Upgrade analytics tools with mynteye dataset

tools/README.md

@@ -1,4 +1,4 @@
-# Samples for MYNT® EYE tools
+# Tools for MYNT® EYE tools
 
 ## Prerequisites
 
@@ -9,7 +9,37 @@ cd <sdk>/tools/
 sudo pip install -r requirements.txt
 ```
 
-## Record data
+---
+
+## Record data (mynteye dataset)
+
+```bash
+cd <sdk>
+make tools
+```
+
+```bash
+./tools/_output/bin/dataset/record
+```
+
+## Analytics data (mynteye dataset)
+
+### imu_analytics.py
+
+```bash
+python tools/analytics/imu_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml \
+-al=-1.2,1.2 -gl= -gdu=d -gsu=d -kl=
+```
+
+### stamp_analytics.py
+
+```bash
+python tools/analytics/stamp_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml
+```
+
+---
+
+## Record data (rosbag)
 
 ```bash
 cd <sdk>
@@ -25,7 +55,7 @@ roslaunch mynt_eye_ros_wrapper mynteye.launch
 rosbag record -O mynteye.bag /mynteye/left /mynteye/imu /mynteye/temp
 ```
 
-## Analytics
+## Analytics data (rosbag)
 
 ### imu_analytics.py
 

tools/analytics/imu_analytics.py

@@ -11,7 +11,7 @@ TOOLBOX_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 sys.path.append(os.path.join(TOOLBOX_DIR, 'internal'))
 
 # pylint: disable=import-error,wrong-import-position
-from data import DataError, Dataset, ROSBag, What
+from data import DataError, Dataset, ROSBag, MYNTEYE, What
 
 
 TIME_SCALE_FACTORS = {
@@ -626,9 +626,13 @@ def _main():
     if args.config:
       import yaml
       config = yaml.load(file(args.config, 'r'))
-      if config['dataset'] != 'rosbag':
+      model = config['dataset']
-        sys.exit('Error: dataset model only support rosbag now')
+      if model == 'rosbag':
-      dataset = ROSBag(path, **config['rosbag'])
+        dataset = ROSBag(path, **config['rosbag'])
+      elif model == 'mynteye':
+        dataset = MYNTEYE(path)
+      else:
+        sys.exit('Error: dataset model not supported {}'.format(model))
     else:
       dataset = ROSBag(
           path,

tools/analytics/stamp_analytics.py

@@ -11,7 +11,7 @@ TOOLBOX_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 sys.path.append(os.path.join(TOOLBOX_DIR, 'internal'))
 
 # pylint: disable=import-error,wrong-import-position
-from data import ROSBag, What
+from data import ROSBag, MYNTEYE, What
 
 
 ANGLE_DEGREES = 'd'
@@ -311,9 +311,13 @@ def _main():
     if args.config:
       import yaml
       config = yaml.load(file(args.config, 'r'))
-      if config['dataset'] != 'rosbag':
+      model = config['dataset']
-        sys.exit('Error: dataset model only support rosbag now')
+      if model == 'rosbag':
-      dataset = ROSBag(path, **config['rosbag'])
+        dataset = ROSBag(path, **config['rosbag'])
+      elif model == 'mynteye':
+        dataset = MYNTEYE(path)
+      else:
+        sys.exit('Error: dataset model not supported {}'.format(model))
     else:
       dataset = ROSBag(path,
                        topic_img_left='/mynteye/left',

tools/config/mynteye/mynteye_config.yaml

@@ -1,5 +1,5 @@
-# dataset model: rosbag, euroc
+# dataset model: rosbag, mynteye
-dataset: "rosbag"
+dataset: "mynteye"
 
 # rosbag config
 rosbag:

tools/internal/data/__init__.py

@@ -275,6 +275,122 @@ class ROSBag(Dataset):
     return self._info['duration']
 
 
+class MYNTEYE(Dataset):
+  # pylint: disable=no-member
+
+  def __init__(self, path):
+    super(MYNTEYE, self).__init__(path)
+    self._info = self._get_info()
+
+  def _get_info(self):
+    import os
+    import sys
+    from os import path
+
+    info = type('', (), {})()
+
+    info.img_left_dir = path.join(self.path, 'left')
+    info.img_left_txt = path.join(info.img_left_dir, 'stream.txt')
