tango_utils.py 文件源码

def iter_tango_logs(directory, logs, topics=[]):
    for log in logs: 
        directory = os.path.expanduser(os.path.join(args.directory, log))
        print('Accessing Tango directory {:}'.format(directory))
        dataset = TangoLogReader(directory=directory, scale=im_scale) 
        for item in dataset.iterframes(topics=topics): 
            bboxes = item.bboxes
            targets = item.coords


# # If RGB_VIO, RGB, RGB_VIO in stream, then interpolate pose
# # b/w the 1st and 3rd timestamps to match RGB timestamps
# if len(self.__item_q) >= 3 and \
#    self.__item_q[-1][0] == self.__item_q[-3][0] == 1 and \
#    self.__item_q[-2][0] == 0: 
#     t1,t2,t3 = self.__item_q[-3][1], self.__item_q[-2][1], self.__item_q[-1][1]
#     w2, w1 = np.float32([t2-t1, t3-t2]) / (t3-t1)
#     p1,p3 = self.__item_q[-3][2], self.__item_q[-1][2]
#     p2 = p1.interpolate(p3, w1)
#     self.on_frame(t2, t2, p2, self.__item_q[-2][2])
#     print np.array_str(np.float64([t1, t2, t3]) * 1e-14, precision=6, suppress_small=True), \
#         (t2-t1) * 1e-6, (t3-t2) * 1e-6, w1, w2, p2