add pohang infrared

dataset_converter/pohang.py

@@ -11,6 +11,9 @@ STEREO_PROCESS = {
     "left_images": ("stereo_left_link", "/stereo_cam/left_img/compressed"),
     "right_images": ("stereo_right_link", "/stereo_cam/right_img/compressed"),
 }
+INFRARED_PROCESS = {
+    "images": ("infrared_link", "/infrared/image/compressed"),
+}
 OMNI_PROCESS = {
     "cam_0": ("omni0_link", "/omni_cam/cam_0/compressed"),
     "cam_1": ("omni1_link", "/omni_cam/cam_1/compressed"),
@@ -32,6 +35,7 @@ DATA_FOLDER_GENERAL = {
     "stereo",
 }
 STEREO_FOLDER = {"left_images", "right_images", "timestamp.txt"}
+INFRARED_FOLDER = {"images", "timestamp.txt"}
 OMNI_FOLDER = {"cam_0", "cam_1", "cam_2", "cam_3", "cam_4", "cam_5", "timestamp.txt"}
 
 
@@ -43,6 +47,10 @@ def is_datafolder_valid(folder: Path):
     res &= util.is_folder_contain_folders(folder, DATA_FOLDER_GENERAL)
     if res:
         res &= util.is_folder_contain_folders(folder.joinpath("stereo"), STEREO_FOLDER)
+    if res:
+        res &= util.is_folder_contain_folders(
+            folder.joinpath("infrared"), INFRARED_FOLDER
+        )
     if res and folder.joinpath("omni").exists():
         res &= util.is_folder_contain_folders(folder.joinpath("omni"), OMNI_FOLDER)
 
@@ -109,11 +117,19 @@ def process_images(
 def process_stereo(data_folder: Path, rosbag_path: Path):
     data_path = data_folder.joinpath("stereo")
     for k, v in STEREO_PROCESS.items():
-        process_images(data_path / k, rosbag_path, v[0], v[1], "png")
+        process_images(data_path / k, rosbag_path, v[1], v[0], "png")
 
     print("Stereo Done!")
 
 
+def process_infrared(data_folder: Path, rosbag_path: Path):
+    data_path = data_folder.joinpath("infrared")
+    for k, v in INFRARED_PROCESS.items():
+        process_images(data_path / k, rosbag_path, v[1], v[0], "png")
+
+    print("Infrared Done!")
+
+
 def process_omni(data_folder: Path, rosbag_path: Path):
     data_path = data_folder.joinpath("omni")
 
@@ -122,6 +138,6 @@ def process_omni(data_folder: Path, rosbag_path: Path):
         return
 
     for k, v in OMNI_PROCESS.items():
-        process_images(data_path / k, rosbag_path, v[0], v[1])
+        process_images(data_path / k, rosbag_path, v[1], v[0])
 
     print("Omni Done!")

scripts/pohang2rosbag.py

@@ -23,6 +23,7 @@ def main():
 
         rosbag_file_path = rosbag_file_dir.joinpath(data_folder.name + ".bag")
         pohang.process_stereo(data_folder, rosbag_file_path)
+        pohang.process_infrared(data_folder, rosbag_file_path)
         pohang.process_omni(data_folder, rosbag_file_path)