From 30c87d0b78f55758ec006bdc007fdd9636079312 Mon Sep 17 00:00:00 2001
From: Sravan Balaji <balajsra@umich.edu>
Date: Fri, 10 Apr 2020 01:39:09 -0400
Subject: [PATCH] Add downloader.py

- Add downloader.py from NCLT website to src/dataset folder
---
 src/dataset/downloader.py | 118 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 118 insertions(+)
 create mode 100644 src/dataset/downloader.py

diff --git a/src/dataset/downloader.py b/src/dataset/downloader.py
new file mode 100644
index 0000000..765e9b6
--- /dev/null
+++ b/src/dataset/downloader.py
@@ -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))