def get_transforms(folder, run, mark='mark1'): """ Gets the IMU transforms for a run """ gps_reader = GPSReader(folder + run + '_gps' + mark + '.out') gps_data = gps_reader.getNumericData() gps_times = utc_from_gps_log_all(gps_data) imu_transforms = IMUTransforms(gps_data) return imu_transforms, gps_times
def get_transforms(args, mark='mark1'): """ Gets the IMU transforms for a run """ gps_reader = GPSReader(args['gps_' + mark]) gps_data = gps_reader.getNumericData() gps_times = utc_from_gps_log_all(gps_data) imu_transforms = IMUTransforms(gps_data) return imu_transforms, gps_data, gps_times
def __init__(self, args, npz_file): self.map_file = args['map'] self.lidar_params = args['params']['lidar'] self.radar_params = args['params']['radar'] self.radar_actors = [] self.rdr_pts = loadRDRCamMap(self.map_file) self.count = 0 self.lidar_actor = None self.lidar_data = np.load(npz_file)['data'] gps_filename = args['gps'] gps_reader = GPSReader(gps_filename) GPSData = gps_reader.getNumericData() self.imu_transforms = IMUTransforms(GPSData)
def read_imu_transforms(gps_file): gps_reader = GPSReader(gps_file) GPSData = gps_reader.getNumericData() imu_transforms = IMUTransforms(GPSData) return imu_transforms
Create new lidar files synced to video ''' if __name__ == '__main__': args = parse_args(sys.argv[1], sys.argv[2]) cam_num = int(sys.argv[2][-5]) video_file = args['video'] video_reader = VideoReader(video_file) params = args['params'] cam = params['cam'][cam_num - 1] gps_reader_mark2 = GPSReader(args['gps_mark2']) gps_data_mark2 = gps_reader_mark2.getNumericData() lidar_loader = LDRLoader(args['frames']) imu_transforms_mark2 = IMUTransforms(gps_data_mark2) gps_times_mark2 = utc_from_gps_log_all(gps_data_mark2) frame_ldr_map = '' # TODO Check this if EXPORT_START != 0: video_reader.setFrame(EXPORT_START) count = 0 while count < EXPORT_NUM: (success, I) = video_reader.getNextFrame() if not success: print 'Reached end of video' break fnum = video_reader.framenum * 2
import os import sys import h5py from ArgParser import parse_args from GPSReader import GPSReader from GPSTransforms import IMUTransforms from pipeline_config import ICP_TRANSFORMS_DIR, EXPORT_START, EXPORT_NUM,\ EXPORT_STEP args = parse_args(sys.argv[1], sys.argv[2]) # Load INS data gps_reader = GPSReader(args['gps']) GPSData = gps_reader.getNumericData() imu_transforms = IMUTransforms(GPSData) if '--full' in sys.argv: T_start = 0 T_end = GPSData.shape[0] - GPSData.shape[0] % EXPORT_STEP else: T_start = EXPORT_START T_end = T_start + EXPORT_NUM * EXPORT_STEP nt = T_end - T_start imu_states = imu_transforms[T_start:T_end, 0:3, 3] INS_VAR = 1.0 # PARAM SCAN_VAR = 0.1 # PARAM VEL_VAR = 0.5 # PARAM
def get_transforms(args): """ Gets the IMU transforms for a run """ gps_reader = GPSReader(args['gps']) gps_data = gps_reader.getNumericData() imu_transforms = IMUTransforms(gps_data) return imu_transforms
def get_transforms(): gps_reader = GPSReader(GPS_FILE) gps_data = gps_reader.getNumericData() imu_transforms = IMUTransforms(gps_data) return imu_transforms