post pool test 6-1-24

scripts/svo_processor/.gitignore

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+# Ignore video files
+*.avi
+*.mp4
+
+# Ignore any other unwanted files
+*.log
+*.tmp
+.DS_Store

scripts/svo_processor/README.md

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+# SVO to AVI Export and Video Processing Script
+
+## Overview
+
+This script processes ZED SVO files, converting them to AVI format and rectifying the videos using calibration data. It handles the following tasks:
+
+- Converts SVO files to side-by-side stereo AVI videos.
+- Extracts and rectifies the left frames from the stereo videos based on provided calibration data.
+- Saves the processed videos to specified directories.
+
+## Usage
+
+### Configuration Parameters
+
+| Parameter Name   | Type    | Default                   | Description                                           |
+|------------------|---------|---------------------------|-------------------------------------------------------|
+| `calib_file`     | `str`   | `../config/ZED_cal.conf` | Path to the ZED calibration file                      |
+| `svo_dir`        | `str`   | `../svos`                 | Directory containing the SVO files                    |
+| `stereo_dir`     | `str`   | `../stereo_raw`           | Directory to save the raw stereo videos               |
+| `left_dir`       | `str`   | `../left_raw`                 | Directory to save the extracted unrectified left frames |
+| `rectified_dir`  | `str`   | `../left_rectified`            | Directory to save the rectified videos                |
+| `save_left_raw`  | `bool`  | `False`                   | Boolean flag to save the unrectified left frames separately |
+
+### Running the Script
+
+1. Ensure your `config.yml` is set up correctly in the repository.
+2. Run the script:
+
+   ```bash
+   python process_svo.py
+   ```
+
+This will:
+
+- Convert SVO files to AVI format.
+- Extract and rectify left frames.
+- Save the processed videos to the specified directories.

scripts/svo_processor/config/ZED_cal.conf

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+[LEFT_CAM_2K]
+cx=1066.41
+cy=625.178
+fx=1415.39
+fy=1414.51
+k1=0.1816198718936867
+k2=0.4879032297013213
+k3=-0.438187135448847
+p1=0.005421094419821622
+p2=-0.01686702929877146
+
+[LEFT_CAM_FHD]
+cx=922.414
+cy=544.178
+fx=1415.39
+fy=1414.51
+k1=0.1816198718936867
+k2=0.4879032297013213
+k3=-0.438187135448847
+p1=0.005421094419821622
+p2=-0.01686702929877146
+
+[LEFT_CAM_HD]
+cx=619.707
+cy=360.589
+fx=707.696
+fy=707.254
+k1=0.1816198718936867
+k2=0.4879032297013213
+k3=-0.438187135448847
+p1=0.005421094419821622
+p2=-0.01686702929877146
+
+[LEFT_CAM_VGA]
+cx=325.353
+cy=187.794
+fx=353.848
+fy=353.627
+k1=0.1816198718936867
+k2=0.4879032297013213
+k3=-0.438187135448847
+p1=0.005421094419821622
+p2=-0.01686702929877146
+
+[LEFT_DISTO]
+k1=-3.9101563425884036
+k2=6.391454716307374
+k3=-0.3938564338149218
+k4=-4.1267886263427185
+k5=7.19124245711248
+k6=-1.7322743753038055
+p1=0.005276983500423566
+p2=-0.0187359775947092
+
+[MISC]
+Sensor_ID=0
+
+[RIGHT_CAM_2K]
+cx=1130.23
+cy=652.33
+fx=1424.67
+fy=1423.39
+k1=0.14714494650863738
+k2=0.6303797009809012
+k3=-0.565602882131213
+p1=0.004395821291027382
+p2=0.0017445550028253628
+
+[RIGHT_CAM_FHD]
+cx=986.228
+cy=571.33
+fx=1424.67
+fy=1423.39
+k1=0.14714494650863738
+k2=0.6303797009809012
+k3=-0.565602882131213
+p1=0.004395821291027382
+p2=0.0017445550028253628
+
+[RIGHT_CAM_HD]
+cx=651.614
+cy=374.165
+fx=712.335
+fy=711.693
+k1=0.14714494650863738
+k2=0.6303797009809012
+k3=-0.565602882131213
+p1=0.004395821291027382
+p2=0.0017445550028253628
+
+[RIGHT_CAM_VGA]
+cx=341.307
+cy=194.583
+fx=356.167
+fy=355.847
+k1=0.14714494650863738
+k2=0.6303797009809012
+k3=-0.565602882131213
+p1=0.004395821291027382
+p2=0.0017445550028253628
+
+[RIGHT_DISTO]
+k1=-2.5686231485650217
+k2=7.096133807450698
+k3=2.240837535046636
+k4=-2.7690481365031943
+k5=7.5668447708406505
+k6=0.1370213768080825
+p1=0.005613285783167361
+p2=0.0006467365383306965
+
+[STEREO]
+Baseline=134.277
+CV_2K=-0.00579565
+CV_FHD=-0.00579565
+CV_HD=-0.00579565
+CV_VGA=-0.00579565
+RX_2K=0.00235604
+RX_FHD=0.00235604
+RX_HD=0.00235604
+RX_VGA=0.00235604
+RZ_2K=0.00339379
+RZ_FHD=0.00339379
+RZ_HD=0.00339379
+RZ_VGA=0.00339379
+TY=-0.124973
+TZ=1.98663

scripts/svo_processor/config/config.yml

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+# Path to the ZED calibration file
+calib_file: "../config/ZED_cal.conf"
+
+# Directory containing the SVO files
+svo_dir: "../svos"
+
+# Directory to save the raw stereo videos converted from SVO
+stereo_dir: "../stereo_raw"
+
+# Directory to save the extracted unrectified left frames from stereo videos
+left_dir: "../left_raw"
+
+# Directory to save the rectified videos
+rectified_dir: "../left_rectified"
+
+# Boolean flag to determine whether to save the unrectified left frames separately
+save_left: False
+