sravan/UMICH-NCLT-SLAP
1
0
Fork 0
mirror of https://github.com/Mobile-Robotics-W20-Team-9/UMICH-NCLT-SLAP.git synced 2025-09-08 20:13:13 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add downloader.py

Browse Source 
- Add downloader.py from NCLT website to src/dataset folder
This commit is contained in:
Sravan Balaji
2020-04-10 01:39:09 -04:00
parent 1a09c9c54c
commit 30c87d0b78
1 changed files with 118 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

118
src/dataset/downloader.py Normal file
View File

@@ -0,0 +1,118 @@
#!/usr/bin/env python
# downloader.py from NCLT Dataset
import sys
import os
import subprocess
import argparse
base_dir = 'http://robots.engin.umich.edu/nclt'
dates = [];
dates.append('2012-01-08')
dates.append('2012-01-15')
dates.append('2012-01-22')
dates.append('2012-02-02')
dates.append('2012-02-04')
dates.append('2012-02-05')
dates.append('2012-02-12')
dates.append('2012-02-18')
dates.append('2012-02-19')
dates.append('2012-03-17')
dates.append('2012-03-25')
dates.append('2012-03-31')
dates.append('2012-04-29')
dates.append('2012-05-11')
dates.append('2012-05-26')
dates.append('2012-06-15')
dates.append('2012-08-04')
dates.append('2012-08-20')
dates.append('2012-09-28')
dates.append('2012-10-28')
dates.append('2012-11-04')
dates.append('2012-11-16')
dates.append('2012-11-17')
dates.append('2012-12-01')
dates.append('2013-01-10')
dates.append('2013-02-23')
dates.append('2013-04-05')
def ensure_output_dir(out_dir):
if not os.path.exists(out_dir):
os.makedirs(out_dir)
def main (args):
getopt = argparse.ArgumentParser(description='Download NCLT dataset')
getopt.add_argument('--all', action='store_true',
help='Download all data types')
getopt.add_argument('--lb3', action='store_true',
help='Download Ladybug3 Images')
getopt.add_argument('--sen', action='store_true',
help='Download sensor data (includes odometry)')
getopt.add_argument('--vel', action='store_true',
help='Download velodyne data')
getopt.add_argument('--hokuyo', action='store_true',
help='Download hokuyo data')
getopt.add_argument('--gt', action='store_true',
help='Download ground truth')
getopt.add_argument('--gt_cov', action='store_true',
help='Download ground truth covariance')
getopt.add_argument('--date', help='Download specific date')
args = getopt.parse_args()
if not args.all and not args.lb3 and not args.sen and not args.vel and not args.gt and not args.gt_cov:
print "No data type specified. Use --help to see options."
for date in dates:
if args.date is not None and args.date != date:
continue
if args.lb3 or args.all:
ensure_output_dir('images')
cmd = ['wget', '--continue',
'%s/images/%s_lb3.tar.gz' % (base_dir, date),
'-P', 'images']
print "Calling: ", ' '.join(cmd)
subprocess.call(cmd)
if args.sen or args.all:
ensure_output_dir('sensor_data')
cmd = ['wget', '--continue',
'%s/sensor_data/%s_sen.tar.gz' % (base_dir, date),
'-P', 'sensor_data']
print "Calling: ", ' '.join(cmd)
subprocess.call(cmd)
if args.vel or args.all:
ensure_output_dir('velodyne_data')
cmd = ['wget', '--continue',
'%s/velodyne_data/%s_vel.tar.gz' % (base_dir, date),
'-P', 'velodyne_data']
print "Calling: ", ' '.join(cmd)
subprocess.call(cmd)
if args.hokuyo or args.all:
ensure_output_dir('hokuyo_data')
cmd = ['wget', '--continue',
'%s/hokuyo_data/%s_hokuyo.tar.gz' % (base_dir, date),
'-P', 'hokuyo_data']
print "Calling: ", ' '.join(cmd)
subprocess.call(cmd)
if args.gt or args.all:
ensure_output_dir('ground_truth')
cmd = ['wget', '--continue',
'%s/ground_truth/groundtruth_%s.csv' % (base_dir, date),
'-P', 'ground_truth']
print "Calling: ", ' '.join(cmd)
subprocess.call(cmd)
if args.gt_cov or args.all:
ensure_output_dir('ground_truth_cov')
cmd = ['wget', '--continue',
'%s/covariance/cov_%s.csv' % (base_dir, date),
'-P', 'ground_truth_cov']
print "Calling: ", ' '.join(cmd)
subprocess.call(cmd)
return 0
if __name__ == '__main__':
sys.exit (main(sys.argv))