126 lines
4.0 KiB
Python
126 lines
4.0 KiB
Python
#!/usr/bin/env python3
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"""Export priority LiDAR–IMU windows from calibration_usable_20260808.
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Does not push anything; writes local V1 sessions under --out-root.
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"""
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from __future__ import annotations
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import argparse
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import json
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import sys
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from pathlib import Path
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ROOT = Path(__file__).resolve().parents[1]
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if str(ROOT) not in sys.path:
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sys.path.insert(0, str(ROOT))
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from tools.export_rscap_to_v1 import export_session
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DEFAULT_DATA = Path(r"D:\data\calibration_usable_20260808")
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LIDAR_ZIP = "lidar_dlog/dorec_recovered_20260808_171438_181422.zip"
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IMU_MAIN = "imu_rscap/hi13r4-imu_20260808-092827.638_39783edb-e46e-4b28-a5e8-427b981c2fce.rscap"
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IMU_TAIL = "imu_rscap/hi13r4-imu_20260808-101022.036_87ea5edc-cd3d-4192-809a-469fbc8cac01.rscap"
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# From usable-segment chart (local wall clock).
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WINDOWS = [
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{
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"name": "priority_174005_174515",
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"host_start": "2026-08-08T17:40:05",
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"host_end": "2026-08-08T17:45:15",
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"imu": [IMU_MAIN],
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"priority": True,
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},
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{
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"name": "priority_174905_175450",
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"host_start": "2026-08-08T17:49:05",
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"host_end": "2026-08-08T17:54:50",
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"imu": [IMU_MAIN],
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"priority": True,
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},
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{
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"name": "priority_175910_180530",
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"host_start": "2026-08-08T17:59:10",
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"host_end": "2026-08-08T18:05:30",
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"imu": [IMU_MAIN],
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"priority": True,
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},
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{
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"name": "usable_181035_181050",
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"host_start": "2026-08-08T18:10:35",
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"host_end": "2026-08-08T18:10:50",
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"imu": [IMU_TAIL],
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"priority": False,
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},
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{
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"name": "usable_181225_181300",
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"host_start": "2026-08-08T18:12:25",
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"host_end": "2026-08-08T18:13:00",
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"imu": [IMU_TAIL],
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"priority": False,
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},
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{
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"name": "usable_181350_181410",
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"host_start": "2026-08-08T18:13:50",
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"host_end": "2026-08-08T18:14:10",
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"imu": [IMU_TAIL],
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"priority": False,
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},
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]
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def main() -> int:
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument("--data-root", type=Path, default=DEFAULT_DATA)
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parser.add_argument(
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"--out-root",
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type=Path,
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default=DEFAULT_DATA / "sessions_v1",
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)
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parser.add_argument("--priority-only", action="store_true", default=True)
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parser.add_argument("--all-windows", action="store_true")
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parser.add_argument("--frame-stride", type=int, default=5)
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parser.add_argument("--max-points-per-frame", type=int, default=40000)
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args = parser.parse_args()
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priority_only = not args.all_windows
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lidar = args.data_root / LIDAR_ZIP
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if not lidar.is_file():
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raise SystemExit(f"missing lidar zip: {lidar}")
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selected = [w for w in WINDOWS if (not priority_only) or w["priority"]]
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results = []
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for window in selected:
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out = args.out_root / window["name"]
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imu_paths = [args.data_root / rel for rel in window["imu"]]
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print(f"=== exporting {window['name']} ===", flush=True)
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summary = export_session(
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imu_rscap=imu_paths,
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lidar_dlog=lidar,
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imu_kind="hi13",
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require_difop=True,
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host_start=window["host_start"],
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host_end=window["host_end"],
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out=out,
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frame_stride=args.frame_stride,
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max_points_per_frame=args.max_points_per_frame,
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)
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brief = {
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"name": window["name"],
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"imu_samples": summary["imu"]["samples"],
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"lidar_frames": summary["lidar"]["frames"],
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"angle_source": summary["lidar"]["angle_source"],
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"out": str(out),
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}
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results.append(brief)
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print(json.dumps(brief, ensure_ascii=False, indent=2), flush=True)
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manifest = args.out_root / "export_windows_manifest.json"
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args.out_root.mkdir(parents=True, exist_ok=True)
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manifest.write_text(json.dumps(results, ensure_ascii=False, indent=2) + "\n", encoding="utf-8")
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print(f"manifest: {manifest}")
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())
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