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Added the generation of camera poses when the

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timestamps are generated
This commit is contained in:
Arnaud Fauconnet 2023-08-29 12:13:06 +02:00
parent 3ba975a830
commit 3fcbbd667b
1 changed files with 64 additions and 9 deletions
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73
event_camera_simulator/esim_ros/scripts/generate_stamps_file.py
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@ -1,25 +1,45 @@
import argparse
from os import listdir
from os.path import join
import numpy as np
from scipy import interpolate
import csv
if __name__ == "__main__":
if __name__ == '__main__':
parser = argparse.ArgumentParser(
description='Generate "images.csv" for ESIM DataProviderFromFolder')
description='Generate "images.csv" for ESIM DataProviderFromFolder'
)
parser.add_argument('-i', '--input_folder', default=None, type=str,
help="folder containing the images")
parser.add_argument('-r', '--framerate', default=1000, type=float,
help="video framerate, in Hz")
parser.add_argument(
'-i',
'--input_folder',
default=None,
type=str,
help='folder containing the images',
)
parser.add_argument(
'-r',
'--framerate',
default=1000,
type=float,
help='video framerate, in Hz',
)
args = parser.parse_args()
images = sorted(
[f for f in listdir(args.input_folder) if f.endswith('.png')])
[
f
for f in listdir(args.input_folder)
if f.endswith('.exr') or f.endswith('.png')
]
)
print('Will write file: {} with framerate: {} Hz'.format(
join(args.input_folder, 'images.csv'), args.framerate))
print(
f"Will write timestamps in file: {join(args.input_folder, 'images.csv')} with framerate: {args.framerate} Hz"
)
stamp_nanoseconds = 1
dt_nanoseconds = int((1.0 / args.framerate) * 1e9)
with open(join(args.input_folder, 'images.csv'), 'w') as f:
@ -28,3 +48,38 @@ if __name__ == "__main__":
stamp_nanoseconds += dt_nanoseconds
print('Done!')
print(
f"Will write camera poses in file: {join(args.input_folder, 'images.csv')}"
)
fields = ['frame number', 'x', 'y', 'z', 'roll', 'pitch', 'yaw']
with open(join(args.input_folder, 'poses.csv'), 'w') as poses:
writer = csv.DictWriter(poses, fieldnames=fields)
writer.writeheader()
with open(join(args.input_folder, 'keyframes.csv'), 'r') as csv_file:
reader = csv.DictReader(csv_file)
for n, row in enumerate(reader):
for field in row:
row[field] = float(row[field])
if n == 0:
prev = row
continue
start, end = prev['frame number'], row['frame number']
time = np.arange(start, end)
data = []
for t in time:
data.append({f: 0 for f in fields})
data[-1]['frame number'] = int(t)
for var in fields[1:]:
f = interpolate.CubicHermiteSpline(
[start, end], [prev[var], row[var]], [0, 0]
)
# verify(f, var, start, end)
for i, value in enumerate(f(time)):
data[i][var] = value
prev = row
writer.writerows(data)
print('Done!')