merge ground truth with pre-process data

nasa · Jul 19, 2023 · 88c735a · 88c735a
1 parent f4d7d0b
commit 88c735a
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Showing 3 changed files with 4 additions and 112 deletions.
diff --git a/anomaly/gmm-change-detection/scripts/gmm/ground_truth.py b/anomaly/gmm-change-detection/scripts/gmm/ground_truth.py
diff --git a/anomaly/gmm-change-detection/scripts/gmm/preprocess_data.py b/anomaly/gmm-change-detection/scripts/gmm/preprocess_data.py
@@ -166,15 +166,15 @@ def read_pc2_msgs(bagfile):
         "/hw/depth_haz/extended/amplitude_int",
     ]
     pc2_msg = None
-
-    count = 0
+    # First message should be saved
+    count = 100
     i = 0
     with rosbag.Bag(bagfile, "r") as bag:
         for topic, msg, t in bag.read_messages(topics_bag):
             if topic == "/hw/depth_haz/points":
-                count += 1
                 if count % skipped == 0:
                     pc2_msg = msg
+                count += 1
             if topic == "/gnc/ekf" and pc2_msg is not None:
 
                 pc2_body = translate_cam_frame(pc2_msg)

diff --git a/anomaly/gmm-change-detection/scripts/gmm/utilities.py b/anomaly/gmm-change-detection/scripts/gmm/utilities.py
@@ -23,7 +23,7 @@
 import pickle
 
 from gmm.emd_gmm import *
-from gmm.gmm2 import *
+from gmm.gmm_edit import *
 
 
 def get_filename(original_file):