versatran01

versatran01

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Fri Aug 26 10:35:23 2022

@author: chao
"""

import numpy as np
from scipy.spatial.transform import Rotation

versatran01

{
    "device": {
        "fw version": "05.13.00.50",
        "name": "Intel RealSense D455",
        "product line": "D400"
    },
    "parameters": {
        "aux-param-autoexposure-setpoint": "1000",
        "aux-param-colorcorrection1": "-0.493164",
        "aux-param-colorcorrection10": "-0.272461",

versatran01

https://storage.googleapis.com/hilti_challenge/uzh_tracking_area_run2_imu.txt
https://storage.googleapis.com/hilti_challenge/IC_Office_1_pole.txt
https://storage.googleapis.com/hilti_challenge/Office_Mitte_1_pole.txt
https://storage.googleapis.com/hilti_challenge/Parking_1_pole.txt
https://storage.googleapis.com/hilti_challenge/Basement_1_pole.txt
https://storage.googleapis.com/hilti_challenge/Basement_3_prism.txt
https://storage.googleapis.com/hilti_challenge/Basement_4_prism.txt
https://storage.googleapis.com/hilti_challenge/LAB_Survey_2_imu.txt
https://storage.googleapis.com/hilti_challenge/Construction_Site_1_prism.txt
https://storage.googleapis.com/hilti_challenge/Construction_Site_2_prism.txt

versatran01

#include <pcl_conversions/pcl_conversions.h>
#include <pcl_ros/point_cloud.h>
#include <sensor_msgs/Imu.h>
#include <tf2/buffer_core.h>
#include <tf2_ros/transform_listener.h>

#include <pcl/common/transforms.h>
#include <boost/circular_buffer.hpp>

#include <sv_core/logging.hpp>

versatran01

https://github.com/sharkdp/fd
https://github.com/rupa/z
https://github.com/ggreer/the_silver_searcher
https://itnext.io/10-cli-tools-that-you-will-love-d214bc73d856
https://github.com/sharkdp/bat

versatran01

http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-corridor1_512_16.bag
http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-corridor2_512_16.bag
http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-corridor3_512_16.bag
http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-corridor4_512_16.bag
http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-corridor5_512_16.bag

http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-magistrale1_512_16.bag
http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-magistrale2_512_16.bag
http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-magistrale3_512_16.bag
http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-magistrale4_512_16.bag

versatran01

http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_01_easy/MH_01_easy.bag
http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_02_easy/MH_02_easy.bag
http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_03_medium/MH_03_medium.bag
http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_04_difficult/MH_04_difficult.bag
http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_05_difficult/MH_05_difficult.bag

http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_01_easy/V1_01_easy.bag
http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_02_medium/V1_02_medium.bag
http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_03_difficult/V1_03_difficult.bag

versatran01

roslaunch fla_calibration driver_ovc.launch

roslaunch fla_calibration calibration_manager.launch mode:=stereo_cam

roslaunch fla_calibration calibrate.launch device:=ovc

versatran01

import os
from collections import namedtuple
import tensorflow as tf
import torch
import gzip
import multiprocessing as mp
from functools import partial

def collect_files(path, ext=None, key=None):
    if key is None: