Merge commit 'mqdev' into mqaddFeature

wu_xinjun

2022-06-07 da6ff0858f4997f79f5d8cdc88b7367a5cb710b1

 src/microwave/deviceTools.py

@@ -3,6 +3,8 @@
import time
import os, sys
import open3d as o3d
from multiprocessing import  Pool
import numpy as np

from ..utils import file_fliter, write_ply
from .servers import MicroWaveReceiver
@@ -109,41 +111,34 @@

    return bin_list

def bin2ply_f(folder,file):

    with open(os.path.join(folder,file), "rb") as bin_file:
        print(f"Extracting the data in {file} ...")
        buf = bin_file.read()
        buf_data = MicroWaveParser.ParserFrame(buf)
        for frame in buf_data:
            
            Frame_id = frame[0]
            FrameNumber = frame[1]
            point_cloud = np.array(frame[2])
            if len(point_cloud) == 0 :
                print(f"Notice: Frame {FrameNumber} is empty!")
            else:
                write_ply(point_cloud,folder,str(FrameNumber))

# bin2ply
def bin2ply_tool(folder):
def bin2ply_tool(folder,nums_worker = 4):
    pool = Pool(processes = nums_worker)

    bin_files = file_fliter(folder,'bin')

    for file in bin_files:
        pool.apply_async(func=bin2ply_f,args=(folder,file,))

        filename = file
        # (fn, ext) = os.path.splitext(filename)
        with open(os.path.join(folder,file), "rb") as bin_file:
            buf = bin_file.read()
            buf_data = MicroWaveParser.ParserFrame(buf)
    pool.close()
    pool.join()


            for frame in buf_data:
                Frame_id = frame[0]
                FrameNumber = frame[1]
                point_cloud = frame[2]
                if len(point_cloud) != 0 :
                    with open(os.path.join(folder,str(FrameNumber) +".ply"), "w") as f:
                        f.write("ply\n")
                        f.write("format ascii 1.0\n")
                        f.write("comment MicroWave2Ply generated\n")
                        f.write("element vertex %d\n" % len(point_cloud))
                        f.write("property float x\n")
                        f.write("property float y\n")
                        f.write("property float z\n")
                        f.write("element face 0\n")
                        f.write("property list uchar int vertex_indices\n")
                        f.write("end_header\n")
                        n_p = 0
                        for p in point_cloud:
                            x, y, z = p
                            f.write("{:.5f} {:.5f} {:.5f}\n".format(x, y, z))
                            n_p += 1
                        print(time.asctime(),f"File {file} Frame {FrameNumber}.ply have been saved with {n_p} points!")

def plot_ply(path):
    if isinstance(path,str):