clean-up tested + working

Author: AadarshHegde123

GEMstack/offboard/calibration/camera_to_vehicle_manual.py

@@ -7,7 +7,7 @@
 
 N = 8 #how many point pairs you want to select
 
-# Update depending on where data is stored
+# Update Depending on Where Data Stored
 rgb_path = './data/color32.png'
 depth_path = './data/depth32.tif'
 lidar_path = './data/lidar32.npz'
@@ -59,7 +59,7 @@ def crop(pc,ix=None,iy=None,iz=None):
 
 lidar_post = np.pad(lidar_points,((0,0),(0,1)),constant_values=1) @ lidar_ex.T[:,:3]
 lidar_post = crop(lidar_post,ix=(0,10),iy=(-5,5))
-vis(notebook=False).add_pc(lidar_post).show()
+# vis(notebook=False).add_pc(lidar_post).show()
 
 #%%
 def pick_n_img(img,n=4):
@@ -161,13 +161,3 @@ def depth_to_points(depth_img: np.ndarray, intrinsics: np.ndarray):
 c2v = np.linalg.inv(v2c)
 print('camera->vehicle:',c2v)
 
-v=vis(notebook=False)
-v.add_pc(lidar_post,color='blue')
-v.add_pc(np.pad(camera_points,((0,0),(0,1)),constant_values=1)@c2v.T[:,:3],color='red')
-v.show()
-
-v=vis(notebook=False)
-# v.add_pc(np.pad(lidar_post,((0,0),(0,1)),constant_values=1)@v2c.T[:,:3],color='blue')
-v.add_pc(camera_points,color='red')
-v.show()
-# %%

GEMstack/offboard/calibration/lidar_to_vehicle.py

@@ -95,7 +95,8 @@ def pc_diff(pc0,pc1,tol=0.1):
 #================================================================
 
 #%% load scene for ground plane
-sc = load_scene('/mount/wp/GEMstack/data/lidar1.npz')
+# Update depending on where data is stored
+sc = load_scene('./data/lidar1.npz')
 
 # %% we crop to keep the ground
 cropped_sc = crop(sc,iz = (-3,-2))
@@ -133,9 +134,9 @@ def pc_diff(pc0,pc1,tol=0.1):
 rot = R.from_euler('xyz',[rx,ry,0]).as_matrix()
 
 if False: # True to use the diff method to extract object.
-    # load data
-    sc0 = load_scene('/mount/wp/GEMstack/data/lidar70.npz')
-    sc1 = load_scene('/mount/wp/GEMstack/data/lidar78.npz')
+    # load data: update depending on where data is stored
+    sc0 = load_scene('./data/lidar70.npz')
+    sc1 = load_scene('./data/lidar78.npz')
 
     sc0 = sc0 @ rot.T + [0,0,tz]
     sc1 = sc1 @ rot.T + [0,0,tz]
@@ -151,7 +152,8 @@ def pc_diff(pc0,pc1,tol=0.1):
     objects = pc_diff(cropped0,cropped1)
 
 else: #False to use only cropping
-    sc1 = load_scene('/mount/wp/GEMstack/data/lidar1.npz')
+    # Update depending on where data is stored
+    sc1 = load_scene('./data/lidar1.npz')
 
     objects = sc1 @ rot.T + [0,0,tz]