import sys
from MultiLaneGenerator import MultiLane
import numpy as np
def saveInterp(folder, interp, num_left, num_right, name='multilane_points'):
num_lanes = num_left + num_right
out = {}
out['num_lanes'] = np.array(num_lanes)
out['num_left'] = np.array(num_left)
out['num_right'] = np.array(num_right)
for i in xrange(num_lanes):
out['lane' + str(i)] = interp[:, :, i]
f = folder + '/' + name
print 'Saved', f
np.savez(f, **out)
if __name__ == '__main__':
left = int(sys.argv[2])
right = int(sys.argv[3])
ml = MultiLane(sys.argv[1], left, right, sys.argv[4])
ml.extendLanes()
# ml.offsetInterpolated()
if len(sys.argv) == 6:
saveInterp(sys.argv[5], ml.interp, left, right)
else:
saveInterp(sys.argv[5], ml.interp, left, right, sys.argv[6])
def __init__(self):
self.start = 0
self.step = 5
self.end = self.step * 500
self.count = 0
self.ren = vtk.vtkRenderer()
args = parse_args(sys.argv[1], sys.argv[2])
# Transforms
self.imu_transforms = get_transforms(args)
self.trans_wrt_imu = self.imu_transforms[self.start:self.end:self.step,
0:3, 3]
self.params = args['params']
self.lidar_params = self.params['lidar']
ml = MultiLane(sys.argv[3], sys.argv[4], 2, 2)
ml.extendLanes()
saveInterp(ml.interp, ml.rightLanes + ml.leftLanes)
ml.filterLaneMarkings()
print 'Adding filtered points'
pts = ml.lanes.copy()
raw_cloud = VtkPointCloud(pts[:, :3], pts[:, 4])
raw_actor = raw_cloud.get_vtk_cloud(zMin=0, zMax=100)
self.ren.AddActor(raw_actor)
try:
npz = np.load('cluster.npz')
print 'Loading clusters from file'
ml.lanes = npz['data']
ml.times = npz['t']
except IOError:
print 'Clustering points'
ml.clusterLanes()
ml.saveLanes('cluster.npz')
ml.sampleLanes()
print 'Adding clustered points'
clusters = ml.lanes.copy()
cluster_cloud = VtkPointCloud(clusters[:, :3], clusters[:, -2])
cluster_actor = cluster_cloud.get_vtk_cloud(zMin=0, zMax=4)
cluster_actor.GetProperty().SetPointSize(10)
self.ren.AddActor(cluster_actor)
print 'Interpolating lanes'
ml.interpolateLanes()
interp_lanes = ml.interp_lanes.copy()
interp_lanes_cloud = VtkPointCloud(interp_lanes[:, :3],
interp_lanes[:, 3])
interp_lanes_actor = interp_lanes_cloud.get_vtk_cloud(zMin=0, zMax=4)
self.ren.AddActor(interp_lanes_actor)
# ml.fixMissingPoints()
# saveClusters(ml.lanes, ml.times, -1, 5)
print 'Adding car'
self.car = load_ply('../mapping/viz/gtr.ply')
self.ren.AddActor(self.car)
self.car.GetProperty().LightingOff()
print 'Rendering'
self.ren.ResetCamera()
self.win = vtk.vtkRenderWindow()
self.ren.SetBackground(0, 0, 0)
self.win.AddRenderer(self.ren)
self.win.SetSize(800, 400)
self.iren = vtk.vtkRenderWindowInteractor()
self.iren.SetRenderWindow(self.win)
mouseInteractor = vtk.vtkInteractorStyleTrackballCamera()
self.iren.SetInteractorStyle(mouseInteractor)
self.iren.Initialize()
# Whether to write video
self.record = False
# Set up time
self.iren.AddObserver('TimerEvent', self.update)
self.timer = self.iren.CreateRepeatingTimer(100)
# Add keypress event
self.iren.AddObserver('KeyPressEvent', self.keyhandler)
self.mode = 'ahead'
self.iren.Start()
def __init__(self):
self.start = 0
self.step = 5
