import argparse

import os, sys

from SensorData import SensorData

# params

parser = argparse.ArgumentParser()

# data paths

parser.add_argument('--filename', required=True, help='path to sens file to read')

parser.add_argument('--output_path', required=True, help='path to output folder')

parser.add_argument('--export_depth_images', dest='export_depth_images', action='store_true')

parser.add_argument('--export_color_images', dest='export_color_images', action='store_true')

parser.add_argument('--export_poses', dest='export_poses', action='store_true')

parser.add_argument('--export_intrinsics', dest='export_intrinsics', action='store_true')

parser.add_argument('--export_point_clouds', dest='export_point_clouds', action='store_true')

parser.add_argument('--frame_skip', type=int, default=1)

parser.set_defaults(export_depth_images=False, export_color_images=False, export_poses=False, export_intrinsics=False,

export_point_clouds=True)

opt = parser.parse_args()

print(opt)

def main():

if not os.path.exists(opt.output_path):

os.makedirs(opt.output_path)

# load the data

sys.stdout.write('loading %s...\n' % opt.filename)

sd = SensorData(opt.filename)

sys.stdout.write('loaded %s \n' % opt.filename)

if opt.export_depth_images:

sd.export_depth_images(os.path.join(opt.output_path, 'depth'), frame_skip=opt.frame_skip)

if opt.export_color_images:

sd.export_color_images(os.path.join(opt.output_path, 'color'), frame_skip=opt.frame_skip)

if opt.export_poses:

sd.export_poses(os.path.join(opt.output_path, 'pose'), frame_skip=opt.frame_skip)

if opt.export_intrinsics:

sd.export_intrinsics(os.path.join(opt.output_path, 'intrinsic'))

if opt.export_point_clouds:

sd.export_point_clouds(os.path.join(opt.output_path, 'point_clouds'), frame_skip=opt.frame_skip)

sys.stdout.write('%s Done! \n' % opt.filename)

if __name__ == '__main__':

main()