object_d = detector.update(ret) avaliables = detector.availiable_obejct_keys if pressed_key in avaliables: target = avaliables[pressed_key] elif pressed_key == ord("q"): target = None elif target in object_d.keys(): pass else: target = None if args.save: save_data.append(copy.deepcopy(object_d)) if args.render: pressed_key = v.draw(ret["map_n"], objects=object_d, target=target or list(avaliables.values())) if pressed_key == ESC: break if args.save: import pickle try: pickle.dump(save_data, open(args.path.replace(".h5", ".pkl"), "wb")) except Exception as e: os.remove(args.path.replace(".h5", ".pkl")) raise e
setup_logger() data = read_data(args.path) lidar_data = data['lidar_data'] extra_data = data['extra_data'] map = LidarMap(lidar_config) v = Visualizer("map_n", lidar_config["map_size"], zoom=5) fpstimer = FPSTimer() save_data = [] for l, e in zip(lidar_data, extra_data): with fpstimer: ret = map.update(l, e) if args.save: save_data.append(ret) if args.render: stop = v.draw(ret["map_n"]) if stop: break if args.save: import pickle try: pickle.dump(save_data, open(args.path.replace(".h5", ".pkl"), "wb")) except Exception as e: os.remove(args.path.replace(".h5", ".pkl")) raise e