def CreateDatasetFromRosbag(rosbagName,
pickleName,
isBebop=True,
start_frame=None,
end_frame=None):
"""Converts rosbag to format suitable for training/testing.
if start_frame, end_frame are unknown, FrameSelector will help you choose how to trim the video
Parameters
----------
rosbagName : str
The file location of the rosbag
pickleName : str
name of the new .pickle file
isBebop : bool, optional
True if you want RGB dataset for the bebop, False if you want Himax-tailored dataset
start_frame : int, optional
if known, the timestamp in ns of the frame you wish to start from
end_frame : int, optional
if known, the timestamp in ns of the frame you wish to finish at
"""
dc = DatasetCreator(rosbagName)
if (start_frame is None) or (end_frame is None):
start_frame, end_frame = dc.FrameSelector()
if isBebop == True:
dc.CreateBebopDataset(0, pickleName, start_frame, end_frame)
else:
dc.CreateHimaxDataset(config.himax_delay, pickleName, start_frame,
end_frame)
def CreatePickle(subject_name, rosbagfolder, delay=0):
rosbagName = rosbagfolder + subject_name + ".bag"
pickleName = config.folder_path + "/../Pickles/16_4_2020/" + subject_name + ".pickle"
dc = DatasetCreator(rosbagName)
dc.CreateHimaxDataset(delay, pickleName, "/image_raw", "optitrack/gapuino",
["optitrack/head"])
def ProcessAllFilesInFolder(rosbag_folder, pickle_folder):
files = os.listdir(rosbag_folder)
for f in files:
#print(f)
dc = DatasetCreator(rosbag_folder + f)
pickleName = pickle_folder + os.path.splitext(
os.path.basename(f))[0] + ".pickle"
#print(pickleName)
dc.CreateHimaxDataset(0, pickleName, "/image_raw", "optitrack/gapuino",
["optitrack/head"])
def main():
# subject_name = "davide1"
# rosbagName = config.folder_path + "/data/Hand/" + subject_name + ".bag"
# pickleName = config.folder_path + "/data/Hand/" + subject_name + "Hand.pickle"
# CreateDatasetFromRosbag(rosbagName, pickleName, isBebop=True, start_frame=None, end_frame=None)
subject_name = "session3"
rosbagName = config.folder_path + "/data/compressed/" + subject_name + ".bag"
pickleName = config.folder_path + "/data/compressed/" + subject_name + ".pickle"
#CreateDatasetFromDarioRosbag(rosbagName, pickleName, start_frame=None, end_frame=None)
dc = DatasetCreator(rosbagName)
#dc.CreateBebopDataset(0, pickleName, "bebop/image_raw/compressed", "optitrack/drone", ["optitrack/head", "optitrack/hand"])
dc.CreateHimaxDataset(config.himax_delay, pickleName, "himax_camera",
"bebop/image_raw/compressed", "optitrack/drone",
["optitrack/head", "optitrack/hand"])
