.vscode/launch.json
@@ -5,6 +5,22 @@ "version": "0.2.0", "configurations": [ { "name": "test_slam", "type": "python", "request": "launch", "python": "${workspaceFolder}/env/aerial_deploy/python.exe", "program": "${workspaceFolder}/src/mannul_slam.py", "console": "integratedTerminal", "args": [ "T:\\Data\\projects\\huaneng\\00_Docs\\slamtest", "0", "60", "auto", "test60120" ], "justMyCode": true }, { "name": "Client_test", "type": "python", "request": "launch", TEST_Slam.bat
New file @@ -0,0 +1,31 @@ @echo off @REM change to the filepath cd %~dp0 echo change to path: %cd% set aerialpython=%cd%/env/aerial_deploy/python.exe set envsetting=%cd%/env/SettingEnv.bat @REM Setting the env if not exist %aerialpython% ( call %envsetting% ) set folder=T:\\Data\\projects\\huaneng\\00_Docs\\slamtest set alpha=0 set beta=60 set gamma=auto set savename=test60120 set PLYfile=./test60120.ply cd %~dp0 echo change to path: %cd% %aerialpython% ./src/mannul_slam.py %folder% %alpha% %beta% %gamma% %savename% @REM -------------- Usage: plot_ply.py [PLYfile]" %aerialpython% ./src/utils/plot_ply.py %PLYfile%
@@ -15,7 +15,7 @@ cd %~dp0 echo change to path: %cd% set PLYfile=./Manual_Microwave_test/pod1-2022-02-22-15-44-51/28344.ply set PLYfile=./test60120.ply @REM -------------- Usage: plot_ply.py [PLYfile]" %aerialpython% ./src/utils/plot_ply.py %PLYfile% pause src/mannul_slam.py
New file @@ -0,0 +1,73 @@ import os,sys import numpy as np from slam.slam import compose_ply from utils import read_ply,write_ply,file_fliter def run(folder,alpha,beta,gamma,savename): # literate the folder dir_List_ = os.listdir(folder) sort_lambda = lambda x:int(x.split("°")[0]) dir_List_.sort(key=sort_lambda) dir_List=[] for k in dir_List_: dir_List.append(k[:-1]) angle = [] index = 0 for i,degree in enumerate([alpha,beta,gamma]): if degree == "auto": degree = dir_List index = i angle.append(degree) data = [] # iterate the auto angle degree for an in angle[index]: ply_with_mutiangle = [] for z in angle: if isinstance(z,list): z = an ply_with_mutiangle.append(z) 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) # compose muti ply files to one ply file cloudpoint = compose_ply(data) # write the file write_ply(cloudpoint,".", savename) if __name__ == "__main__": def help(): print("Usage: mannul_slam.py [folder] [alpha] [beta] [gamma] [savename]") print("EXAMPLE: mannul_slam.py T:\\Data\\chuizhi60°_shuiping120° 0 60 auto test60120") exit(1) if len(sys.argv) != 6: help() try: folder = str(sys.argv[1]) alpha = str(sys.argv[2]) beta = str(sys.argv[3]) gamma = str(sys.argv[4]) savename = str(sys.argv[5]) except Exception as e: print(e) help() run(folder,alpha,beta,gamma,savename) print("Done") Binary files differ
src/microwave/demo/demoData/2522.ply
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src/microwave/demo/demoData/2523.ply
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src/microwave/demo/demoData/2526.ply
