import os
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import sys
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# add python path of microwave to sys.path
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microwave_path = os.path.join(__file__, *(['..'] * 3))
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microwave_path = os.path.abspath(microwave_path)
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sys.path.insert(0, microwave_path)
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from microwave.parsers import MicroWaveParser
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if __name__ == '__main__':
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if len(sys.argv) != 2:
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print('Usage: python MicroWave2Ply.py [filename.bin]')
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exit(1)
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filename = sys.argv[1]
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(fn, ext) = os.path.splitext(filename)
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with open(filename, "rb") as udp_file:
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buf = udp_file.read()
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point_cloud = MicroWaveParser.ParserFrame(buf)
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with open(fn + ".ply", "w") as f:
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f.write("ply\n")
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f.write("format ascii 1.0\n")
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f.write("comment MicroWave2Ply generated\n")
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f.write("element vertex %d\n" % len(point_cloud))
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f.write("property float x\n")
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f.write("property float y\n")
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f.write("property float z\n")
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f.write("element face 0\n")
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f.write("property list uchar int vertex_indices\n")
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f.write("end_header\n")
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for p in point_cloud:
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x, y, z = p
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f.write("{:.5f} {:.5f} {:.5f}\n".format(x, y, z))
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print("Done!")
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