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from tkinter import Frame
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from .components import *
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from .constants import *
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from ctypes import sizeof, string_at
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perDetectionBytes = 8
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perTrackerBytes = 32
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class MicroWaveParser:
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@classmethod
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def ParserFrame(cls, buffer: bytes) -> list:
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"""
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解析完整的帧数据，数据包括数据头，数据体，数据尾，返回点云数组
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"""
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buffer_size = len(buffer)
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frame_start = 0
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frame_end = 0
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frame_id = 0
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ply_data_list = []
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while frame_start < buffer_size:
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# process the current frame
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header = HeaderBlock(buffer[frame_start:frame_start+sizeof(HeaderBlock)])
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if HEADER_MAGIC == string_at(header.Magic, 8):
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numsDetection = header.NumberOfDetection
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numsTracker = header.NumberOfTrack
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# get the end point of the current frame
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frame_end = frame_start + \
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sizeof(HeaderBlock) + \
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numsDetection * perDetectionBytes + \
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numsTracker * perTrackerBytes + \
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sizeof(FooterBlock)
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if frame_end <= buffer_size:
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# get the frame data and footer data
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frame = buffer[frame_start:frame_end]
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footer = FooterBlock(frame[-sizeof(FooterBlock):])
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# get the cloud point data
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point_cloud = []
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for i in range(numsDetection):
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point_data = frame[i * 8 + sizeof(HeaderBlock): (i + 1) * 8 + sizeof(HeaderBlock)]
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detection = DetectionBlock(header, footer, point_data)
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point = [detection.X, detection.Y, detection.Z]
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point_cloud.append(point)
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# append the point cloud data to the list
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ply_data_list.append([frame_id, header.FrameNumber, point_cloud])
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# update the parameters for next frame in the while loop
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frame_id += 1
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frame_start = frame_end
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else:
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raise ValueError("wrong header magic code for microwave data")
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return ply_data_list
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