From 8f8099f618d6b910103555a04ae3b9830e1e6c92 Mon Sep 17 00:00:00 2001
From: wu_xinjun <bent20140204@outlook.com>
Date: 星期二, 22 三月 2022 13:00:56 +0800
Subject: [PATCH] optimization for auto slam
---
src/auto_slam.py | 34 +++++++++++++++++++---------------
1 files changed, 19 insertions(+), 15 deletions(-)
diff --git a/src/auto_slam.py b/src/auto_slam.py
index 1a15834..dfac28c 100644
--- a/src/auto_slam.py
+++ b/src/auto_slam.py
@@ -8,16 +8,18 @@
cudir = src_path = os.path.abspath(os.path.join(__file__, *(['..'] * 1)))
exe_path = os.path.abspath(os.path.join(cudir,"../RUN/Test_Servo.exe"))
-def run(port,speed,degre_step,alpha,beta,gamma,microwaveHost,udp_packets,deviceName,saveFolder):
+def run(port,speed,degre_step,time_delay,alpha,beta,gamma,microwaveHost,udp_packets,deviceName,saveFolder):
# 鏃嬭浆鏈烘瀯澶嶄綅
- os.system(f"{exe_path} {port} 100 0")
+ os.system(f"{exe_path} {port} 400 0")
+ time.sleep(10)
# 闂撮殧鑾峰彇udp
for i in range(0,360,degre_step):
os.system(f"{exe_path} {port} {speed} {i}")
- time.sleep(3)
+ time.sleep(int(time_delay))
subFolder = str(-i)
+ print (f"Geting udp files with {subFolder} degree ...")
udp_get_tool(microwaveHost,udp_packets,deviceName,saveFolder,subFolder)
# 鏃嬭浆鏈烘瀯澶嶄綅
@@ -35,32 +37,34 @@
# compose ply
+ print("merge ply files, processing ...")
compose_muti_ply(saveFolder,alpha,beta,gamma,"data")
if __name__ == "__main__":
def help():
- print("Usage: auto_slam.py [port] [speed] [degre_step] [alpha] [beta] [gamma] [microwaveHost] [udp_packets] [deviceName] [saveFolder]")
- print("EXAMPLE: auto_slam.py COM11 100 5 0 20 auto 192.168.2.65 1000 pod1 ./data/run_test/")
+ print("Usage: auto_slam.py [port] [speed] [degre_step] [time_delay] [alpha] [beta] [gamma] [microwaveHost] [udp_packets] [deviceName] [saveFolder]")
+ print("EXAMPLE: auto_slam.py COM11 100 5 5 0 20 auto 192.168.2.65 1000 pod1 ./data/run_test/")
exit(1)
- if len(sys.argv) != 11:
+ if len(sys.argv) != 12:
help()
try:
port = str(sys.argv[1])
speed = str(sys.argv[2])
- degre_step = str(sys.argv[3])
- alpha = str(sys.argv[4])
- beta = str(sys.argv[5])
- gamma = str(sys.argv[6])
- microwaveHost = str(sys.argv[7])
- udp_packets = int(sys.argv[8])
- deviceName = str(sys.argv[9])
- saveFolder = str(sys.argv[10])
+ degre_step = int(sys.argv[3])
+ time_delay = int(sys.argv[4])
+ alpha = str(sys.argv[5])
+ beta = str(sys.argv[6])
+ gamma = str(sys.argv[7])
+ microwaveHost = str(sys.argv[8])
+ udp_packets = int(sys.argv[9])
+ deviceName = str(sys.argv[10])
+ saveFolder = str(sys.argv[11])
except Exception as e:
print(e)
help()
- run(port,speed,degre_step,alpha,beta,gamma,microwaveHost,udp_packets,deviceName,saveFolder)
+ run(port,speed,degre_step,time_delay,alpha,beta,gamma,microwaveHost,udp_packets,deviceName,saveFolder)
print("Done")
--
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