def ImageGetData(rec_filename, topic):
all_avg = []
ok_percent = []
res = dict()
data = importRosbag(rec_filename,
importTopics=[topic],
log='ERROR',
disable_bar=True)[topic]
for pyimg in data['frames']:
ok_number = (pyimg != 0).sum()
ok_percent.append(float(ok_number) / (pyimg.shape[0] * pyimg.shape[1]))
all_avg.append(pyimg.sum() / ok_number)
all_avg = np.array(all_avg)
channels = pyimg.shape[2] if len(pyimg.shape) > 2 else 1
res['num_channels'] = channels
res['shape'] = pyimg.shape
res['avg'] = all_avg.mean()
res['ok_percent'] = {
'value': (np.array(ok_percent).mean()) / channels,
'epsilon': 0.01
}
res['epsilon'] = max(all_avg.max() - res['avg'],
res['avg'] - all_avg.min())
res['reported_size'] = [
pyimg.shape[1], pyimg.shape[0],
pyimg.shape[1] * pyimg.dtype.itemsize * channels
]
return res
def __getitem__(self, index):
"""
Returns:
tuple of (data, target), where data is another tuple of (events, imu, images) and target is the opti track ground truth
"""
filename = os.path.join(self.location_on_system,
self.selection[index] + ".bag")
topics = importRosbag(filename, log="ERROR")
events = topics["/dvs/events"]
events["ts"] -= events["ts"][0]
events["ts"] *= 1e6
events = np.column_stack(
(events["ts"], events["x"], events["y"], events["pol"]))
events = np.lib.recfunctions.unstructured_to_structured(
events, self.dtype)
if "/dvs/imu" in topics.keys():
imu = topics["/dvs/imu"]
imu["ts"] = ((imu["ts"] - imu["ts"][0]) * 1e6).astype(int)
else:
imu = None
images = topics["/dvs/image_raw"]
images["frames"] = np.stack(images["frames"])
images["ts"] = ((images["ts"] - images["ts"][0]) * 1e6).astype(int)
data = (events, imu, images)
target = topics["/optitrack/davis"]
target["ts"] = ((target["ts"] - target["ts"][0]) * 1e6).astype(int)
if self.transform is not None:
data = self.transform(data)
if self.target_transform is not None:
target = self.target_transform(target)
return data, target
def rosbag_to_events(filename, topic='/dvs_right/events'):
try:
from importRosbag.importRosbag import importRosbag
except ImportError as exc:
print("This function requires the importRosbag library from https://github.com/event-driven-robotics")
raise(exc)
all_events = []
data = importRosbag(filename)[topic]
data['ts'] -= data['ts'][0] # align at 0
data['ts'] *= 1000000. # second to microsecond
return data
def ImuGetData(rec_filename, topic):
# res['value'] = first value of topic.
# res['max_diff'] = max difference between returned value and all other values of topic in recording.
res = dict()
res['value'] = None
res['max_diff'] = [0,0,0]
data = importRosbag(rec_filename, importTopics=[topic], log='ERROR', disable_bar=True)[topic]
res['value'] = data['acc'][0,:]
res['max_diff'] = data['acc'].max(0) - data['acc'].min(0)
return res
def __getitem__(self, index):
"""
Returns:
a tuple of (data, target) where data is another tuple of (events, imu, images) and target is gps positional data.
"""
(bag_filename, _), (gps_filename, _) = self.recordings[index]
file_path = os.path.join(self.location_on_system, bag_filename)
topics = importRosbag(filePathOrName=file_path, log="ERROR")
events = topics["/dvs/events"]
events["ts"] -= events["ts"][0]
events["ts"] *= 1e6
events = np.column_stack(
(events["ts"], events["x"], events["y"], events["pol"]))
events = np.lib.recfunctions.unstructured_to_structured(
events, self.dtype)
imu = topics["/dvs/imu"]
imu["ts"] = ((imu["ts"] - imu["ts"][0]) * 1e6).astype(int)
images = topics["/dvs/image_raw"]
incorrect_shape_indices = [
i for i, image in enumerate(images["frames"])
if not (image.shape[0] == 260 and image.shape[1] == 346)
]
for index in incorrect_shape_indices: # fix frame shapes that don't match for some reason
shape_diff_x = self.sensor_size[0] - images["frames"][index].shape[
1]
shape_diff_y = self.sensor_size[1] - images["frames"][index].shape[
0]
images["frames"][index] = np.pad(images["frames"][index],
[(0, shape_diff_y),
(0, shape_diff_x), (0, 0)])
images["frames"] = np.stack(
images["frames"]) # errors for some recordings
images["ts"] = ((images["ts"] - images["ts"][0]) * 1e6).astype(int)
data = events, imu, images
targets = self.read_gps_file(
os.path.join(self.location_on_system, gps_filename))
if self.transform is not None:
data = self.transform(data)
if self.target_transform is not None:
targets = self.target_transform(targets)
return data, targets
def __getitem__(self, index):
"""
Returns:
tuple of (data, targets), where data is another tuple of (events_left, events_right, imu_left,
imu_right, images_left, images_right) and targets is a tuple of (depth_rect_left,
depth_rect_right, pose) for ground truths.
"""
# decode data file
filename = os.path.join(
self.location_on_system,
self.scene,
self.resources[self.scene][index * 2][0],
)
topics = importRosbag(filename, log="ERROR")
events_left = topics["/davis/left/events"]
events_left["ts"] -= events_left["ts"][0]
events_left["ts"] *= 1e6
events_left = np.column_stack((events_left["x"], events_left["y"],
events_left["ts"], events_left["pol"]))
events_left = np.lib.recfunctions.unstructured_to_structured(
events_left, self.dtype)
events_right = topics["/davis/right/events"]
events_right["ts"] -= events_right["ts"][0]
events_right["ts"] *= 1e6
events_right = np.column_stack((
events_right["x"],
events_right["y"],
events_right["ts"],
events_right["pol"],
))
events_right = np.lib.recfunctions.unstructured_to_structured(
events_right, self.dtype)
imu_left = topics["/davis/left/imu"]
imu_right = topics["/davis/right/imu"]
images_left = topics["/davis/left/image_raw"]
images_left = np.stack(images_left["frames"])
images_right = topics["/davis/right/image_raw"]
images_right = np.stack(images_right["frames"])
data = events_left, events_right, imu_left, imu_right, images_left, images_right
# decode ground truth file
filename = os.path.join(
self.location_on_system,
self.scene,
self.resources[self.scene][index * 2 + 1][0],
)
topics = importRosbag(filename, log="ERROR")
depth_left = topics["/davis/left/depth_image_raw"]
depth_left = np.stack(depth_left["frames"])
depth_right = topics["/davis/right/depth_image_raw"]
depth_right = np.stack(depth_right["frames"])
depth_rect_left = topics["/davis/left/depth_image_rect"]
depth_rect_left = np.stack(depth_rect_left["frames"])
depth_rect_right = topics["/davis/right/depth_image_rect"]
depth_rect_right = np.stack(depth_rect_right["frames"])
pose = topics["/davis/left/pose"]
targets = depth_rect_left, depth_rect_right, pose
if self.transform is not None:
data = self.transform(data)
if self.target_transform is not None:
targets = self.transform(targets)
return data, targets
