kalibr/aslam_offline_calibration/kalibr/python/kalibr_imu_camera_calibration/IccUtil.py

Lines 202 to 214 in c528449

    
           def exportPoses(cself, filename="poses_imu0.csv"): 
        
               f = open(filename, 'w') 
        
               print >> f, "t x y z r11 r12 r13 r21 r22 r23 r31 r32 r33" 
        
               imu = cself.ImuList[0] 
        
               bodyspline = cself.poseDv.spline() 
        
               times = np.array([im.stamp.toSec() + imu.timeOffset for im in imu.imuData \ 
        
                                 if im.stamp.toSec() + imu.timeOffset > bodyspline.t_min() \ 
        
                                 and im.stamp.toSec() + imu.timeOffset < bodyspline.t_max() ]) 
        
               for time in times: 
        
                   position =  bodyspline.position(time) 
        
                   orientation = bodyspline.orientation(time) 
        
                   print >> f, time, ' '.join(map(str, position)), \ 
        
                      ' '.join(map(str, orientation.reshape(-1)))

	def exportPoses(cself, filename="poses_imu0.csv"):
	f = open(filename, 'w')
	print >> f, "t x y z r11 r12 r13 r21 r22 r23 r31 r32 r33"
	imu = cself.ImuList[0]
	bodyspline = cself.poseDv.spline()
	times = np.array([im.stamp.toSec() + imu.timeOffset for im in imu.imuData \
	if im.stamp.toSec() + imu.timeOffset > bodyspline.t_min() \
	and im.stamp.toSec() + imu.timeOffset < bodyspline.t_max() ])
	for time in times:
	position = bodyspline.position(time)
	orientation = bodyspline.orientation(time)
	print >> f, time, ' '.join(map(str, position)), \
	' '.join(map(str, orientation.reshape(-1)))

IMU-Camera calibration: Export poses fails #577

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