From e82c2a3abd0f1bd450bea46bc67b84a07017028e Mon Sep 17 00:00:00 2001
From: wu_xinjun <bent20140204@outlook.com>
Date: 星期一, 21 三月 2022 12:36:38 +0800
Subject: [PATCH] auto slam
---
src/utils/bin2ply.py | 46 +++++++++++++++++++++++++---------------------
1 files changed, 25 insertions(+), 21 deletions(-)
diff --git a/src/utils/bin2ply.py b/src/utils/bin2ply.py
index 90cb889..085d392 100644
--- a/src/utils/bin2ply.py
+++ b/src/utils/bin2ply.py
@@ -8,31 +8,16 @@
sys.path.insert(0, src_path)
from microwave.parsers import MicroWaveParser
-from tools import file_fliter
+from .tools import file_fliter
-if __name__ == "__main__":
- def help():
- print("Usage: bin2ply.py [BINfolder]")
- print("EXAMPLE: BIN2ply.py ./manual_ply/pod1-2012-12-12-12-12-12/")
- exit(1)
+def bin2ply_tool(folder):
+ bin_files = file_fliter(folder,'bin')
- if len(sys.argv) != 2:
- help()
- try:
- BINfolder = str(sys.argv[1])
- # example pod1-2022-02-21-13-25-03_packet125.udp --> 125
- # sort_lambda = lambda x:int(x.split('.')[0])
- bin_files = file_fliter(BINfolder,'bin')
-
- except Exception as e:
- print(e)
- help()
-
for file in bin_files:
filename = file
# (fn, ext) = os.path.splitext(filename)
- with open(os.path.join(BINfolder,file), "rb") as bin_file:
+ with open(os.path.join(folder,file), "rb") as bin_file:
buf = bin_file.read()
buf_data = MicroWaveParser.ParserFrame(buf)
@@ -42,7 +27,7 @@
FrameNumber = frame[1]
point_cloud = frame[2]
if len(point_cloud) != 0 :
- with open(os.path.join(BINfolder,str(FrameNumber) +".ply"), "w") as f:
+ 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")
@@ -58,4 +43,23 @@
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!")
\ No newline at end of file
+ print(time.asctime(),f"File {file} Frame {FrameNumber}.ply have been saved with {n_p} points!")
+
+
+
+if __name__ == "__main__":
+ def help():
+ print("Usage: bin2ply.py [BINfolder]")
+ print("EXAMPLE: BIN2ply.py ./manual_ply/pod1-2012-12-12-12-12-12/")
+ exit(1)
+
+ if len(sys.argv) != 2:
+ help()
+ try:
+ BINfolder = str(sys.argv[1])
+
+ except Exception as e:
+ print(e)
+ help()
+
+ bin2ply_tool(BINfolder)
\ No newline at end of file
--
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