update file manegenment

data/groundtruth.tum

@@ -0,0 +1,13 @@
+1687525013245793 0.008737427182495594 0.006640564650297165 0.00012093909754185006 -0.004832196049392223 -0.061782412230968475 0.0027675253804773092 0.9980741143226624
+1687525013295912 0.01995055563747883 0.009509846568107605 0.0003808395704254508 -0.0020751953125 -0.05316116660833359 0.006357039324939251 0.9985635876655579
+1687525013346037 0.03906664997339249 0.014902551658451557 0.0016926164971664548 -0.0029398424085229635 -0.05186523124575615 0.023785237222909927 0.9983664751052856
+1687525013396035 0.05986426770687103 0.02006983384490013 0.003779127961024642 -0.001895040855742991 -0.04314214363694191 0.03892818093299866 0.9983084201812744
+1687525013446162 0.08195693045854568 0.024347485974431038 0.007168796379119158 -0.00042286395910196006 -0.03884752094745636 0.055935781449079514 0.9976782202720642
+1687525013496294 0.10118470340967178 0.028867188841104507 0.009785447269678116 -0.0015000251587480307 -0.033006422221660614 0.06831085681915283 0.9971168041229248
+1687525013546294 0.11866006255149841 0.032496560364961624 0.011424116790294647 -0.004214520566165447 -0.023416191339492798 0.07763681560754776 0.9966977834701538
+1687525013596414 0.13562598824501038 0.03434262424707413 0.013306362554430962 -0.004599961917847395 -0.00859274435788393 0.08632554858922958 0.9962193369865417
+1687525013646537 0.14879731833934784 0.03638317435979843 0.013588262721896172 -0.0028549842536449432 -0.001226791413500905 0.09578070789575577 0.9953976273536682
+1687525013679925 0.15768125653266907 0.036847569048404694 0.01377336960285902 -0.0024475022219121456 0.004232162144035101 0.09785974025726318 0.9951882362365723
+1687525013729917 0.1665954887866974 0.03779984638094902 0.013884707354009151 0.00040486143552698195 0.008002824150025845 0.09748756885528564 0.995204508304596
+1687525013780040 0.17436182498931885 0.03799871355295181 0.013407713733613491 0.003041976597160101 0.013109351508319378 0.09817997366189957 0.9950776696205139
+1687525013830167 0.1814393848180771 0.0376175120472908 0.012344763614237309 0.005322321783751249 0.01877027004957199 0.09518643468618393 0.9952682852745056

data/times.txt

@@ -0,0 +1,13 @@
+1687525013.245793
+1687525013.295912
+1687525013.346037
+1687525013.396035
+1687525013.446162
+1687525013.496294
+1687525013.546294
+1687525013.596414
+1687525013.646537
+1687525013.679925
+1687525013.729917
+1687525013.780040
+1687525013.830167

main.py

@@ -2,43 +2,42 @@
 import os
 import glob
 import time
-import ogl_viewer.tracking_viewer as gl
+import path
 import cv2
 import numpy as np
 import pyzed.sl as sl
+import ogl_viewer.tracking_viewer as gl
 from record import Recorder
 from utils import Tools
 
 if __name__ == '__main__':
-    # Clear file generated before
-    if( os.path.isfile("groundtruth.tum")):
-        os.remove('groundtruth.tum')
-        print("Groundtruth file Deleted successfully")
+    ## Clear file generated before
+    if( os.path.isfile( path.gt_file_path ) ):
+        os.remove( path.gt_file_path )
+        print( "Groundtruth file Deleted successfully" )
     else:
-        print("Groundtruth File does not exist")
+        print( "Groundtruth File does not exist" )
 
-    if( os.path.isfile("times.txt")):
-        os.remove('times.txt')
-        print("Timestamp file Deleted successfully")
+    if( os.path.isfile( path.times_file_path ) ):
+        os.remove( path.times_file_path )
+        print( "Timestamp file Deleted successfully" )
     else:
-        print("Timestamp File does not exist")
-        
-    for image_file in glob.glob("images/image_0/*"):
+        print( "Timestamp File does not exist" )
+
+    for image_file in glob.glob( path.image0_file_path + '*' ):
         if(image_file.__len__() != 0):
             os.remove(image_file)
             print("delete"+str(image_file))
         else:
             print("image_0 is Already empty")
 
-    for image_file in glob.glob("images/image_1/*"):
+    for image_file in glob.glob( path.image1_file_path + '*' ):
         if(image_file.__len__() != 0):
             os.remove(image_file)
             print("delete"+str(image_file))
         else:
             print("image_1 is Already empty")
 
-
-
     ## Initialize camera params
     # Coordinate system is ROS frame
     camera_params = sl.InitParameters(

path.py

@@ -0,0 +1,4 @@
+gt_file_path = ".\\data\\groundtruth.tum"
+times_file_path = ".\\data\\times.txt"
+image0_file_path = ".\\data\\images\\image_0\\"
+image1_file_path = ".\\data\\images\\image_1\\"

record.py

@@ -1,14 +1,13 @@
 import os
 import cv2
-
+import path
 class Recorder:
-
     # Write data in file
     def record_pose_data( data ):
         timestamp = data[0]
         [tx,ty,tz] = data[1:4:1]
         [qx,qy,qz,qw] = data[4:8:1]
-        with open('groundtruth.tum','a') as file_handle:
+        with open( path.gt_file_path ,'a') as file_handle:
             file_handle.write("{0} {1} {2} {3} {4} {5} {6} {7}\n".format(timestamp,
                                                                      tx,
                                                                      ty,
@@ -20,7 +19,7 @@ def record_pose_data( data ):
             file_handle.close()
 
     def record_timestamp(timestamp):
-        with open('times.txt','a') as file_handle:
+        with open( path.times_file_path ,'a') as file_handle:
             timestamp = str(round(timestamp * 1e-6,6))
             if(timestamp.__len__() == 16):
                 timestamp = timestamp + str('0')
@@ -31,7 +30,7 @@ def record_timestamp(timestamp):
     def record_img_data( LeftImg , RightImg , Timestamp ):
         left_view = LeftImg
         right_view = RightImg
-        left_img_save_path = os.path.join("./images/image_0","{0}.jpg".format(Timestamp))
-        right_img_save_path = os.path.join("./images/image_1","{0}.jpg".format(Timestamp))
+        left_img_save_path = os.path.join( path.image0_file_path ,"{0}.jpg".format(Timestamp))
+        right_img_save_path = os.path.join( path.image1_file_path ,"{0}.jpg".format(Timestamp))
         cv2.imwrite( left_img_save_path , left_view)
         cv2.imwrite( right_img_save_path , right_view)