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blackbox_extract.py
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blackbox_extract.py
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from orangebox import Parser
from scipy.spatial.transform import Rotation
import math
import numpy as np
class BlackboxExtractor:
def __init__(self, path):
print("Opening {}".format(path))
try:
self.parser = Parser.load(path)
except RuntimeError:
raise RuntimeError("Couldn't parse the raw blackbox file. Try converting to a CSV file using blackbox explorer.")
self.n_of_logs = self.parser.reader.log_count
self.gyro_scale = self.parser.headers["gyro_scale"] #should be already scaled in the fc
self.acc_scale = 1/self.parser.headers["acc_1G"]
self.final_gyro_data = []
self.final_acc_data = []
self.extracted = False
self.camera_angle = None
self.gyro_rate = 0
self.max_data_gab = 10 # seconds
def get_gyro_data(self,cam_angle_degrees=0):
if self.extracted:
return np.array(self.final_gyro_data)
self.camera_angle = cam_angle_degrees
r = Rotation.from_euler('x', self.camera_angle, degrees=True)
for lg in range(1,self.n_of_logs+1):
self.parser.set_log_index(lg)
t = self.parser.field_names.index('time')
gx = self.parser.field_names.index('gyroADC[1]')
gy = self.parser.field_names.index('gyroADC[2]')
gz = self.parser.field_names.index('gyroADC[0]')
data_frames = []
last_t = 0
for frame in self.parser.frames():
#print(len(frame.data))
if len(frame.data) > gy and ((0 < (frame.data[t] - last_t) < 1000000 * self.max_data_gab) or (last_t == 0)):
to_rotate = [-math.radians(frame.data[gx]),
math.radians(frame.data[gy]),
-math.radians(frame.data[gz])]
rotated = r.apply(to_rotate)
f = [frame.data[t]/1000000,
rotated[0],
rotated[1],
rotated[2]]
last_t = frame.data[t]
#f = [frame.data[t]/1000000,
# math.radians(frame.data[gx]),
# math.radians(frame.data[gz]),
# -math.radians(frame.data[gy])]
data_frames.append(f)
if len(data_frames) < 2:
return False
self.final_gyro_data.extend(data_frames)
self.final_gyro_data = np.array(self.final_gyro_data)
# rough gyro rate assumed to be constant
self.gyro_rate = self.final_gyro_data.shape[0]/(self.final_gyro_data[-1,0] - self.final_gyro_data[0,0])
self.extracted = True
return self.final_gyro_data
def get_untransformed_imu_data(self):
if self.extracted:
return np.array(self.final_gyro_data), np.array(self.final_acc_data)
r = Rotation.from_euler('x', self.camera_angle, degrees=True)
for lg in range(1,self.n_of_logs+1):
self.parser.set_log_index(lg)
t = self.parser.field_names.index('time')
gx = self.parser.field_names.index('gyroADC[1]')
gy = self.parser.field_names.index('gyroADC[2]')
gz = self.parser.field_names.index('gyroADC[0]')
data_frames = []
max_index = gy
acc_index = None
if "accSmooth[0]" in self.parser.field_names:
acc_index = self.parser.field_names.index("accSmooth[0]")
max_index = max(acc_index + 2, gy)
acc_frames = []
last_t = 0
for frame in self.parser.frames():
if len(frame.data) > max_index and ((0 < (frame.data[t] - last_t) < 1000000 * self.max_data_gab) or (last_t == 0)):
data_frames.append([frame.data[t], frame.data[gx], frame.data[gy], frame.data[gz]])
if acc_index:
acc_frames.append([frame.data[t], frame.data[acc_index+1], frame.data[acc_index+2], frame.data[acc_index]])
last_t = frame.data[t]
self.final_gyro_data.extend(data_frames)
if acc_index:
self.final_acc_data.extend(acc_frames)
self.final_gyro_data = np.array(self.final_gyro_data, dtype=np.float64)
#if self.final_gyro_data.shape[0] < 2:
# print("No valid motion data")
# return False, False
self.final_gyro_data[:,0] /= 1000000
self.final_gyro_data[:,1:] *= np.pi/180
if acc_index:
self.final_acc_data = np.array(self.final_acc_data, dtype=np.float64)
self.final_acc_data[:,0] /= 1000000
self.final_acc_data[:,1:] *= self.acc_scale
else:
self.final_acc_data = None
# rough gyro rate assumed to be constant
self.gyro_rate = self.final_gyro_data.shape[0]/(self.final_gyro_data[-1,0] - self.final_gyro_data[0,0])
self.extracted = True
return self.final_gyro_data, self.final_acc_data
#testing
if __name__ == "__main__":
with open("test_clips/GX010010.MP4.bbl") as f:
#print(f.readline())
pass
#exit()
bbe = BlackboxExtractor("test_clips/GX010010.MP4.bbl") # btfl_all.bbl
gyro_data = bbe.get_gyro_data()
print(gyro_data)
print(bbe.n_of_logs)