.readlines()
oxts_file.close()
# Split Oxts data
data = " ".join(data)
data = data.split(" ")
data = [float(x) for x in data]
data = {
"lat": data[0],
"lon": data[1],
"alt": data[2],
"roll": data[3],
"pitch": data[4],
"yaw": data[5],
"vn": data[6],
"ve": data[7],
"vf": data[8],
"vl": data[9],
"vu": data[10],
"ax": data[11],
"ay": data[12],
"az": data[13],
"af": data[14],
"al": data[15],
"au": data[16],
"wx": data[17],
"wy": data[18],
"wz": data[19],
"wf": data[20],
"wl": data[21],
"wu": data[22],
"pos_accuracy": data[23],
"vel_accuracy": data[24],
"navstat": data[25],
"numsats": data[26],
"posmode": data[27],
"velmode": data[28],
"orimode": data[29]
}
self.oxts.append(data)
def load_preprocessed(self):
files = walkdir(self.data_path)
files.sort(key=lambda f: int(os.path.splitext(os.path.basename(f))[0]))
if len(files) == 0:
err_msg = "No data files found in [%s]!" % (self.data_path)
raise RuntimeError(err_msg)
for f in files:
data = self.load_preprocessed_file(f)
self.target_points.append(data["target_points"])
self.corners2d.append(data["corners2d"])
self.corners3d.append(data["corners3d"])
self.target_points = np.array(self.target_points)
self.corners2d = np.array(self.corners2d)
self.corners3d = np.array(self.corners3d)
self.corners2d_ud = self.corners2d
self.corners3d_ud = self.corners3d