import os,sys
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import numpy as np
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import time
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from slam.slam import compose_ply
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from utils import read_ply,write_ply,file_fliter,udp_get_tool,udp2bin_tool,bin2ply_tool
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from mannul_slam import run as compose_muti_ply
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cudir = src_path = os.path.abspath(os.path.join(__file__, *(['..'] * 1)))
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exe_path = os.path.abspath(os.path.join(cudir,"../RUN/Test_Servo.exe"))
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def run(port,speed,degre_step,alpha,beta,gamma,microwaveHost,udp_packets,deviceName,saveFolder):
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# 旋转机构复位
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os.system(f"{exe_path} {port} 100 0")
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# 间隔获取udp
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for i in range(0,360,degre_step):
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os.system(f"{exe_path} {port} {speed} {i}")
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time.sleep(3)
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subFolder = str(-i)
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udp_get_tool(microwaveHost,udp_packets,deviceName,saveFolder,subFolder)
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# 旋转机构复位
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os.system(f"{exe_path} {port} 100 0")
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# iterate the folder
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for root, dirs, files in os.walk(saveFolder,topdown=True):
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break
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for dir in dirs:
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# udp2bin bin2ply
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subdir = os.path.join(saveFolder,dir)
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udp2bin_tool(subdir)
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bin2ply_tool(subdir)
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# compose ply
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compose_muti_ply(saveFolder,alpha,beta,gamma,"data")
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if __name__ == "__main__":
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def help():
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print("Usage: auto_slam.py [port] [speed] [degre_step] [alpha] [beta] [gamma] [microwaveHost] [udp_packets] [deviceName] [saveFolder]")
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print("EXAMPLE: auto_slam.py COM11 100 5 0 20 auto 192.168.2.65 1000 pod1 ./data/run_test/")
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exit(1)
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if len(sys.argv) != 11:
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help()
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try:
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port = str(sys.argv[1])
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speed = str(sys.argv[2])
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degre_step = str(sys.argv[3])
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alpha = str(sys.argv[4])
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beta = str(sys.argv[5])
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gamma = str(sys.argv[6])
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microwaveHost = str(sys.argv[7])
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udp_packets = int(sys.argv[8])
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deviceName = str(sys.argv[9])
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saveFolder = str(sys.argv[10])
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except Exception as e:
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print(e)
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help()
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run(port,speed,degre_step,alpha,beta,gamma,microwaveHost,udp_packets,deviceName,saveFolder)
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print("Done")
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