add muti-frame ply to the composed ply

wu_xinjun

2022-03-14 9671b3582a1cb9bddf461908e83617cc22001bf5

 src/mannul_slam.py

@@ -7,12 +7,10 @@
    
    # literate the folder
    dir_List_ = os.listdir(folder)
    sort_lambda = lambda x:int(x.split("°")[0])
    sort_lambda = lambda x:int(x)
    dir_List_.sort(key=sort_lambda)
    
    dir_List=[]
    for k in dir_List_:
        dir_List.append(k[:-1])
    dir_List=dir_List_


    angle = []
@@ -32,11 +30,13 @@
            if isinstance(z,list):
                z = an
            ply_with_mutiangle.append(-float(z))
        ply_name_list = file_fliter(os.path.join(folder,an+"°"), "ply",lambda x:int(x.split(".")[0]))
        ply_name_list = file_fliter(os.path.join(folder,an), "ply",lambda x:int(x.split(".")[0]))
        # select the first ply file
        ply = read_ply(os.path.join(folder,an+"°",ply_name_list[0]))
        ply_with_mutiangle.append(ply)
        data.append(ply_with_mutiangle)
        for i in range(len(ply_name_list)):
            ply_with_mutiangle_copy = ply_with_mutiangle.copy()
            ply = read_ply(os.path.join(folder,an,ply_name_list[i]))
            ply_with_mutiangle_copy.append(ply)
            data.append(ply_with_mutiangle_copy)

    # compose muti ply files to one ply file
    cloudpoint = compose_ply(data)