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// and delegates to the individual converters
const converter = new KittiConverter(inputDir, outputDir, {
cameraSources,
disabledStreams,
fakeStreams,
imageMaxWidth,
imageMaxHeight
});
console.log(`Converting KITTI data at ${inputDir}`); // eslint-disable-line
console.log(`Saving to ${outputDir}`); // eslint-disable-line
converter.initialize();
// This abstracts the details of the filenames expected by our server
const sink = new FileSink(outputDir);
let xvizWriter = null;
if (writeJson) {
xvizWriter = new XVIZJSONWriter(sink);
} else if (writeProtobuf) {
xvizWriter = new XVIZProtobufWriter(sink);
} else {
xvizWriter = new XVIZBinaryWriter(sink);
}
// Write metadata file
const xvizMetadata = converter.getMetadata();
xvizWriter.writeMetadata(xvizMetadata);
// If we get interrupted make sure the index is written out
signalWriteIndexOnInterrupt(xvizWriter);
const converter = new NuTonomyConverter(inputDir, outputDir, samplesDir, staticData, {
disabledStreams,
sceneName,
fakeStreams,
imageMaxWidth,
imageMaxHeight,
keyframes
});
console.log(`Converting NuScenes data scene ${sceneName} at ${inputDir}`); // eslint-disable-line
console.log(`Saving to ${outputDir}`); // eslint-disable-line
converter.initialize();
// This abstracts the details of the filenames expected by our server
const sink = new FileSink(outputDir);
const xvizWriter = new XVIZBinaryWriter(sink);
// Write metadata file
const xvizMetadata = converter.getMetadata();
xvizWriter.writeMetadata(xvizMetadata);
const start = Date.now();
const limit = Math.min(messageLimit, converter.messageCount());
for (let i = 0; i < limit; i++) {
const xvizMessage = await converter.convertMessage(i);
if (xvizMessage) {
xvizWriter.writeMessage(i, xvizMessage);
}
}
}
createDir(directory);
const source = new FileSource(bag);
const provider = await XVIZProviderFactory.open({
options: {...args},
source,
root: bag
});
if (!provider) {
throw new Error('Failed to create ROSBagProvider');
}
// This abstracts the details of the filenames expected by our server
const sink = new FileSink(directory);
const iterator = provider.getMessageIterator({startTime: start, endTime: end});
if (!iterator.valid()) {
throw new Error('Error creating and iterator');
}
const writer = new XVIZFormatWriter(sink, {format});
const md = provider.xvizMetadata();
// Augment metadata with timing information
// if provided
setMetadataTimes(md.message().data, start, end);
writer.writeMetadata(md);
// If we get interrupted make sure the index is written out