TEST_Slam.bat

@@ -12,13 +12,17 @@
    call %envsetting% 
)

set folder=T:\\Data\\projects\\huaneng\\00_Docs\\slamtest
echo [the folder example]: ./slamdata/
set /p folder=Please input the slam data folder:

@REM set folder=T:\\Data\\projects\\huaneng\\00_Docs\\slamtest
set alpha=0
set beta=0
set beta=-80
@REM 毫米波设备面朝下，顺时针方向旋转
set gamma=auto
set savename=test60120
set PLYfile=./test60120.ply

set PLYfile=./%savename%.ply

cd %~dp0
echo change to path: %cd%

 TEST_udp2bin.bat

@@ -13,8 +13,8 @@
)
cd %~dp0
echo change to path: %cd%

set UDPfolder=./Manual_Microwave_test/pod1-2022-02-21-15-34-45/
echo [the UDP folder example]: ./slamdata/60/
set /p UDPfolder=Please input the UDP folder:

@REM ---------------Usage: udp2bin.py [UDPfolder]
%aerialpython% ./src/utils/udp2bin.py %UDPfolder%

 TEST_udp2ply.bat

@@ -14,7 +14,8 @@
cd %~dp0
echo change to path: %cd%

set UDPfolder=./Manual_Microwave_test/pod1-2022-02-22-15-44-51/
echo [the UDP folder example]: ./slamdata/60/
set /p UDPfolder=Please input the UDP folder:

@REM ---------------Usage: udp2bin.py [UDPfolder]
%aerialpython% ./src/utils/udp2bin.py %UDPfolder%

 TEST_udp_get.bat

@@ -17,7 +17,15 @@
set MICROWAVEhost=192.168.2.65
SET PACKETthreshold=1000
SET DEVICEname=pod1
SET SAVEfolder=./Manual_Microwave_test

echo [the data folder example]: ./slamdata
SET /p SAVEfolder=Please input the data folder path:

echo [the sub folder example]: 60 
SET /p SUBfolder=Please input the sub folder name:

set folder=./%SAVEfolder%/%SUBfolder%/
echo the udp data will be saved in folder %folder%
@REM ---------------Usage: udp_get.py [MICROWAVEhost] [PACKETthreshold] [DEVICEname] [SAVEfolder]
%aerialpython% ./src/utils/udp_get.py %MICROWAVEhost% %PACKETthreshold% %DEVICEname% %SAVEfolder%
%aerialpython% ./src/utils/udp_get.py %MICROWAVEhost% %PACKETthreshold% %DEVICEname% %SAVEfolder% %SUBfolder%
pause

 src/mannul_slam.py

@@ -7,12 +7,10 @@
    
    # literate the folder
    dir_List_ = os.listdir(folder)
    sort_lambda = lambda x:int(x.split("°")[0])
    sort_lambda = lambda x:int(x)
    dir_List_.sort(key=sort_lambda)
    
    dir_List=[]
    for k in dir_List_:
        dir_List.append(k[:-1])
    dir_List=dir_List_


    angle = []
@@ -32,11 +30,13 @@
            if isinstance(z,list):
                z = an
            ply_with_mutiangle.append(-float(z))
        ply_name_list = file_fliter(os.path.join(folder,an+"°"), "ply",lambda x:int(x.split(".")[0]))
        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)
        for i in range(len(ply_name_list)):
            ply_with_mutiangle_copy = ply_with_mutiangle.copy()
            ply = read_ply(os.path.join(folder,an,ply_name_list[i]))
            ply_with_mutiangle_copy.append(ply)
            data.append(ply_with_mutiangle_copy)

    # compose muti ply files to one ply file
    cloudpoint = compose_ply(data)

 src/utils/udp_get.py

@@ -25,7 +25,10 @@
            start = datetime.datetime.now()
            if not os.path.exists(save_folder):
                os.mkdir(save_folder)
            path = os.path.join(save_folder,f"{device_id}-{start.strftime('%Y-%m-%d-%H-%M-%S')}")
            if sub_folder is not None:
                path = os.path.join(save_folder,sub_folder)
            else:
                path = os.path.join(save_folder,f"{device_id}-{start.strftime('%Y-%m-%d-%H-%M-%S')}")
            if not os.path.exists(path):
                os.mkdir(path)
            path = os.path.abspath(path)
@@ -46,17 +49,19 @@
if __name__ == '__main__':

    def help():
        print("Usage: udp_get.py [MICROWAVEhost] [PACKETthreshold] [DEVICEname] [SAVEfolder]")
        print("EXAMPLE: udp_get.py 192.168.2.65 1000 pod1 ./manual_ply")
        print("**************************ERROR**************************")
        print("Usage: udp_get.py [MICROWAVEhost] [PACKETthreshold] [DEVICEname] [SAVEfolder] [SUBfolder")
        print("EXAMPLE: udp_get.py 192.168.2.65 1000 pod1 ./manual_ply 60 \n")
        exit(1)

    if len(sys.argv) != 5:
        
    if len(sys.argv) != 6:
        help()
    try:
        MICROWAVEhost = str(sys.argv[1])
        PACKETthreshold = int(sys.argv[2])
        DEVICEname = str(sys.argv[3])
        SAVEfolder = str(sys.argv[4])
        SUBfolder = str(sys.argv[5])

        global packet_threshold
        packet_threshold = PACKETthreshold
@@ -64,6 +69,8 @@
        device_id = DEVICEname
        global save_folder
        save_folder = SAVEfolder
        global sub_folder
        sub_folder = SUBfolder

    except Exception as e:
        print(e)

 test60120.ply

Diff too large