play_images.py

#
# This file is part of wganvo.
# This file is based on a file from https://github.com/ori-mrg/robotcar-dataset-sdk
# (see original license below)
#
# Modifications copyright (C) 2019 Javier Cremona (CIFASIS-CONICET)
# For more information see <https://github.com/CIFASIS/wganvo>
#
# This file is licensed under the Creative Commons
# Attribution-NonCommercial-ShareAlike 4.0 International License.
# To view a copy of this license, visit
# http://creativecommons.org/licenses/by-nc-sa/4.0/ or send a letter to
# Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
#

################################################################################
#
# Copyright (c) 2017 University of Oxford
# Authors:
#  Geoff Pascoe (gmp@robots.ox.ac.uk)
#
# This work is licensed under the Creative Commons
# Attribution-NonCommercial-ShareAlike 4.0 International License.
# To view a copy of this license, visit
# http://creativecommons.org/licenses/by-nc-sa/4.0/ or send a letter to
# Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
#
################################################################################

import argparse
import os
import re
import matplotlib.pyplot as plt
from datetime import datetime as dt
from image import load_image
from camera_model import CameraModel

parser = argparse.ArgumentParser(description='Play back images from a given directory')

parser.add_argument('dir', type=str, help='Directory containing images.')
parser.add_argument('--models_dir', type=str, default=None, help='(optional) Directory containing camera model. If supplied, images will be undistorted before display')
parser.add_argument('--scale', type=float, default=1.0, help='(optional) factor by which to scale images before display')

args = parser.parse_args()

camera = re.search('(stereo|mono_(left|right|rear))', args.dir).group(0)

timestamps_path = os.path.join(os.path.join(args.dir, os.pardir, camera + '.timestamps'))
if not os.path.isfile(timestamps_path):
  timestamps_path = os.path.join(args.dir, os.pardir, os.pardir, camera + '.timestamps')
  if not os.path.isfile(timestamps_path):
      raise IOError("Could not find timestamps file")

model = None
if args.models_dir:
    model = CameraModel(args.models_dir, args.dir)

current_chunk = 0
timestamps_file = open(timestamps_path)
for line in timestamps_file:
    tokens = line.split()
    datetime = dt.utcfromtimestamp(int(tokens[0])/1000000)
    chunk = int(tokens[1])

    filename = os.path.join(args.dir, tokens[0] + '.png')
    if not os.path.isfile(filename):
        if chunk != current_chunk:
            print("Chunk " + str(chunk) + " not found")
            current_chunk = chunk
        continue

    current_chunk = chunk

    img = load_image(filename, model)
    plt.imshow(img)
    plt.xlabel(datetime)
    plt.xticks([])
    plt.yticks([])
    plt.pause(0.01)