shutil.copy(params, folder_params)
configurator.set('organized', True)
if configurator.config['map'] == False:
for run in sorted(glob.glob(local_folder + '/*/')):
if os.path.isdir(run):
print run
base = run.split('/')[-2]
temp_vid = base + '2.avi'
args = parse_args(run, temp_vid)
mb = MapBuilder(args, 1, 600, 0.5, 0.1)
output = run + '/' + base + '_bg.npz'
if not os.path.isfile(output):
mb.buildMap(['no-trees'])
mb.exportData(output)
output = run + '/' + base + '_ground.npz'
if not os.path.isfile(output):
mb.buildMap(['no-trees', 'ground'])
mb.exportData(output)
configurator.set('map', True)
if configurator.config['multilane'] == False:
for run in sorted(glob.glob(local_folder + '/*/')):
if os.path.isdir(run):
print run
num_lanes_file_name = run + '/num_lanes.ini'
if os.path.exists(num_lanes_file_name):
video_reader.setFrame(int(sys.argv[3]))
(success, orig) = video_reader.getNextFrame()
while True:
I = orig.copy()
fnum = video_reader.framenum
print fnum
T_from_l_to_i = np.eye(4)
T_from_l_to_i[0:3,0:3] = R
T_from_i_to_l = np.linalg.inv(T_from_l_to_i)
t = gps_times_mark2[fnum]
builder.start_time = t
builder.end_time = t + 3.0 * 1e6
builder.step_time = 0.5
builder.T_from_l_to_i = T_from_l_to_i
builder.T_from_i_to_l = T_from_i_to_l
builder.buildMap(filters=['no-trees'])
data, data_times = builder.getData()
fnum_mark1 = bisect.bisect(gps_times_mark1, t) - 1
(pix, mask) = lidarPtsToPixels(data,
imu_transforms_mark1[fnum_mark1, :,:], T_from_i_to_l, cam)
intensity = data[mask, 3]
heat_colors = heatColorMapFast(intensity, 0, 100)
for p in range(4):
I[pix[1,mask]+p, pix[0,mask], :] = heat_colors[0,:,:]
I[pix[1,mask], pix[0,mask]+p, :] = heat_colors[0,:,:]
I[pix[1,mask]+p, pix[0,mask], :] = heat_colors[0,:,:]
I[pix[1,mask], pix[0,mask]+p, :] = heat_colors[0,:,:]
video_reader.setFrame(int(sys.argv[3]))
(success, orig) = video_reader.getNextFrame()
while True:
I = orig.copy()
fnum = video_reader.framenum
print fnum
T_from_l_to_i = np.eye(4)
T_from_l_to_i[0:3, 0:3] = R
T_from_i_to_l = np.linalg.inv(T_from_l_to_i)
t = gps_times_mark2[fnum]
builder.start_time = t
builder.end_time = t + 3.0 * 1e6
builder.step_time = 0.5
builder.T_from_l_to_i = T_from_l_to_i
builder.T_from_i_to_l = T_from_i_to_l
builder.buildMap(filters=['no-trees'])
data, data_times = builder.getData()
fnum_mark1 = bisect.bisect(gps_times_mark1, t) - 1
(pix, mask) = lidarPtsToPixels(data,
imu_transforms_mark1[fnum_mark1, :, :],
T_from_i_to_l, cam)
intensity = data[mask, 3]
heat_colors = heatColorMapFast(intensity, 0, 100)
for p in range(4):
I[pix[1, mask] + p, pix[0, mask], :] = heat_colors[0, :, :]
I[pix[1, mask], pix[0, mask] + p, :] = heat_colors[0, :, :]
I[pix[1, mask] + p, pix[0, mask], :] = heat_colors[0, :, :]
shutil.copy(params, folder_params)
configurator.set('organized', True)
if configurator.config['map'] == False:
for run in sorted(glob.glob(local_folder + '/*/')):
if os.path.isdir(run):
print run
base = run.split('/')[-2]
temp_vid = base + '604.zip'
args = parse_args(run, temp_vid)
mb = MapBuilder(args, 1, 600, 0.5, 0.1)
output = run + '/' + base + '_bg.npz'
if not os.path.isfile(output):
mb.buildMap(['no-trees'])
mb.exportData(output)
output = run + '/' + base + '_ground.npz'
if not os.path.isfile(output):
mb.buildMap(['no-trees', 'ground'])
mb.exportData(output)
configurator.set('map', True)
if configurator.config['multilane'] == False:
for run in sorted(glob.glob(local_folder + '/*/')):
if os.path.isdir(run):
print run
num_lanes_file_name = run + '/num_lanes.ini'