+    info.has_img_left = path.isfile(info.img_left_txt)
+
+    info.img_right_dir = path.join(self.path, 'right')
+    info.img_right_txt = path.join(info.img_right_dir, 'stream.txt')
+    info.has_img_right = path.isfile(info.img_right_txt)
+
+    info.imu_txt = path.join(self.path, 'motion.txt')
+    info.has_imu = path.isfile(info.imu_txt)
+
+    if info.has_img_left:
+      info_txt = info.img_left_txt
+    elif info.has_img_right:
+      info_txt = info.img_right_txt
+    elif info.has_imu:
+      info_txt = info.img_left_txt
+    else:
+      sys.exit('Error: Dataset is empty or unexpected format')
+    with open(info_txt, 'rb') as f:
+      fields = [_.strip() for _ in f.readline().split(',')]
+
+      first = f.readline()
+      f.seek(-2, os.SEEK_END)
+      while f.read(1) != b'\n':
+        f.seek(-2, os.SEEK_CUR)
+      last = f.readline()
+
+      index = -1
+      for i, field in enumerate(fields):
+        if field == 'timestamp':
+          index = i
+          break
+      if index == -1:
+        sys.exit('Error: Dataset is unexpected format, timestamp not found')
+
+      # unit from 0.01ms to 1s
+      info.timebeg = float(first.split(',')[index].strip()) * 0.00001
+      info.timeend = float(last.split(',')[index].strip()) * 0.00001
+      # print('time: [{}, {}]'.format(info.timebeg, info.timeend))
+
+    return info
+
+  def generate(self, *what):
+    hit_img_left = What.img_left in what
+    hit_img_right = What.img_right in what
+    hit_imu = What.imu in what
+    hit_temp = What.temp in what
+
+    def get_fields(f):
+      fields = {}
+      for i, field in enumerate(_.strip() for _ in f.readline().split(',')):
+        fields[field] = i
+      return fields
+
+    if hit_img_left and self._info.has_img_left:
+      with open(self._info.img_left_txt) as f:
+        fields = get_fields(f)
+        for line in f:
+          values = [_.strip() for _ in line.split(',')]
+          img = Image()
+          img.timestamp = float(values[fields['timestamp']]) * 0.00001
+          yield {What.img_left: img}
+    if hit_img_right and self._info.has_img_right:
+      with open(self._info.img_right_txt) as f:
+        fields = get_fields(f)
+        for line in f:
+          values = [_.strip() for _ in line.split(',')]
+          img = Image()
+          img.timestamp = float(values[fields['timestamp']]) * 0.00001
+          yield {What.img_right: img}
+    if (hit_imu or hit_temp) and self._info.has_imu:
+      with open(self._info.imu_txt) as f:
+        fields = get_fields(f)
+        for line in f:
+          values = [_.strip() for _ in line.split(',')]
+          imu = IMU()
+          imu.timestamp = float(values[fields['timestamp']]) * 0.00001
+          imu.accel_x = float(values[fields['accel_x']])
+          imu.accel_y = float(values[fields['accel_y']])
+          imu.accel_z = float(values[fields['accel_z']])
+          imu.gyro_x = float(values[fields['gyro_x']])
+          imu.gyro_y = float(values[fields['gyro_y']])
+          imu.gyro_z = float(values[fields['gyro_z']])
+          temp = Temp()
+          temp.timestamp = imu.timestamp
+          temp.value = float(values[fields['temperature']])
+          yield {What.imu: imu, What.temp: temp}
+
+  @property
+  def timebeg(self):
+    return self._info.timebeg
+
+  @property
+  def timeend(self):
+    return self._info.timeend
+
+  @property
+  def duration(self):
+    return self.timeend - self.timebeg
+
+
 if __name__ == '__main__':
 
   class DataA(Dataset):

tools/linter

@@ -1 +1 @@
-Subproject commit 22352c93bef7af9e65df6e2c65fff64350033263
+Subproject commit 1c7828bedb786c9f4fcf6f31f619bfb71d7b1cd3