Update to static_multipose_imu_calibration GoPro telemetry extractor …

docs/imu_intrinsics.md

@@ -1,15 +1,15 @@
 # Example: Estimating IMU Intrinsics
 
-For this example I am using a dataset recorded with the GoPro9. Please read the paper [11] on how to record the dataset and details on how the method works.
+For this example I am using a dataset recorded with the GoPro9. Please read the paper [[11]](https://www.researchgate.net/publication/273383944_A_robust_and_easy_to_implement_method_for_IMU_calibration_without_external_equipments) on how to record the dataset and details on how the method works.
 Remember to let the camera stand still for >= 10-15 seconds in the beginning. The IMU bias will be estimated in this phase.
 This is also a parameter you need to supply to the calibration script.
 
-You can get a sample dataset from: [link](https://drive.google.com/file/d/1XjtUX-4ZI0Ydkd2O3BWnaUzfmzm96He4/view?usp=share_link). 
+You can get a sample dataset from: [link](https://drive.google.com/file/d/1XjtUX-4ZI0Ydkd2O3BWnaUzfmzm96He4/view?usp=share_link).
 The folder **static_imu_calib** contains an example file.
 You can run the static imu calibration with. Remember to supply your build and source path of OpenICC to the script:
 ``` python
-python python/static_multipose_imu_calibration.py --path_static_calib_dataset=/path/to/example_dataset/dataset3/static_multi_pose --initial_static_duration_s=10 --path_to_build=/your_path_to_openicc_build/applications --path_to_src=/your_path_to_openicc_src 
+python python/static_multipose_imu_calibration.py --path_static_calib_dataset=/path/to/example_dataset/dataset3/static_multi_pose --initial_static_duration_s=10 --path_to_build=/your_path_to_openicc_build/applications --path_to_src=/your_path_to_openicc_src
 ```
 
-If successfull this script will output a json file **static_calib_result.json** containing IMU intrinsics for your camera. 
+If successfull this script will output a json file **static_calib_result.json** containing IMU intrinsics for your camera.
 **You can supply this json file later to VI calibration using the --path_to_imu_intrinsics flag.**

python/static_multipose_imu_calibration.py

@@ -1,90 +1,87 @@
 import os
-import json
 from argparse import ArgumentParser
 from subprocess import Popen
 from os.path import join as pjoin
 import glob
 import time
-from utils import get_abbr_from_cam_model
 from telemetry_converter import TelemetryConverter
+from py_gpmf_parser.gopro_telemetry_extractor import GoProTelemetryExtractor
 
 
 
 def main():
 
     parser = ArgumentParser("OpenCameraCalibrator - GoPro Calibrator")
-    # Cast the input to string, int or float type 
-    parser.add_argument('--path_static_calib_dataset', 
-                        default='/media/Data/work_projects/ImageStabelization/GoPro10Calibration/ImuIntrinsics/dataset1', 
+    # Cast the input to string, int or float type
+    parser.add_argument('--path_static_calib_dataset',
+                        default='/media/Data/work_projects/ImageStabelization/GoPro10Calibration/ImuIntrinsics/dataset1',
                         help="Path to calibration dataset")
-    parser.add_argument('--path_to_build', 
+    parser.add_argument('--path_to_build',
                         help="Path to OpenCameraCalibrator build folder.",
-                        default='/media/Data/builds/openicc_release/applications') 
-    parser.add_argument("--gravity_const", help="gravity constant", 
+                        default='/media/Data/builds/openicc_release/applications')
+    parser.add_argument("--gravity_const", help="gravity constant",
                         default=9.811104, type=float)
-    parser.add_argument("--initial_static_duration_s", 
-                        help="duration of the initial static phase for bias estimation", 
+    parser.add_argument("--initial_static_duration_s",
+                        help="duration of the initial static phase for bias estimation",
                         default=15, type=float)
-    parser.add_argument("--verbose", help="If calibration steps should output more information.", 
+    parser.add_argument("--verbose", help="If calibration steps should output more information.",
                         default=0, type=int)
     args = parser.parse_args()
 
