get pointclouds from client

wu_xinjun

2022-06-20 6b37ae2b15eca92b3cacac0e113290eb28ccfa8b

 src/engine/MessageThreads.py

@@ -9,6 +9,7 @@
from typing import List
import numpy as np
import cv2
from tomlkit import value

# # add python path of src to sys.path
# src_path = os.path.join(__file__, *(['..'] * 2))
@@ -288,7 +289,7 @@

            # extracting the msg from queue
            msg = queue.get()
            msg_pb = pb.PlyMessage()
            msg_pb = pb.PlysMessage()
            msg_pb.ParseFromString(msg)

            # save the raw pb msg 
@@ -309,7 +310,7 @@
                rows = ply.rows
                cols = ply.cols
                order = ply.order
                dt = ply.d_types
                dt = ply.dtype

                # save the pointcloud array data
                if (data_byte is None) | (len(data_byte) != data_legth):
@@ -317,7 +318,7 @@
                else:
                    # frame the bytes to array
                    data_array = np.frombuffer(data_byte,dtype=dt)
                    data_array = data_array.reshape(rows,cols)
                    data_array = data_array.reshape(rows,cols,order=order)
                    # save the data with .ply format
                    filename = f"{msg_source}_{msg_timestamp}_pointcloud{id}"
                    write_ply(data_array,self.plysmsg_folder,filename)
@@ -354,27 +355,75 @@
                    source:str,
                    routing_key:str):

        # constract a images message
        imagesMsg = pb.ImagesMessage()
        imagesMsg.source = source
        curr_time = datetime.now().strftime('%Y-%m-%d-%H-%M-%S')
        imagesMsg.timestamp = curr_time
    # constract a images message
    imagesMsg = pb.ImagesMessage()
    imagesMsg.source = source
    curr_time = datetime.now().strftime('%Y-%m-%d-%H-%M-%S')
    imagesMsg.timestamp = curr_time

        for img in images:
            if img is not None:
                success,image_encoded = cv2.imencode(".jpg",img)
                if success:
                    image_bytes = image_encoded.tobytes()
                    image_length = len(image_bytes)
                    # add the encoded image to msg
                    image_item = imagesMsg.Image.add()
                    image_item.length = image_length
                    image_item.data = image_bytes
    for img in images:
        if img is not None:
            success,image_encoded = cv2.imencode(".jpg",img)
            if success:
                image_bytes = image_encoded.tobytes()
                image_length = len(image_bytes)
                # add the encoded image to msg
                image_item = imagesMsg.Image.add()
                image_item.length = image_length
                image_item.data = image_bytes

        # converting the pb image msg to bytes
        imageMsg_bytes = imagesMsg.SerializeToString()
        # add the imageMsg to the queue
        images_queue.put([routing_key,imageMsg_bytes])
    # converting the pb image msg to bytes
    imageMsg_bytes = imagesMsg.SerializeToString()
    # add the imageMsg to the queue
    images_queue.put([routing_key,imageMsg_bytes])

def send_pointcloud_tool(pointclouds:queue.Queue,
                        plys_queue:queue.Queue,
                        source:str,
                        routing_key:str):

    # constract a plys message
    plysMsg = pb.PlysMessage()
    plysMsg.source = source
    curr_time = datetime.now().strftime('%Y-%m-%d-%H-%M-%S')
    plysMsg.timestamp = curr_time


    run =True
    while run:
        while not pointclouds.empty():
            
            value = pointclouds.get()

            if value is not False:
                pointcloud = np.array(value)
                # get the attributes of the PointCloudItem
                rows = pointcloud.shape[0]
                cols = pointcloud.shape[1]
                order = "C"
                dtype = str(pointcloud.dtype)
                data = pointcloud.tobytes(order=order)
                length = len(data)

                # add the pointcloud to the msg
                item  = plysMsg.Plydata.add()
                item.length = length
                item.rows = rows
                item.cols = cols
                item.order = order
                item.dtype = dtype
                item.data = data

            else:
                # converting the pb ply msg to bytes
                plysMsg_bytes = plysMsg.SerializeToString()
                # add the plysMsg to the queue
                plys_queue.put([routing_key,plysMsg_bytes])

                # end the outer while loop and triminate this function
                run = False