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
---
/dev/null | 52
src/mannul_slam.py | 73
src/slam/slam.py | 85 +
.vscode/launch.json | 16
TEST_ply_show .bat | 2
TEST_Slam.bat | 31
src/utils/tools.py | 26
test60120.ply | 4422 +++++++++++++++++++++++++++++++++++++++++++++++++++++++
8 files changed, 4,654 insertions(+), 53 deletions(-)
diff --git a/.vscode/launch.json b/.vscode/launch.json
index c0e1721..5a99968 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -5,6 +5,22 @@
"version": "0.2.0",
"configurations": [
{
+ "name": "test_slam",
+ "type": "python",
+ "request": "launch",
+ "python": "${workspaceFolder}/env/aerial_deploy/python.exe",
+ "program": "${workspaceFolder}/src/mannul_slam.py",
+ "console": "integratedTerminal",
+ "args": [
+ "T:\\Data\\projects\\huaneng\\00_Docs\\slamtest",
+ "0",
+ "60",
+ "auto",
+ "test60120"
+ ],
+ "justMyCode": true
+ },
+ {
"name": "Client_test",
"type": "python",
"request": "launch",
diff --git a/TEST_Slam.bat b/TEST_Slam.bat
new file mode 100644
index 0000000..2fcf620
--- /dev/null
+++ b/TEST_Slam.bat
@@ -0,0 +1,31 @@
+@echo off
+
+@REM change to the filepath
+cd %~dp0
+echo change to path: %cd%
+
+set aerialpython=%cd%/env/aerial_deploy/python.exe
+set envsetting=%cd%/env/SettingEnv.bat
+
+@REM Setting the env
+if not exist %aerialpython% (
+ call %envsetting%
+)
+
+set folder=T:\\Data\\projects\\huaneng\\00_Docs\\slamtest
+set alpha=0
+set beta=60
+set gamma=auto
+set savename=test60120
+set PLYfile=./test60120.ply
+
+cd %~dp0
+echo change to path: %cd%
+
+%aerialpython% ./src/mannul_slam.py %folder% %alpha% %beta% %gamma% %savename%
+
+
+@REM -------------- Usage: plot_ply.py [PLYfile]"
+%aerialpython% ./src/utils/plot_ply.py %PLYfile%
+
+
diff --git a/TEST_ply_show .bat b/TEST_ply_show .bat
index aefd521..6a8d43f 100644
--- a/TEST_ply_show .bat
+++ b/TEST_ply_show .bat
@@ -15,7 +15,7 @@
cd %~dp0
echo change to path: %cd%
-set PLYfile=./Manual_Microwave_test/pod1-2022-02-22-15-44-51/28344.ply
+set PLYfile=./test60120.ply
@REM -------------- Usage: plot_ply.py [PLYfile]"
%aerialpython% ./src/utils/plot_ply.py %PLYfile%
pause
\ No newline at end of file
diff --git a/src/mannul_slam.py b/src/mannul_slam.py
new file mode 100644
index 0000000..e75156a
--- /dev/null
+++ b/src/mannul_slam.py
@@ -0,0 +1,73 @@
+import os,sys
+import numpy as np
+from slam.slam import compose_ply
+from utils import read_ply,write_ply,file_fliter
+
+def run(folder,alpha,beta,gamma,savename):
+
+ # literate the folder
+ dir_List_ = os.listdir(folder)
+ sort_lambda = lambda x:int(x.split("掳")[0])
+ dir_List_.sort(key=sort_lambda)
+
+ dir_List=[]
+ for k in dir_List_:
+ dir_List.append(k[:-1])
+
+
+ angle = []
+ index = 0
+ for i,degree in enumerate([alpha,beta,gamma]):
+ if degree == "auto":
+ degree = dir_List
+ index = i
+ angle.append(degree)
+
+ data = []
+
+ # iterate the auto angle degree
+ for an in angle[index]:
+ ply_with_mutiangle = []
+ for z in angle:
+ if isinstance(z,list):
+ z = an
+ ply_with_mutiangle.append(z)
+ ply_name_list = file_fliter(os.path.join(folder,an+"掳"), "ply",lambda x:int(x.split(".")[0]))
+ # select the first ply file
+ ply = read_ply(os.path.join(folder,an+"掳",ply_name_list[0]))
+ ply_with_mutiangle.append(ply)
+ data.append(ply_with_mutiangle)
+
+ # compose muti ply files to one ply file
+ cloudpoint = compose_ply(data)
+
+ # write the file
+ write_ply(cloudpoint,".", savename)
+
+
+
+
+
+
+if __name__ == "__main__":
+ def help():
+ print("Usage: mannul_slam.py [folder] [alpha] [beta] [gamma] [savename]")
+ print("EXAMPLE: mannul_slam.py T:\\Data\\chuizhi60掳_shuiping120掳 0 60 auto test60120")
+ exit(1)
+
+ if len(sys.argv) != 6:
+ help()
+ try:
+ folder = str(sys.argv[1])
+ alpha = str(sys.argv[2])
+ beta = str(sys.argv[3])
+ gamma = str(sys.argv[4])
+ savename = str(sys.argv[5])
+
+ except Exception as e:
+ print(e)
+ help()
+
+ run(folder,alpha,beta,gamma,savename)
+ print("Done")
+
diff --git a/src/slam/slam.py b/src/slam/slam.py
new file mode 100644
index 0000000..2f81fa3
--- /dev/null
+++ b/src/slam/slam.py
@@ -0,0 +1,85 @@
+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)
+
+from utils.tools import read_ply
+
+
+
+# 姣背娉㈠潗鏍囩郴涓哄彸鎵嬪潗鏍囩郴銆�
+# 姣背娉㈣澶囧垎鍒粫xyz杞寸殑鏃嬭浆瑙掑害鍒嗗埆涓� alpha, beta, gamma
+
+# 宸︿箻鏃嬭浆鐭╅樀鍒嗗埆涓� Rx_alpha, Ry_beta, Rz_gamma
+
+# Rx_alpha = [[1,0,0],[0,np.cos(alpha),np.sin(alpha)],[0,-np.sin(alpha),np.cos(alpha)]]
+# Ry_beta = [[np.cos(beta),0,-np.sin(beta)],[0,1,0],[np.sin(beta),0,np.cos(beta)]]
+# Rz_gamma = [[np.cos(gamma),np.sin(gamma),0],[-np.sin(gamma),np.cos(gamma),0],[0,0,1]]
+
+
+def get_rotation_matrix(alpha_degree,beta_degree,gamma_degree,verbose=0):
+ """generate a rotation matrix from the specific angel
+ """
+ rad_list = []
+ for i, angle in enumerate([alpha_degree,beta_degree,gamma_degree]):
+
+ if np.abs(float(angle))>360:
+ raise ValueError(f"incorrect angle value: value in [-360,360] is excepted, but {angle} is offered.")
