optimization for auto slam

wu_xinjun

2022-03-22 8f8099f618d6b910103555a04ae3b9830e1e6c92

 src/auto_slam.py

@@ -8,16 +8,18 @@
cudir = src_path = os.path.abspath(os.path.join(__file__, *(['..'] * 1)))
exe_path = os.path.abspath(os.path.join(cudir,"../RUN/Test_Servo.exe"))

def run(port,speed,degre_step,alpha,beta,gamma,microwaveHost,udp_packets,deviceName,saveFolder):
def run(port,speed,degre_step,time_delay,alpha,beta,gamma,microwaveHost,udp_packets,deviceName,saveFolder):

    # 旋转机构复位
    os.system(f"{exe_path} {port} 100 0")
    os.system(f"{exe_path} {port} 400 0")
    time.sleep(10)

    # 间隔获取udp
    for i in range(0,360,degre_step):
        os.system(f"{exe_path} {port} {speed} {i}")
        time.sleep(3)
        time.sleep(int(time_delay))
        subFolder = str(-i)
        print (f"Geting udp files with {subFolder} degree ...")
        udp_get_tool(microwaveHost,udp_packets,deviceName,saveFolder,subFolder)
    
    # 旋转机构复位
@@ -35,32 +37,34 @@


    # compose ply
    print("merge ply files, processing ...")
    compose_muti_ply(saveFolder,alpha,beta,gamma,"data")

if __name__ == "__main__":
    def help():
        print("Usage: auto_slam.py [port] [speed] [degre_step] [alpha] [beta] [gamma] [microwaveHost] [udp_packets] [deviceName] [saveFolder]")
        print("EXAMPLE: auto_slam.py COM11 100 5 0 20 auto 192.168.2.65 1000 pod1 ./data/run_test/")
        print("Usage: auto_slam.py [port] [speed] [degre_step] [time_delay] [alpha] [beta] [gamma] [microwaveHost] [udp_packets] [deviceName] [saveFolder]")
        print("EXAMPLE: auto_slam.py COM11 100 5 5 0 20 auto 192.168.2.65 1000 pod1 ./data/run_test/")
        exit(1)

    if len(sys.argv) != 11:
    if len(sys.argv) != 12:
        help()
    try:
        port = str(sys.argv[1])
        speed = str(sys.argv[2])
        degre_step = str(sys.argv[3])
        alpha = str(sys.argv[4])
        beta = str(sys.argv[5])
        gamma = str(sys.argv[6])
        microwaveHost = str(sys.argv[7])
        udp_packets = int(sys.argv[8])
        deviceName = str(sys.argv[9])
        saveFolder = str(sys.argv[10])
        degre_step = int(sys.argv[3])
        time_delay = int(sys.argv[4])
        alpha = str(sys.argv[5])
        beta = str(sys.argv[6])
        gamma = str(sys.argv[7])
        microwaveHost = str(sys.argv[8])
        udp_packets = int(sys.argv[9])
        deviceName = str(sys.argv[10])
        saveFolder = str(sys.argv[11])
    except Exception as e:
        print(e)
        help()

    run(port,speed,degre_step,alpha,beta,gamma,microwaveHost,udp_packets,deviceName,saveFolder)
    run(port,speed,degre_step,time_delay,alpha,beta,gamma,microwaveHost,udp_packets,deviceName,saveFolder)
    print("Done")