forked from ZacharyTaylor/Multi-Array-Calib
-
Notifications
You must be signed in to change notification settings - Fork 0
/
GenTforms.m
59 lines (52 loc) · 2.36 KB
/
GenTforms.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
% this script generates all the required transforms for the kitti and
% shrimp dataset (currently wont do the camera as I am tweaking it)
%% user set variables
%path to data
%dataPath = 'C:\Users\Zachary\Documents\Datasets\IJRR-Dataset-1\'; dataset = 'Ford';
%dataPath = 'C:\Users\Zachary\Documents\Datasets\Shrimp\high-clutter-2\'; dataset = 'Shrimp';
%dataPath = 'C:\Users\Zachary\Documents\Datasets\Kitti\2011_10_03_drive_0027_extract\'; dataset = 'Kitti';
dataPath = 'C:\Users\Zachary\Documents\Datasets\Kitti\2011_09_26_drive_0035_extract\'; dataset = 'Kitti';
%Sets if the sensor transforms will be plotted
plotTforms = false;
%% setup folders
CalibPath(true);
%% process sensors
%do things in parrallel to save time
for i = 2
switch i
case 1
VelData = GenVel(dataPath, plotTforms, [], dataset);
ParSave(['./storedTforms/' dataset 'VelDataC.mat'], VelData, 'velData');
case 2
NavData = GenNav(dataPath, plotTforms, [], dataset);
ParSave(['./storedTforms/' dataset 'NavData.mat'], NavData, 'navData');
case 3
CamData = GenCam(dataPath, plotTforms, [], dataset, 1);
ParSave(['./storedTforms/' dataset 'Cam1Data.mat'], CamData, 'cam1Data');
case 4
CamData = GenCam(dataPath, plotTforms, [], dataset, 2);
ParSave(['./storedTforms/' dataset 'Cam2Data.mat'], CamData, 'cam2Data');
case 5
CamData = GenCam(dataPath, plotTforms, [], dataset, 3);
ParSave(['./storedTforms/' dataset 'Cam3Data.mat'], CamData, 'cam3Data');
case 6
CamData = GenCam(dataPath, plotTforms, [], dataset, 4);
ParSave(['./storedTforms/' dataset 'Cam4Data.mat'], CamData, 'cam4Data');
case 7
%Kitti only has 4 cameras
if(~strcmpi(dataset,'Kitti'))
CamData = GenCam(dataPath, plotTforms, [], dataset, 5);
ParSave(['./storedTforms/' dataset 'Cam5Data.mat'], CamData, 'cam5Data');
end
case 8
%only shrimp has 6 cameras
if(strcmpi(dataset,'Shrimp'))
CamData = GenCam(dataPath, plotTforms, [], dataset, 6);
ParSave(['./storedTforms/' dataset 'Cam6Data.mat'], CamData, 'cam6Data');
end
otherwise
errror('Parfor setup incorrectly');
end
end
CalibPath(false);
%delete(gcp);