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New file @@ -0,0 +1,85 @@ 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) from utils.tools import read_ply # 毫米波坐标系为右手坐标系。 # 毫米波设备分别绕xyz轴的旋转角度分别为 alpha, beta, gamma # 左乘旋转矩阵分别为 Rx_alpha, Ry_beta, Rz_gamma # Rx_alpha = [[1,0,0],[0,np.cos(alpha),np.sin(alpha)],[0,-np.sin(alpha),np.cos(alpha)]] # Ry_beta = [[np.cos(beta),0,-np.sin(beta)],[0,1,0],[np.sin(beta),0,np.cos(beta)]] # Rz_gamma = [[np.cos(gamma),np.sin(gamma),0],[-np.sin(gamma),np.cos(gamma),0],[0,0,1]] def get_rotation_matrix(alpha_degree,beta_degree,gamma_degree,verbose=0): """generate a rotation matrix from the specific angel """ rad_list = [] for i, angle in enumerate([alpha_degree,beta_degree,gamma_degree]): if np.abs(float(angle))>360: raise ValueError(f"incorrect angle value: value in [-360,360] is excepted, but {angle} is offered.") rad_list.append(np.pi * float(angle) / 180) alpha = rad_list[0] Rx_alpha = np.matrix([[1,0,0], [0,np.cos(rad_list[0]),np.sin(alpha)], [0,-np.sin(alpha),np.cos(alpha)]]) beta = rad_list[1] Ry_beta = np.matrix([[np.cos(beta),0,-np.sin(beta)], [0,1,0], [np.sin(beta),0,np.cos(beta)]]) gamma = rad_list[2] Rz_gamma = np.matrix([[np.cos(gamma),np.sin(gamma),0], [-np.sin(gamma),np.cos(gamma),0], [0,0,1]]) rotation_matrix = Rx_alpha * Ry_beta * Rz_gamma if verbose == 1: print(f"\n{alpha_degree}, rad {alpha}, Rx_alpha \n", Rx_alpha) print(f"\n{beta_degree}, {beta}, Ry_beta \n", Ry_beta) print(f"\n{gamma_degree}, {gamma}, Rz_gamma\n",Rz_gamma) print("\n rotation matrix\n",rotation_matrix) else: pass return rotation_matrix def compose_ply(muti_ply_with_angle: list): ply_nums = len(muti_ply_with_angle) composed_ply_array = None for i, ply_with_angle in enumerate( muti_ply_with_angle): angle = ply_with_angle[:-1] ply = ply_with_angle[-1] if isinstance(ply,str): ply = read_ply(ply) rotation_matrix = get_rotation_matrix(angle[0],angle[1],angle[2]) # z = (X * Y^T)^T = (Y * X^T) # 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 = np.array(rotated_ply) else: temp = np.array(rotated_ply) composed_ply_array = np.concatenate((composed_ply_array,temp),axis= 0 ) composed_ply_array = composed_ply_array.reshape(-1,3) return composed_ply_array
@@ -1,4 +1,6 @@ import os, sys import numpy as np import time def file_fliter(folder:str, file_ext:str, sort_format): @@ -13,5 +15,59 @@ target_files.sort(key=sort_format) return target_files def read_ply(path:str,start_line:int = 10): count = 0 ply_list = [] with open(path,"r") as ply_file: # read the line for line in ply_file.readlines(): # strip the str of the header if count < start_line: pass else: line_str_list = line.strip().split(' ') # convert the str type to float type line_float_list = [] for value in line_str_list: line_float_list.append(float(value)) ply_list.append(line_float_list) count += 1 ply_array = np.array(ply_list,dtype=np.float16) return ply_array def write_ply(data:np.array,folder:str,name:str): file = os.path.join(folder,name+".ply") with open (file,'w') as f: f.write("ply\n") f.write("format ascii 1.0\n") f.write("comment write_ply generated\n") f.write("element vertex %d\n" % data.shape[0]) 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 data: x = p[0] y = p[1] z = p[2] f.write("{:.5f} {:.5f} {:.5f}\n".format(x, y, z)) n_p += 1 print(time.asctime(),f"Frame {name}.ply have been saved with {n_p} points!") if __name__ == "__main__": ply_array = read_ply('src\\microwave\\demo\\demoData\\2522.ply') print(type(ply_array)) print(ply_array)
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