From 33224139e89b8c971b8b2442a2aae9dbd92063f5 Mon Sep 17 00:00:00 2001
From: wu_xinjun <bent20140204@outlook.com>
Date: 星期五, 13 五月 2022 14:10:39 +0800
Subject: [PATCH] Merge commit '13530d0ad2c32608d0b46a5c16ad4ac0c25b59f1' into dev
---
src/microwave/deviceTools.py | 53 ++++++++++++++++++++++++-----------------------------
1 files changed, 24 insertions(+), 29 deletions(-)
diff --git a/src/microwave/deviceTools.py b/src/microwave/deviceTools.py
index b26422e..7031f4f 100644
--- a/src/microwave/deviceTools.py
+++ b/src/microwave/deviceTools.py
@@ -3,6 +3,8 @@
import time
import os, sys
import open3d as o3d
+from multiprocessing import Pool
+import numpy as np
from ..utils import file_fliter, write_ply
from .servers import MicroWaveReceiver
@@ -109,41 +111,34 @@
return bin_list
+def bin2ply_f(folder,file):
+
+ with open(os.path.join(folder,file), "rb") as bin_file:
+ print(f"Extracting the data in {file} ...")
+ buf = bin_file.read()
+ buf_data = MicroWaveParser.ParserFrame(buf)
+ for frame in buf_data:
+
+ Frame_id = frame[0]
+ FrameNumber = frame[1]
+ point_cloud = np.array(frame[2])
+ if len(point_cloud) == 0 :
+ print(f"Notice: Frame {FrameNumber} is empty!")
+ else:
+ write_ply(point_cloud,folder,str(FrameNumber))
+
# bin2ply
-def bin2ply_tool(folder):
+def bin2ply_tool(folder,nums_worker = 4):
+ pool = Pool(processes = nums_worker)
+
bin_files = file_fliter(folder,'bin')
for file in bin_files:
+ pool.apply_async(func=bin2ply_f,args=(folder,file,))
- filename = file
- # (fn, ext) = os.path.splitext(filename)
- with open(os.path.join(folder,file), "rb") as bin_file:
- buf = bin_file.read()
- buf_data = MicroWaveParser.ParserFrame(buf)
+ pool.close()
+ pool.join()
-
- 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(folder,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!")
def plot_ply(path):
if isinstance(path,str):
--
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