Method __init__

Examples/Calibration/python_scripts/process_imu.py:30–74

(self, dirName)

    # gyro = np.zeros((1,7))

    def __init__(self, dirName):
        self.name = dirName
        self.acc = np.zeros((1, 4))
        self.gyro = np.zeros((1, 4))
        self.timesCam = np.zeros((1, 1))

        timesName = self.name + "/cam0/times.txt"
        timeFile = open(timesName, "r")
        i = 0
        next = 0
        for line in timeFile:
            currentline = line.split(",")
            if i%2 == 0:
                self.timesCam[next] = currentline
                next = next + 1
                self.timesCam = np.pad(self.timesCam, ((0, 1), (0, 0)), mode='constant', constant_values=0)
            i = i + 1
            print(i, "/", next)


        accName = self.name + "/IMU/acc.txt"
        accFile = open(accName, "r")
        i = 0
        for line in accFile:
            currentline = line.split(",")
            for j in range(0, 4):
                self.acc[i][j] = currentline[j]
            self.acc = np.pad(self.acc, ((0, 1), (0, 0)), mode='constant', constant_values=0)
            i = i + 1

        gyroName = self.name + "/IMU/gyro.txt"
        gyroFile = open(gyroName, "r")
        i = 0
        for line in gyroFile:
            currentline = line.split(",")
            for j in range(0, 4):
                self.gyro[i][j] = currentline[j]
            self.gyro = np.pad(self.gyro, ((0, 1), (0, 0)), mode='constant', constant_values=0)
            i = i + 1

        self.timesCam = np.delete(self.timesCam, self.timesCam.shape[0] - 1, axis=0)
        self.acc = np.delete(self.acc, self.acc.shape[0] - 1, axis=0)
        self.gyro = np.delete(self.gyro, self.gyro.shape[0] - 1, axis=0)

        print("Finished")

    def interpolate(self):
        self.imuSync = np.zeros((self.gyro.shape[0], 7))