auto slam

wu_xinjun

2022-03-21 74e72304b0f38fddbfe3d12a70d0c9a09d25e85f

 src/utils/bin2ply.py

@@ -8,31 +8,16 @@
sys.path.insert(0, src_path)

from microwave.parsers import MicroWaveParser
from tools import file_fliter
from .tools import file_fliter

if __name__ == "__main__":
    def help():
        print("Usage: bin2ply.py [BINfolder]")
        print("EXAMPLE: BIN2ply.py ./manual_ply/pod1-2012-12-12-12-12-12/")
        exit(1)
def bin2ply_tool(folder):
    bin_files = file_fliter(folder,'bin')

    if len(sys.argv) != 2:
        help()
    try:
        BINfolder = str(sys.argv[1])
        # example pod1-2022-02-21-13-25-03_packet125.udp --> 125
        # sort_lambda = lambda x:int(x.split('.')[0])
        bin_files = file_fliter(BINfolder,'bin')

    except Exception as e:
        print(e)
        help()
    
    for file in bin_files:

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

@@ -42,7 +27,7 @@
                FrameNumber = frame[1]
                point_cloud = frame[2]
                if len(point_cloud) != 0 :
                    with open(os.path.join(BINfolder,str(FrameNumber) +".ply"), "w") as f:
                    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")
@@ -58,4 +43,23 @@
                            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!")
                        print(time.asctime(),f"File {file} Frame {FrameNumber}.ply have been saved with {n_p} points!")



if __name__ == "__main__":
    def help():
        print("Usage: bin2ply.py [BINfolder]")
        print("EXAMPLE: BIN2ply.py ./manual_ply/pod1-2012-12-12-12-12-12/")
        exit(1)

    if len(sys.argv) != 2:
        help()
    try:
        BINfolder = str(sys.argv[1])

    except Exception as e:
        print(e)
        help()
    
    bin2ply_tool(BINfolder)