video_rates = filename + "_rates.csv"
ekf_error = filename + "_error.csv"
local_config = dirname + "/camera.json"
# combinations that seem to work on linux
# ext = avi, fourcc = MJPG
# ext = avi, fourcc = XVID
# ext = m4v (was mov), fourcc = MP4V
ext = 'mp4'
tmp_video = filename + "_tmp." + ext
output_video = filename + "_hud." + ext
camera = camera.VirtualCamera()
camera.load(args.camera, local_config, args.scale)
cam_yaw, cam_pitch, cam_roll = camera.get_ypr()
K = camera.get_K()
dist = camera.get_dist()
print('Camera:', camera.get_name())
print('K:\n', K)
print('dist:', dist)
if os.path.exists(ekf_error):
correction.load_horiz(ekf_error)
data, flight_format = flight_loader.load(args.flight)
print("imu records:", len(data['imu']))
print("gps records:", len(data['gps']))
if 'air' in data:
print("airdata records:", len(data['air']))
print("filter records:", len(data['filter']))
smooth_cutoff_hz = 10
#method = "horiz"
method = "rates"
# pathname work
abspath = os.path.abspath(args.video)
filename, ext = os.path.splitext(abspath)
dirname = os.path.dirname(args.video)
horiz_log = filename + "_horiz.csv"
ekf_error = filename + "_error.csv"
local_config = dirname + "/camera.json"
# load the camera config (we will modify the mounting offset later)
camera = camera.VirtualCamera()
camera.load(None, local_config)
cam_yaw, cam_pitch, cam_roll = camera.get_ypr()
K = camera.get_K()
dist = camera.get_dist()
print('Camera:', camera.get_name())
# load the flight data
flight_data, flight_format = flight_loader.load(args.flight)
print("imu records:", len(flight_data['imu']))
print("gps records:", len(flight_data['gps']))
if 'air' in flight_data:
print("airdata records:", len(flight_data['air']))
print("filter records:", len(flight_data['filter']))
if 'pilot' in flight_data:
print("pilot records:", len(flight_data['pilot']))
if 'act' in flight_data:
print("act records:", len(flight_data['act']))