From 28668532ed2f97a3883be7e68bced252bd1f99bf Mon Sep 17 00:00:00 2001
From: wu_xinjun <bent20140204@outlook.com>
Date: 星期三, 23 三月 2022 15:29:18 +0800
Subject: [PATCH] rearrange the dir tree
---
src/slam/core.py | 30 ++++++++++++------------------
1 files changed, 12 insertions(+), 18 deletions(-)
diff --git a/src/slam/slam.py b/src/slam/core.py
similarity index 84%
rename from src/slam/slam.py
rename to src/slam/core.py
index de3904d..c277da8 100644
--- a/src/slam/slam.py
+++ b/src/slam/core.py
@@ -1,11 +1,11 @@
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)
+# # 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
+from ..utils.tools import read_ply
from tqdm import tqdm
@@ -84,7 +84,7 @@
"""
# 骞崇Щ
- moved_data = current + np.array([x,y,z])
+ moved_data = data + np.array([x,y,z])
# 鏃嬭浆
rotation_matrix = get_rotation_matrix(-alpha,-beta,-gamma)
rotated_data = np.matmul(moved_data,rotation_matrix)
@@ -97,10 +97,10 @@
return rotated_data
-def compose_ply(muti_ply_with_angle: list):
+def merge_ply(muti_ply_with_angle: list):
ply_nums = len(muti_ply_with_angle)
- composed_ply_array = None
+ merged_ply_array = None
print ("rotating the ply ...")
for i, ply_with_angle in enumerate(tqdm(muti_ply_with_angle)):
@@ -116,18 +116,12 @@
# 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 = rotated_ply.copy()
+ merged_ply_array = rotated_ply.copy()
else:
- composed_ply_array = np.concatenate((composed_ply_array,rotated_ply),axis= 0 )
+ merged_ply_array = np.concatenate((merged_ply_array,rotated_ply),axis= 0 )
- composed_ply_array = np.array(composed_ply_array).reshape(-1,3)
- return composed_ply_array
+ merged_ply_array = np.array(merged_ply_array).reshape(-1,3)
+ return merged_ply_array
-
-if __name__ == "__main__":
- current = np.array([[1,1,1],[1,3,9],[4,8,5]])
- print(current)
- target = transferTo(current,1,1,1,0,0,0,True)
- print(target)
--
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