+ rad_list.append(np.pi * float(angle) / 180)
+
+ alpha = rad_list[0]
+ Rx_alpha = np.matrix([[1,0,0],
+ [0,np.cos(rad_list[0]),np.sin(alpha)],
+ [0,-np.sin(alpha),np.cos(alpha)]])
+
+ beta = rad_list[1]
+ Ry_beta = np.matrix([[np.cos(beta),0,-np.sin(beta)],
+ [0,1,0],
+ [np.sin(beta),0,np.cos(beta)]])
+
+ gamma = rad_list[2]
+ Rz_gamma = np.matrix([[np.cos(gamma),np.sin(gamma),0],
+ [-np.sin(gamma),np.cos(gamma),0],
+ [0,0,1]])
+
+ rotation_matrix = Rx_alpha * Ry_beta * Rz_gamma
+
+ if verbose == 1:
+ print(f"\n{alpha_degree}, rad {alpha}, Rx_alpha \n", Rx_alpha)
+ print(f"\n{beta_degree}, {beta}, Ry_beta \n", Ry_beta)
+ print(f"\n{gamma_degree}, {gamma}, Rz_gamma\n",Rz_gamma)
+ print("\n rotation matrix\n",rotation_matrix)
+ else:
+ pass
+
+ return rotation_matrix
+
+def compose_ply(muti_ply_with_angle: list):
+
+ ply_nums = len(muti_ply_with_angle)
+ composed_ply_array = None
+
+ for i, ply_with_angle in enumerate( muti_ply_with_angle):
+ angle = ply_with_angle[:-1]
+ ply = ply_with_angle[-1]
+
+ if isinstance(ply,str):
+ ply = read_ply(ply)
+
+ rotation_matrix = get_rotation_matrix(angle[0],angle[1],angle[2])
+
+ # z = (X * Y^T)^T = (Y * X^T)
+ # 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 = np.array(rotated_ply)
+ else:
+ temp = np.array(rotated_ply)
+ composed_ply_array = np.concatenate((composed_ply_array,temp),axis= 0 )
+
+ composed_ply_array = composed_ply_array.reshape(-1,3)
+ return composed_ply_array
+
+
diff --git a/src/utils/slam.py b/src/utils/slam.py
deleted file mode 100644
index 946e612..0000000
--- a/src/utils/slam.py
+++ /dev/null
@@ -1,52 +0,0 @@
-import numpy as np
-from .tools import read_ply
-
-
-
-def get_rotation_matrix(angle:str):
- """generate a rotation matrix from the specific angel,
- the angle is the degree that coordinate system B rotated from coordinate A
- in direction from x to y with z is the axis.
-
- Args:
- angle (str): the angle, value in [-360,360]
-
-
- Returns:
- rotation_matrix (np.array): the rotation matrix
- """
-
- if np.abs(float(angle))>360:
- raise ValueError(f"incorrect angle value: value in [-360,360] is excepted, but {angle} is offered.")
- angle_float = np.pi * float(angle) / 180
- rotation_matrix = np.array(
- [[np.cos(angle_float,), np.sin(angle_float), 0.],
- [-np.sin(angle_float), np.cos(angle_float), 0.],
- [0., 0., 1.]],
- dtype=np.float16
- )
- return rotation_matrix
-
-def compose_ply(muti_ply_with_angle: list):
-
- ply_nums = len(muti_ply_with_angle)
- composed_ply_List = []
-
- for ply_with_angle in muti_ply_with_angle:
- angle = ply_with_angle[0]
- ply = ply_with_angle[1]
-
- if isinstance(ply,str):
- ply = read_ply(ply)
-
- rotation_matrix = get_rotation_matrix(angle)
- rotated_ply = np.matmul(rotation_matrix,ply)
- composed_ply_List.append(rotated_ply)
-
- composed_ply_array = np.array(composed_ply_List).reshape(-1,3)
- return composed_ply_array
-
-
-if __name__ == "__main__":
- m = get_rotation_matrix('180')
- print(m)
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')
diff --git a/test60120.ply b/test60120.ply
new file mode 100644
index 0000000..183c643
--- /dev/null
+++ b/test60120.ply
@@ -0,0 +1,4422 @@
+ply
+format ascii 1.0
+comment write_ply generated
+element vertex 4412
+property float x
+property float y
+property float z
+element face 0
+property list uchar int vertex_indices
+end_header
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Gitblit v1.9.1