-    path_to_file = os.path.dirname(os.path.abspath(__file__))
-    path_to_src = os.path.join(path_to_file,"../")
-    # # 
-    # # 0. Check inputs 
+    # #
+    # # 0. Check inputs
     # #
     bin_path = pjoin(args.path_to_build)
     cam_calib_path = args.path_static_calib_dataset
-    cam_calib_video = glob.glob(pjoin(cam_calib_path,"*.MP4"))
+    cam_calib_video = glob.glob(pjoin(cam_calib_path,"*.MP4"))[0]
     if len(cam_calib_video) == 0:
         print("Error! Could not find cam calibration video file with MP4 ending in path "+cam_calib_path)
         exit(-1)
     print(cam_calib_video)
 
-    # globals
-    cam_video_fn = os.path.basename(cam_calib_video[0])[:-4]
-    gopro_telemetry = glob.glob(pjoin(cam_calib_path,"G*.MP4"))[0][:-4]+".json"
-    gopro_telemetry_gen = glob.glob(pjoin(cam_calib_path,"G*.MP4"))[0][:-4]+"_gen.json"
+    # json telemetry globals
+    gopro_py_gmpf_telemetry = glob.glob(pjoin(cam_calib_video))[0][:-4]+"_pygpmf.json"
+    gopro_conv_telemetry = glob.glob(pjoin(cam_calib_video))[0][:-4]+".json"
 
     #
     # 1. Extracting GoPro telemetry
-    #   
-    js_extract_file = pjoin(path_to_src,"javascript","extract_metadata.js")
+    #
     print("==================================================================")
-    print("Extracting GoPro telemetry.")
+    print("Extracting GoPro telemetry for imu bias and camera imu calibration.")
     print("==================================================================")
     start = time.time()
-    telemetry_extract = Popen(["node",js_extract_file,
-                       cam_calib_path,
-                       cam_video_fn+".MP4",
-                       cam_calib_path])
-    error = telemetry_extract.wait()
+    extractor = GoProTelemetryExtractor(os.path.join(cam_calib_video))
+    extractor.open_source()
+    extractor.extract_data_to_json(os.path.join(cam_calib_path, gopro_py_gmpf_telemetry),
+            ["ACCL", "GYRO", "GPS5", "GPSP", "GPSU", "GPSF", "GRAV", "MAGN", "CORI", "IORI"])
+    extractor.close_source()
+
     print("==================================================================")
     print("Telemetry extraction took {:.2f}s.".format(time.time()-start))
     print("==================================================================")
-
+
+
     #
     # 2. Convert gopro json telemetry to common format
     #
     telemetry_conv = TelemetryConverter()
-    telemetry_conv.convert_gopro_telemetry_file(gopro_telemetry, gopro_telemetry_gen)
+    telemetry_conv.convert_pygpmf_telemetry(gopro_py_gmpf_telemetry, gopro_conv_telemetry)
 
     #
     # 3. Perform static multi pose calibration
-    #   
+    #
     print("==================================================================")
     print("Performing static multi pose IMU calibration.")
     print("==================================================================")
     start = time.time()
     spline_init = Popen([pjoin(bin_path,"static_imu_calibration"),
-                       "--telemetry_json="+gopro_telemetry_gen,
+                       "--telemetry_json="+gopro_conv_telemetry,
                        "--gravity_magnitude="+str(args.gravity_const),
                        "--initial_static_interval_s="+str(args.initial_static_duration_s),
-                       "--verbose="+str(args.verbose), 
+                       "--verbose="+str(args.verbose),
                        "--output_calibration_path="+pjoin(args.path_static_calib_dataset,"static_calib_result.json"),
                        "--logtostderr=1"])
-    error_spline_init = spline_init.wait()  
+    error_spline_init = spline_init.wait()
     print("==================================================================")
     print("Static multi pose IMU calibration took {:.2f}s.".format(time.time()-start))
     print("==================================================================")