From c7773a2019f33dc956c1fdf7dcacab0503dcb0df Mon Sep 17 00:00:00 2001
From: Jiandong Chen <jiandong.chen@rwth-aachen.de>
Date: Fri, 20 Oct 2023 09:52:43 +0200
Subject: [PATCH] add pohang infrared
---
dataset_converter/pohang.py | 20 ++++++++++++++++++--
scripts/pohang2rosbag.py | 1 +
2 files changed, 19 insertions(+), 2 deletions(-)
diff --git a/dataset_converter/pohang.py b/dataset_converter/pohang.py
index b2ff5ac..09f00d9 100644
--- a/dataset_converter/pohang.py
+++ b/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!")
diff --git a/scripts/pohang2rosbag.py b/scripts/pohang2rosbag.py
index ef14a01..2daf778 100755
--- a/scripts/pohang2rosbag.py
+++ b/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)
--
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