From 71d94219e07138d4892ba30451cb8d1c16b3be02 Mon Sep 17 00:00:00 2001
From: Vladyslav Usenko <vlad.usenko@tum.de>
Date: Fri, 13 Sep 2019 18:05:25 +0200
Subject: [PATCH] small update to scripts

---
 scripts/basalt_capture_mocap.py       | 12 ++++++++++--
 scripts/basalt_convert_kitti_calib.py |  7 ++++++-
 scripts/basalt_response_calib.py      | 14 +++++++++++---
 scripts/basalt_verify_dataset.py      |  9 ++++++++-
 4 files changed, 35 insertions(+), 7 deletions(-)

diff --git a/scripts/basalt_capture_mocap.py b/scripts/basalt_capture_mocap.py
index d66ebc0..09e269c 100755
--- a/scripts/basalt_capture_mocap.py
+++ b/scripts/basalt_capture_mocap.py
@@ -3,6 +3,7 @@
 import sys
 import os
 import rospy
+import argparse
 from geometry_msgs.msg import TransformStamped
 
 
@@ -34,11 +35,18 @@ def listener():
 
 
 if __name__ == '__main__':
+
+    parser = argparse.ArgumentParser(description='Record Motion Capture messages from ROS (/vrpn_client/raw_transform).')
+    parser.add_argument('-d', '--dataset-path', required=True, help="Path to store the result")
+    args = parser.parse_args()
+
+    dataset_path = args.dataset_path
+
     out_file = None
     time_offset = None
 
-    if not os.path.exists(sys.argv[1]):
-        os.makedirs(sys.argv[1])
+    if not os.path.exists(dataset_path):
+        os.makedirs(dataset_path)
 
     out_file = open(sys.argv[1] + '/data.csv', 'w')
     out_file.write('#timestamp [ns], p_RS_R_x [m], p_RS_R_y [m], p_RS_R_z [m], q_RS_w [], q_RS_x [], q_RS_y [], q_RS_z []\n')
diff --git a/scripts/basalt_convert_kitti_calib.py b/scripts/basalt_convert_kitti_calib.py
index 0d7a77d..78732a3 100755
--- a/scripts/basalt_convert_kitti_calib.py
+++ b/scripts/basalt_convert_kitti_calib.py
@@ -6,8 +6,13 @@ import numpy as np
 import os
 from string import Template
 import cv2
+import argparse
 
-dataset_path = sys.argv[1]
+parser = argparse.ArgumentParser(description='Convert KITTI calibration to basalt and save it int the dataset folder as basalt_calib.json.')
+parser.add_argument('-d', '--dataset-path', required=True, help="Path to the dataset in KITTI format")
+args = parser.parse_args()
+
+dataset_path = args.dataset_path
 
 print(dataset_path)
 
diff --git a/scripts/basalt_response_calib.py b/scripts/basalt_response_calib.py
index b1abc8f..23e1f21 100755
--- a/scripts/basalt_response_calib.py
+++ b/scripts/basalt_response_calib.py
@@ -4,11 +4,17 @@ import sys
 import math
 import os
 import cv2
+import argparse
 
 import numpy as np
 from matplotlib import pyplot as plt
 
-dataset_path = sys.argv[1]
+parser = argparse.ArgumentParser(description='Response calibration.')
+parser.add_argument('-d', '--dataset-path', required=True, help="Path to the dataset in Euroc format")
+args = parser.parse_args()
+
+
+dataset_path = args.dataset_path
 
 print(dataset_path)
 
@@ -23,7 +29,8 @@ imgs = []
 # check image data.
 for timestamp in timestamps:
     path = dataset_path + '/mav0/cam0/data/' + str(timestamp)
-    img = cv2.imread(dataset_path + '/mav0/cam0/data/' + str(timestamp) + '.webp', cv2.IMREAD_GRAYSCALE)[:,:,0]
+    img = cv2.imread(dataset_path + '/mav0/cam0/data/' + str(timestamp) + '.webp', cv2.IMREAD_GRAYSCALE)
+    if len(img.shape) == 3: img = img[:,:,0]
     imgs.append(img)
     pixel_avgs.append(np.mean(img))
 
@@ -73,9 +80,10 @@ def print_error():
     generated_imgs = irradiance[np.newaxis, :, :] * exposures[:, np.newaxis, np.newaxis]
     generated_imgs -= inv_resp[imgs]
     generated_imgs[imgs == 255] = 0
-    print(np.sum(generated_imgs**2))
+    print('Error', np.sum(generated_imgs**2))
 
 for iter in range(5):
+    print('Iteration', iter)
     irradiance = opt_irradiance()
     print_error()
     inv_resp = opt_inv_resp()
diff --git a/scripts/basalt_verify_dataset.py b/scripts/basalt_verify_dataset.py
index 1cd3bc2..2d88015 100755
--- a/scripts/basalt_verify_dataset.py
+++ b/scripts/basalt_verify_dataset.py
@@ -3,10 +3,17 @@
 import sys
 import math
 import os
+import argparse
 
 import numpy as np
 
-dataset_path = sys.argv[1]
+
+parser = argparse.ArgumentParser(description='Check the dataset. Report if any images are missing.')
+parser.add_argument('-d', '--dataset-path', required=True, help="Path to the dataset in Euroc format")
+args = parser.parse_args()
+
+
+dataset_path = args.dataset_path
 
 print(dataset_path)