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associate.py文件如下
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#!/usr/bin/python
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# Copyright (c) 2013, Juergen Sturm, TUM
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# Requirements: 
# sudo apt-get install python-argparse
 
"""
The Kinect provides the color and depth images in an un-synchronized way. This means that the set of time stamps from the color images do not intersect with those of the depth images. Therefore, we need some way of associating color images to depth images.
For this purpose, you can use the ''associate.py'' script. It reads the time stamps from the rgb.txt file and the depth.txt file, and joins them by finding the best matches.
"""
 
import argparse
import sys
import os
import numpy
 
 
def read_file_list(filename):
    """
    Reads a trajectory from a text file. 
    File format:
    The file format is "stamp d1 d2 d3 ...", where stamp denotes the time stamp (to be matched)
    and "d1 d2 d3.." is arbitary data (e.g., a 3D position and 3D orientation) associated to this timestamp. 
    Input:
    filename -- File name
    Output:
    dict -- dictionary of (stamp,data) tuples
    """
    file = open(filename)
    data = file.read()
    lines = data.replace(","," ").replace("\t"," ").split("\n") 
    list = [[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"]
    list = [(float(l[0]),l[1:]) for l in list if len(l)>1]
    return dict(list)
 
def associate(first_list, second_list,offset,max_difference):
    """
    Associate two dictionaries of (stamp,data). As the time stamps never match exactly, we aim 
    to find the closest match for every input tuple.
    Input:
    first_list -- first dictionary of (stamp,data) tuples
    second_list -- second dictionary of (stamp,data) tuples
    offset -- time offset between both dictionaries (e.g., to model the delay between the sensors)
    max_difference -- search radius for candidate generation
    Output:
    matches -- list of matched tuples ((stamp1,data1),(stamp2,data2))
    """
    first_keys = list(first_list.keys())
    second_keys = list(second_list.keys())
    potential_matches = [(abs(a - (b + offset)), a, b) 
                         for a in first_keys 
                         for b in second_keys 
                         if abs(a - (b + offset)) < max_difference]
    potential_matches.sort()
    matches = []
    for diff, a, b in potential_matches:
        if a in first_keys and b in second_keys:
            first_keys.remove(a)
            second_keys.remove(b)
            matches.append((a, b))
 
    matches.sort()
    return matches
 
if __name__ == '__main__':
 
    # parse command line
    parser = argparse.ArgumentParser(description='''
    This script takes two data files with timestamps and associates them   
    ''')
    parser.add_argument('first_file', help='first text file (format: timestamp data)')
    parser.add_argument('second_file', help='second text file (format: timestamp data)')
    parser.add_argument('--first_only', help='only output associated lines from first file', action='store_true')
    parser.add_argument('--offset', help='time offset added to the timestamps of the second file (default: 0.0)',default=0.0)
    parser.add_argument('--max_difference', help='maximally allowed time difference for matching entries (default: 0.02)',default=0.02)
    args = parser.parse_args()
 
    first_list = read_file_list(args.first_file)
    second_list = read_file_list(args.second_file)
 
    matches = associate(first_list, second_list,float(args.offset),float(args.max_difference))    
 
    if args.first_only:
        for a,b in matches:
            print("%f %s"%(a," ".join(first_list[a])))
    else:
        for a,b in matches:
            print("%f %s %f %s"%(a," ".join(first_list[a]),b-float(args.offset)," ".join(second_list[b])))

然后，执行以下代码，生成associations.txt文件

python associate.py rgb.txt depth.txt > associations.txt