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- def read_data(flags):
- intrinsics = np.loadtxt(os.path.join(flags.path, 'camera_matrix.csv'), delimiter=',')
- odometry = np.loadtxt(os.path.join(flags.path, 'odometry.csv'), delimiter=',', skiprows=1)
- poses = []
- for line in odometry:
- # timestamp, frame, x, y, z, qx, qy, qz, qw
- position = line[2:5]
- quaternion = line[5:]
- T_WC = np.eye(4)
- T_WC[:3, :3] = Rotation.from_quat(quaternion).as_matrix()
- T_WC[:3, 3] = position
- poses.append(T_WC)
- depth_dir = os.path.join(flags.path, 'depth')
- depth_frames = [os.path.join(depth_dir, p) for p in sorted(os.listdir(depth_dir))]
- depth_frames = [f for f in depth_frames if '.npy' in f or '.png' in f]
- return { 'poses': poses, 'intrinsics': intrinsics, 'depth_frames': depth_frames }
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