td_okvis.addLabelingIncremental('ron', 1)
td_okvis.addLabelingIncremental('ypr', 3)
td_okvis.reInit()
if True: # Vicon data acquisition and pre-processing
if (viconGroundtruthFile.endswith('.csv')):
CsvDataAcquisition.csvLoadTransform(viconGroundtruthFile, 0, 1, 4,
td_vicon, 'pos', 'att')
elif (viconGroundtruthFile.endswith('.bag')):
RosDataAcquisition.rosBagLoadTransformStamped(viconGroundtruthFile,
viconGroundtruthTopic,
td_vicon, 'pos', 'att')
if (viconGroundtruthFile.endswith('data.csv')):
td_vicon.d[:, 0] = td_vicon.d[:, 0] * 1e-9
td_vicon.cropTimes(td_vicon.getFirstTime() + startcut,
td_vicon.getLastTime() - endcut)
td_vicon.applyTimeOffset(-td_vicon.getFirstTime())
td_vicon.computeRotationalRateFromAttitude('att', 'ror', 3, 3)
td_vicon.computeNormOfColumns('ror', 'ron')
td_vicon.computeVelocitiesInBodyFrameFromPostionInWorldFrame(
'pos', 'vel', 'att', 3, 3)
if doRovio: # Rovio data acquisition and pre-processing
RosDataAcquisition.rosBagLoadOdometry(rovioOutputBag, rovioOutputTopic,
td_rovio, 'pos', 'att', 'vel', 'ror',
'posCov', 'attCov')
if rovioPclTopic != '':
RosDataAcquisition.rosBagLoadRobocentricPointCloud(
rovioOutputBag, rovioPclTopic, td_rovio, 'feaIdx', 'feaPos',
'feaCov')
if rovioExtrinsicTopic != '':
td_okvis = TimedData(18)
okvis_posID = [1,2,3]
okvis_attID = [4,5,6,7]
okvis_velID = [8,9,10]
okvis_rorID = [11,12,13]
okvis_ronID = 14
okvis_yprID = [15,16,17]
if True: # Vicon data acquisition and pre-processing
if(viconGroundtruthFile.endswith('.csv')):
CsvDataAcquisition.csvLoadTransform(viconGroundtruthFile, 0, 1, 4, td_vicon, vicon_posID, vicon_attID)
elif(viconGroundtruthFile.endswith('.bag')):
RosDataAcquisition.rosBagLoadTransformStamped(viconGroundtruthFile,viconGroundtruthTopic,td_vicon,vicon_posID,vicon_attID)
if(viconGroundtruthFile.endswith('data.csv')):
td_vicon.d[:,0] = td_vicon.d[:,0]*1e-9
td_vicon.cropTimes(td_vicon.getFirstTime()+startcut,td_vicon.getLastTime()-endcut)
td_vicon.applyTimeOffset(-td_vicon.getFirstTime())
td_vicon.computeRotationalRateFromAttitude(vicon_attID,vicon_rorID)
td_vicon.computeNormOfColumns(vicon_rorID,vicon_ronID)
td_vicon.computeVelocitiesInBodyFrameFromPostionInWorldFrame(vicon_posID, vicon_velID, vicon_attID)
if doRovio: # Rovio data acquisition and pre-processing
RosDataAcquisition.rosBagLoadOdometry(rovioOutputBag, rovioOutputTopic ,td_rovio,rovio_posID,rovio_attID,rovio_velID,rovio_rorID,rovio_posCovID,rovio_attCovID)
RosDataAcquisition.rosBagLoadRobocentricPointCloud(rovioOutputBag,'/rovio/pcl',td_rovio,rovio_fea_idxID,rovio_fea_posID)
td_rovio.computeNormOfColumns(rovio_rorID,rovio_ronID)
td_rovio.applyTimeOffset(td_vicon.getFirstTime()-td_rovio.getFirstTime())
to = td_rovio.getTimeOffset(rovio_ronID,td_vicon,vicon_ronID)
td_rovio.applyTimeOffset(-to)
td_rovio.cropTimes(td_vicon.getFirstTime(),td_vicon.getLastTime())
if doOkvis: # Okvis data acquisition and pre-processing
