Add 'car/' from commit 'eee0e8dc445691e600680f4abc77f2814b20b054'

git-subtree-dir: car
git-subtree-mainline: 1d29a5526c
git-subtree-split: eee0e8dc44

car/tracking/lidar_loader.py

@@ -0,0 +1,26 @@
+# -*- coding: utf-8 -*-
+"""
+This module is a utility to load and save lidar 
+scans to disk. 
+As such, it is useful for testing, to create real lidar
+data that can be reused later, without needing to connect the lidar.
+"""
+
+from rplidar import RPLidar
+import pickle
+
+
+def get_scans(num_scans, device='/dev/ttyUSB0', measurements_per_scan=100):
+    lidar = RPLidar(device)
+    scans = lidar.iter_scans(measurements_per_scan)
+    return [next(scans) for i in range(0, num_scans)]
+
+
+def save_scans_bytes(scans, filename='out.pickle'):
+    with open(filename, 'wb') as f:
+        pickle.dump(scans, f)
+
+
+def load_scans_bytes_file(filename):
+    with open(filename, 'rb') as f:
+        return pickle.load(f)