tango_utils.py 文件源码

def keyframedb(self, theta=np.deg2rad(20), displacement=0.25, lookup_history=10, verbose=True): 
        sampler = PoseSampler(theta=theta, displacement=displacement, lookup_history=lookup_history, 
                              get_sample=lambda (t, channel, frame): frame.pose, verbose=verbose)
        self.iterframes = partial(sampler.iteritems, self.iterframes())
        return self

    # def list_annotations(self, target_name=None): 
    #     " List of lists"
    #     inds = self.annotated_inds
    #     return [ filter(lambda frame: 
    #                     target_name is None or name is in target_name, 
    #                     self.dataset.annotationdb.iterframes(inds))



    # def _build_graph(self): 
    #     # Keep a queue of finite length to ensure 
    #     # time-sync with RGB and IMU
    #     self.__pose_q = deque(maxlen=10)

    #     self.nodes_ = []

    #     for (t,ch,data) in self.dataset_.itercursors(topics=[]): 
    #         if ch == TANGO_VIO_CHANNEL: 
    #             self.__pose_q.append(data)
    #             continue

    #         if not len(self.__pose_q): 
    #             continue

    #         assert(ch == TANGO_RGB_CHANNEL)
    #         self.nodes_.append(dict(img=data, pose=self.__pose_q[-1]))


# Basic type for tango frame (includes pose, image, timestamp)