From 7e23498bb27c683b74b62f1495bc610ccc04bad2 Mon Sep 17 00:00:00 2001
From: wu_xinjun <bent20140204@outlook.com>
Date: 星期三, 09 三月 2022 09:56:46 +0800
Subject: [PATCH] slam algorithm
---
src/utils/tools.py | 26 ++++++++++++++++++++++++++
1 files changed, 26 insertions(+), 0 deletions(-)
diff --git a/src/utils/tools.py b/src/utils/tools.py
index 463b80a..ee2f8de 100644
--- a/src/utils/tools.py
+++ b/src/utils/tools.py
@@ -1,5 +1,6 @@
import os, sys
import numpy as np
+import time
def file_fliter(folder:str, file_ext:str, sort_format):
@@ -38,6 +39,31 @@
return ply_array
+def write_ply(data:np.array,folder:str,name:str):
+ file = os.path.join(folder,name+".ply")
+ with open (file,'w') as f:
+ f.write("ply\n")
+ f.write("format ascii 1.0\n")
+ f.write("comment write_ply generated\n")
+ f.write("element vertex %d\n" % data.shape[0])
+ 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 data:
+ x = p[0]
+ y = p[1]
+ z = p[2]
+ f.write("{:.5f} {:.5f} {:.5f}\n".format(x, y, z))
+ n_p += 1
+ print(time.asctime(),f"Frame {name}.ply have been saved with {n_p} points!")
+
+
+
if __name__ == "__main__":
ply_array = read_ply('src\\microwave\\demo\\demoData\\2522.ply')
--
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