Upgrade analytics tools with mynteye dataset
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John Zhao
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# Samples for MYNT® EYE tools
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# Tools for MYNT® EYE tools
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## Prerequisites
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@ -9,7 +9,37 @@ cd <sdk>/tools/
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sudo pip install -r requirements.txt
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```
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## Record data
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---
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## Record data (mynteye dataset)
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```bash
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cd <sdk>
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make tools
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```
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```bash
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./tools/_output/bin/dataset/record
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```
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## Analytics data (mynteye dataset)
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### imu_analytics.py
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```bash
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python tools/analytics/imu_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml \
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-al=-1.2,1.2 -gl= -gdu=d -gsu=d -kl=
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```
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### stamp_analytics.py
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```bash
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python tools/analytics/stamp_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml
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```
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---
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## Record data (rosbag)
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```bash
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cd <sdk>
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@ -25,7 +55,7 @@ roslaunch mynt_eye_ros_wrapper mynteye.launch
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rosbag record -O mynteye.bag /mynteye/left /mynteye/imu /mynteye/temp
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```
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## Analytics
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## Analytics data (rosbag)
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### imu_analytics.py
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@ -11,7 +11,7 @@ TOOLBOX_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
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sys.path.append(os.path.join(TOOLBOX_DIR, 'internal'))
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# pylint: disable=import-error,wrong-import-position
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from data import DataError, Dataset, ROSBag, What
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from data import DataError, Dataset, ROSBag, MYNTEYE, What
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TIME_SCALE_FACTORS = {
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@ -626,9 +626,13 @@ def _main():
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if args.config:
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import yaml
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config = yaml.load(file(args.config, 'r'))
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if config['dataset'] != 'rosbag':
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sys.exit('Error: dataset model only support rosbag now')
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dataset = ROSBag(path, **config['rosbag'])
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model = config['dataset']
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if model == 'rosbag':
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dataset = ROSBag(path, **config['rosbag'])
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elif model == 'mynteye':
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dataset = MYNTEYE(path)
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else:
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sys.exit('Error: dataset model not supported {}'.format(model))
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else:
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dataset = ROSBag(
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path,
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@ -11,7 +11,7 @@ TOOLBOX_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
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sys.path.append(os.path.join(TOOLBOX_DIR, 'internal'))
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# pylint: disable=import-error,wrong-import-position
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from data import ROSBag, What
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from data import ROSBag, MYNTEYE, What
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ANGLE_DEGREES = 'd'
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@ -311,9 +311,13 @@ def _main():
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if args.config:
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import yaml
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config = yaml.load(file(args.config, 'r'))
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if config['dataset'] != 'rosbag':
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sys.exit('Error: dataset model only support rosbag now')
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dataset = ROSBag(path, **config['rosbag'])
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model = config['dataset']
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if model == 'rosbag':
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dataset = ROSBag(path, **config['rosbag'])
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elif model == 'mynteye':
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dataset = MYNTEYE(path)
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else:
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sys.exit('Error: dataset model not supported {}'.format(model))
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else:
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dataset = ROSBag(path,
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topic_img_left='/mynteye/left',
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@ -1,5 +1,5 @@
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# dataset model: rosbag, euroc
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dataset: "rosbag"
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# dataset model: rosbag, mynteye
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dataset: "mynteye"
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# rosbag config
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rosbag:
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@ -275,6 +275,122 @@ class ROSBag(Dataset):
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return self._info['duration']
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class MYNTEYE(Dataset):
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# pylint: disable=no-member
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def __init__(self, path):
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super(MYNTEYE, self).__init__(path)
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self._info = self._get_info()
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def _get_info(self):
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import os
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import sys
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from os import path
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info = type('', (), {})()
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info.img_left_dir = path.join(self.path, 'left')
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info.img_left_txt = path.join(info.img_left_dir, 'stream.txt')
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info.has_img_left = path.isfile(info.img_left_txt)
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info.img_right_dir = path.join(self.path, 'right')
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info.img_right_txt = path.join(info.img_right_dir, 'stream.txt')
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info.has_img_right = path.isfile(info.img_right_txt)
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info.imu_txt = path.join(self.path, 'motion.txt')
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info.has_imu = path.isfile(info.imu_txt)
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if info.has_img_left:
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info_txt = info.img_left_txt
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elif info.has_img_right:
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info_txt = info.img_right_txt
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elif info.has_imu:
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info_txt = info.img_left_txt
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else:
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sys.exit('Error: Dataset is empty or unexpected format')
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with open(info_txt, 'rb') as f:
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fields = [_.strip() for _ in f.readline().split(',')]
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first = f.readline()
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f.seek(-2, os.SEEK_END)
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while f.read(1) != b'\n':
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f.seek(-2, os.SEEK_CUR)
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last = f.readline()
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index = -1
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for i, field in enumerate(fields):
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if field == 'timestamp':
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index = i
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break
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if index == -1:
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sys.exit('Error: Dataset is unexpected format, timestamp not found')
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# unit from 0.01ms to 1s
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info.timebeg = float(first.split(',')[index].strip()) * 0.00001
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info.timeend = float(last.split(',')[index].strip()) * 0.00001
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# print('time: [{}, {}]'.format(info.timebeg, info.timeend))
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return info
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def generate(self, *what):
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hit_img_left = What.img_left in what
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hit_img_right = What.img_right in what
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hit_imu = What.imu in what
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hit_temp = What.temp in what
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def get_fields(f):
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fields = {}
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for i, field in enumerate(_.strip() for _ in f.readline().split(',')):
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fields[field] = i
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return fields
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if hit_img_left and self._info.has_img_left:
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with open(self._info.img_left_txt) as f:
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fields = get_fields(f)
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for line in f:
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values = [_.strip() for _ in line.split(',')]
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img = Image()
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img.timestamp = float(values[fields['timestamp']]) * 0.00001
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yield {What.img_left: img}
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if hit_img_right and self._info.has_img_right:
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with open(self._info.img_right_txt) as f:
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fields = get_fields(f)
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for line in f:
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values = [_.strip() for _ in line.split(',')]
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img = Image()
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img.timestamp = float(values[fields['timestamp']]) * 0.00001
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yield {What.img_right: img}
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if (hit_imu or hit_temp) and self._info.has_imu:
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with open(self._info.imu_txt) as f:
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fields = get_fields(f)
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for line in f:
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values = [_.strip() for _ in line.split(',')]
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imu = IMU()
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imu.timestamp = float(values[fields['timestamp']]) * 0.00001
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imu.accel_x = float(values[fields['accel_x']])
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imu.accel_y = float(values[fields['accel_y']])
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imu.accel_z = float(values[fields['accel_z']])
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imu.gyro_x = float(values[fields['gyro_x']])
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imu.gyro_y = float(values[fields['gyro_y']])
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imu.gyro_z = float(values[fields['gyro_z']])
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temp = Temp()
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temp.timestamp = imu.timestamp
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temp.value = float(values[fields['temperature']])
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yield {What.imu: imu, What.temp: temp}
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@property
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def timebeg(self):
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return self._info.timebeg
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@property
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def timeend(self):
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return self._info.timeend
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@property
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def duration(self):
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return self.timeend - self.timebeg
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if __name__ == '__main__':
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class DataA(Dataset):
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@ -1 +1 @@
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Subproject commit 22352c93bef7af9e65df6e2c65fff64350033263
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Subproject commit 1c7828bedb786c9f4fcf6f31f619bfb71d7b1cd3
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