while not paramInit:
time.sleep(1)
print int(sys.argv[3])
video_reader.setFrame(int(sys.argv[3]))
(success, orig) = video_reader.getNextFrame()
while True:
I = orig.copy()
fnum = video_reader.framenum
print fnum
T_from_l_to_i = np.eye(4)
T_from_l_to_i[0:3, 0:3] = R
T_from_i_to_l = np.linalg.inv(T_from_l_to_i)
t = gps_times_mark2[fnum]
builder.start_time = t
builder.end_time = t + 3.0 * 1e6
builder.step_time = 0.5
builder.T_from_l_to_i = T_from_l_to_i
builder.T_from_i_to_l = T_from_i_to_l
builder.buildMap(filters=['no-trees'])
data, data_times = builder.getData()
fnum_mark1 = bisect.bisect(gps_times_mark1, t) - 1
(pix, mask) = lidarPtsToPixels(data,
imu_transforms_mark1[fnum_mark1, :, :],
T_from_i_to_l, cam)
intensity = data[mask, 3]
heat_colors = heatColorMapFast(intensity, 0, 100)
while not paramInit:
time.sleep(1)
print int(sys.argv[3])
video_reader.setFrame(int(sys.argv[3]))
(success, orig) = video_reader.getNextFrame()
while True:
I = orig.copy()
fnum = video_reader.framenum
print fnum
T_from_l_to_i = np.eye(4)
T_from_l_to_i[0:3,0:3] = R
T_from_i_to_l = np.linalg.inv(T_from_l_to_i)
t = gps_times_mark2[fnum]
builder.start_time = t
builder.end_time = t + 3.0 * 1e6
builder.step_time = 0.5
builder.T_from_l_to_i = T_from_l_to_i
builder.T_from_i_to_l = T_from_i_to_l
builder.buildMap(filters=['no-trees'])
data, data_times = builder.getData()
fnum_mark1 = bisect.bisect(gps_times_mark1, t) - 1
(pix, mask) = lidarPtsToPixels(data,
imu_transforms_mark1[fnum_mark1, :,:], T_from_i_to_l, cam)
intensity = data[mask, 3]
heat_colors = heatColorMapFast(intensity, 0, 100)
for p in range(4):
