Squashed commit of the following:

wu_xinjun

2022-03-15 4033aede52133f254f320838d2339ca3bfcb77e9

Squashed commit of the following:

commit 263e56f9ec8d94a984bc45588acb662c590e6e3a
Author: wu_xinjun <bent20140204@outlook.com>
Date:   Tue Mar 15 14:51:34 2022 +0800

    process mutiFrame bin file

 .vscode/launch.json

@@ -93,7 +93,7 @@
            "python": "${workspaceFolder}/env/aerial_deploy/python.exe",
            "program": "${workspaceFolder}/src/utils/udp2bin.py",
            "args": [
                "./Manual_Microwave/pod1-2022-02-21-15-34-45/"
                "./src/microwave/demo/demoData"
            ],
            "console": "integratedTerminal"
        },
@@ -104,7 +104,7 @@
            "python": "${workspaceFolder}/env/aerial_deploy/python.exe",
            "program": "${workspaceFolder}/src/utils/bin2ply.py",
            "args": [
                "./Manual_Microwave/pod1-2022-02-21-15-34-45/"
                "T:/Data/projects/huaneng/00_Docs/mutiFrameBin"
            ],
            "console": "integratedTerminal"
        }

 TEST_bin2ply.bat

@@ -14,7 +14,9 @@
cd %~dp0
echo change to path: %cd%

set BINfolder=./Manual_Microwave_test/pod1-2022-02-21-15-34-45/
echo [the folder example]: ./slamdata/
set /p BINfolder=Please input the bin data folder:


@REM ---------------Usage: bin2ply.py [BINfolder]
%aerialpython% ./src/utils/bin2ply.py %BINfolder%

 src/microwave/parsers.py

@@ -1,23 +1,60 @@

from tkinter import Frame
from .components import *
from .constants import *
from ctypes import sizeof, string_at


perDetectionBytes = 8
perTrackerBytes = 32

class MicroWaveParser:
    @classmethod
    def ParserFrame(cls, buffer: bytes) -> list:
        """
        解析完整的一帧数据，数据包括数据头，数据体，数据尾，返回点云数组
        解析完整的帧数据，数据包括数据头，数据体，数据尾，返回点云数组
        """
        header = HeaderBlock(buffer[:sizeof(HeaderBlock)])
        if HEADER_MAGIC == string_at(header.Magic, 8):
            footer = FooterBlock(buffer[-sizeof(FooterBlock):])
            point_cloud = []
            for i in range(header.NumberOfDetection):
                detection = DetectionBlock(header, footer, buffer[i * 8 + sizeof(HeaderBlock): (i + 1) * 8 + sizeof(HeaderBlock)])
                point = (detection.X, detection.Y, detection.Z)
                point_cloud.append(point)
            return point_cloud
        else:
            return []
        buffer_size = len(buffer)
        frame_start = 0
        frame_end = 0
        frame_id = 0

        ply_data_list = []

        while frame_start < buffer_size:
            # process the current frame
            header = HeaderBlock(buffer[frame_start:frame_start+sizeof(HeaderBlock)])
            if HEADER_MAGIC == string_at(header.Magic, 8):
                numsDetection = header.NumberOfDetection
                numsTracker = header.NumberOfTrack

                # get the end point of the current frame
                frame_end = frame_start + \
                            sizeof(HeaderBlock) + \
                            numsDetection * perDetectionBytes + \
                            numsTracker * perTrackerBytes + \
                            sizeof(FooterBlock)

                if frame_end <= buffer_size:
                    # get the frame data and footer data
                    frame = buffer[frame_start:frame_end]
                    footer = FooterBlock(frame[-sizeof(FooterBlock):])
                    # get the cloud point data
                    point_cloud = []

                    for i in range(numsDetection):

                        point_data = frame[i * 8 + sizeof(HeaderBlock): (i + 1) * 8 + sizeof(HeaderBlock)]
                        detection = DetectionBlock(header, footer, point_data)
                        point = (detection.X, detection.Y, detection.Z)
                        point_cloud.append(point)

                    # append the point cloud data to the list
                    ply_data_list.append([frame_id, header.FrameNumber, point_cloud])

                # update the parameters for next frame in the while loop
                frame_id += 1
                frame_start = frame_end
            else:
                raise ValueError("wrong header magic code for microwave data")
                
        return ply_data_list

 src/utils/bin2ply.py

@@ -21,8 +21,8 @@
    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', sort_lambda)
        # sort_lambda = lambda x:int(x.split('.')[0])
        bin_files = file_fliter(BINfolder,'bin')

    except Exception as e:
        print(e)
@@ -31,24 +31,31 @@
    for file in bin_files:

        filename = file
        (fn, ext) = os.path.splitext(filename)
        # (fn, ext) = os.path.splitext(filename)
        with open(os.path.join(BINfolder,file), "rb") as bin_file:
            buf = bin_file.read()
            point_cloud = MicroWaveParser.ParserFrame(buf)
            with open(os.path.join(BINfolder,fn +".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"Frame {fn}.ply have been saved with {n_p} points!")
            buf_data = MicroWaveParser.ParserFrame(buf)


            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(BINfolder,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!")

 src/utils/tools.py

@@ -2,7 +2,7 @@
import numpy as np
import time

def file_fliter(folder:str, file_ext:str, sort_format):
def file_fliter(folder:str, file_ext:str, sort_format = None):

    files_List = os.listdir(folder)
    target_files = []
@@ -11,8 +11,10 @@
    for file in files_List:
        if file.split('.')[-1] == file_ext:
            target_files.append(file)
    # sort the list by the sort_format
    target_files.sort(key=sort_format)

    if sort_format is not None:
        # sort the list by the sort_format
        target_files.sort(key=sort_format)

    return target_files