self.end = self.step * 500
self.count = 0
self.ren = vtk.vtkRenderer()
args = parse_args(sys.argv[1], sys.argv[2])
# Transforms
self.imu_transforms = get_transforms(args)
self.trans_wrt_imu = self.imu_transforms[
self.start:self.end:self.step, 0:3, 3]
self.params = args['params']
self.lidar_params = self.params['lidar']
ml = MultiLane(sys.argv[3], sys.argv[4], 2, 2)
ml.extendLanes()
saveInterp(ml.interp, ml.rightLanes + ml.leftLanes)
ml.filterLaneMarkings()
print 'Adding filtered points'
pts = ml.lanes.copy()
raw_cloud = VtkPointCloud(pts[:, :3], pts[:, 4])
raw_actor = raw_cloud.get_vtk_cloud(zMin=0, zMax=100)
self.ren.AddActor(raw_actor)
try:
npz = np.load('cluster.npz')
print 'Loading clusters from file'
ml.lanes = npz['data']
ml.times = npz['t']
except IOError:
print 'Clustering points'
ml.clusterLanes()
ml.saveLanes('cluster.npz')
ml.sampleLanes()
print 'Adding clustered points'
clusters = ml.lanes.copy()
cluster_cloud = VtkPointCloud(clusters[:, :3], clusters[:, -2])
cluster_actor = cluster_cloud.get_vtk_cloud(zMin=0, zMax=4)
cluster_actor.GetProperty().SetPointSize(10)
self.ren.AddActor(cluster_actor)
print 'Interpolating lanes'
ml.interpolateLanes()
interp_lanes = ml.interp_lanes.copy()
interp_lanes_cloud = VtkPointCloud(interp_lanes[:, :3], interp_lanes[:, 3])
interp_lanes_actor = interp_lanes_cloud.get_vtk_cloud(zMin=0, zMax=4)
self.ren.AddActor(interp_lanes_actor)
# ml.fixMissingPoints()
# saveClusters(ml.lanes, ml.times, -1, 5)
print 'Adding car'
self.car = load_ply('../mapping/viz/gtr.ply')
self.ren.AddActor(self.car)
self.car.GetProperty().LightingOff()
print 'Rendering'
self.ren.ResetCamera()
self.win = vtk.vtkRenderWindow()
self.ren.SetBackground(0, 0, 0)
self.win.AddRenderer(self.ren)
self.win.SetSize(800, 400)
self.iren = vtk.vtkRenderWindowInteractor()
self.iren .SetRenderWindow(self.win)
mouseInteractor = vtk.vtkInteractorStyleTrackballCamera()
self.iren.SetInteractorStyle(mouseInteractor)
self.iren.Initialize()
# Whether to write video
self.record = False
# Set up time
self.iren.AddObserver('TimerEvent', self.update)
self.timer = self.iren.CreateRepeatingTimer(100)
# Add keypress event
self.iren.AddObserver('KeyPressEvent', self.keyhandler)
self.mode = 'ahead'
self.iren.Start()
# -*- coding: utf-8 -*-
#Usage: OffsetLanes.py interpolated_lanes.pickle num_left num_right lidar.npz output_folder/
import sys
from MultiLaneGenerator import MultiLane
import numpy as np
def saveInterp(folder, interp, num_left, num_right, name='multilane_points'):
num_lanes = num_left + num_right
out = {}
out['num_lanes'] = np.array(num_lanes)
out['num_left'] = np.array(num_left)
out['num_right'] = np.array(num_right)
for i in xrange(num_lanes):
out['lane' + str(i)] = interp[:,:,i]
f = folder + '/' + name
print 'Saved', f
np.savez(f, **out)
if __name__ == '__main__':
left = int(sys.argv[2])
right = int(sys.argv[3])
ml = MultiLane(sys.argv[1], left, right, sys.argv[4])
ml.extendLanes()
# ml.offsetInterpolated()
if len(sys.argv) == 6:
saveInterp(sys.argv[5], ml.interp, left, right)
else:
saveInterp(sys.argv[5], ml.interp, left, right, sys.argv[6])
