rearrange the dir tree

wu_xinjun

2022-03-23 28668532ed2f97a3883be7e68bced252bd1f99bf

 src/slam/core.py

File was renamed from src/slam/slam.py
@@ -1,11 +1,11 @@
import numpy as np
import os, sys
# add python path of src to sys.path
src_path = os.path.join(__file__, *(['..'] * 2))
src_path = os.path.abspath(src_path)
sys.path.insert(0, src_path)
# # add python path of src to sys.path
# src_path = os.path.join(__file__, *(['..'] * 2))
# src_path = os.path.abspath(src_path)
# sys.path.insert(0, src_path)

from utils.tools import read_ply
from ..utils.tools import read_ply
from tqdm import tqdm


@@ -84,7 +84,7 @@
    """

    # 平移
    moved_data = current + np.array([x,y,z])
    moved_data = data + np.array([x,y,z])
    # 旋转
    rotation_matrix = get_rotation_matrix(-alpha,-beta,-gamma)
    rotated_data = np.matmul(moved_data,rotation_matrix)
@@ -97,10 +97,10 @@
    return rotated_data


def compose_ply(muti_ply_with_angle: list):
def merge_ply(muti_ply_with_angle: list):

    ply_nums = len(muti_ply_with_angle)
    composed_ply_array = None
    merged_ply_array = None

    print ("rotating the ply ...")
    for i, ply_with_angle in enumerate(tqdm(muti_ply_with_angle)):
@@ -116,18 +116,12 @@
        # np.matmul(rotation_matrix,ply.transpose()).transpose() == np.matmul(ply,rotation_matrix)
        rotated_ply = np.matmul(ply,rotation_matrix)
        if i == 0:
            composed_ply_array = rotated_ply.copy()
            merged_ply_array = rotated_ply.copy()
        else:
            composed_ply_array = np.concatenate((composed_ply_array,rotated_ply),axis= 0 )
            merged_ply_array = np.concatenate((merged_ply_array,rotated_ply),axis= 0 )
    
    composed_ply_array = np.array(composed_ply_array).reshape(-1,3)
    return composed_ply_array
    merged_ply_array = np.array(merged_ply_array).reshape(-1,3)
    return merged_ply_array


if __name__ == "__main__":
    current = np.array([[1,1,1],[1,3,9],[4,8,5]])
    print(current)
    target = transferTo(current,1,1,1,0,0,0,True)
    print(target)