import os,sys
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import numpy as np
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from slam.slam import compose_ply
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from utils import read_ply,write_ply,file_fliter
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def run(folder,alpha,beta,gamma,savename):
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# literate the folder
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dir_List_ = os.listdir(folder)
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sort_lambda = lambda x:int(x)
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dir_List_.sort(key=sort_lambda)
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dir_List=dir_List_
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angle = []
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index = 0
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for i,degree in enumerate([alpha,beta,gamma]):
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if degree == "auto":
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degree = dir_List
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index = i
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angle.append(degree)
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data = []
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# iterate the auto angle degree
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for an in angle[index]:
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ply_with_mutiangle = []
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for z in angle:
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if isinstance(z,list):
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z = an
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ply_with_mutiangle.append(-float(z))
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ply_name_list = file_fliter(os.path.join(folder,an), "ply",lambda x:int(x.split(".")[0]))
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# select the first ply file
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for i in range(len(ply_name_list)):
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ply_with_mutiangle_copy = ply_with_mutiangle.copy()
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ply = read_ply(os.path.join(folder,an,ply_name_list[i]))
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ply_with_mutiangle_copy.append(ply)
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data.append(ply_with_mutiangle_copy)
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# compose muti ply files to one ply file
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cloudpoint = compose_ply(data)
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# write the file
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write_ply(cloudpoint,".", savename)
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if __name__ == "__main__":
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def help():
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print("Usage: mannul_slam.py [folder] [alpha] [beta] [gamma] [savename]")
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print("EXAMPLE: mannul_slam.py T:\\Data\\chuizhi60°_shuiping120° 0 60 auto test60120")
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exit(1)
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if len(sys.argv) != 6:
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help()
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try:
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folder = str(sys.argv[1])
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alpha = str(sys.argv[2])
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beta = str(sys.argv[3])
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gamma = str(sys.argv[4])
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savename = str(sys.argv[5])
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except Exception as e:
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print(e)
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help()
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run(folder,alpha,beta,gamma,savename)
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print("Done")
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