提交参数整理，可以方便修改

script/trans_and_export_data_multi_auto.py

@@ -485,12 +485,21 @@ def InitCarYawAngle():
     
 InitCarYawAngle()
 
+####################下面是可以调节的参数#################
+Thread_NUM = 10 #启动几个线程处理数据
+car_car_distance_ratio = 1.0 #车与车之间间距系数，范围 > 0.5, 数据越小车间距越小，最小为0.5
+max_cloud_boxes_num = 30 #每帧点云放入多少个车辆时可以保存点云数据了，不需要放入很多的车辆。
+need_save_cloud_list_max = 100 #处理队列数量多少时，开始检查保存点云数据，其中还需要参数来做判断
+min_cloud_boxes_num = 5 #当队列达到need_save_cloud_list_max数量之后，需要判断点云中车辆数据大于多少就保存。
+must_save_cloud_list_max_limit = 200 #当队列达到多少数量需要强行保存点云数据，为了避免队列无限大。
+lane_car_angle = 30 #道路和车辆朝向夹角小于多少认为符合要求
+MAX_SAVE_FILE_NUM = 10000 # 每个空点云最多生成多少帧点云数据
+#######################################################
 g_saveFileType = 1 #0为pcd文件，1是bin文件
 g_showCloud = 0 #0不显示，1显示
 g_pcd_info = {}
 g_no_save_count = 0
 g_save_count = 0
-MAX_SAVE_FILE_NUM = 10000
 g_thread_lock = threading.Lock()
 g_map_lock =  threading.Lock()
 
@@ -570,12 +579,17 @@ def Add_Cloud_box(save_cloud,add_idx,bbox,pickcloud,json,dir_g):
 
 def Check_Add_Cloud_box(save_cloud,bbox,pcd,pcdName,path,index):
     global g_save_count
+    global car_car_distance_ratio
+    global max_cloud_boxes_num
+    global need_save_cloud_list_max
+    global min_cloud_boxes_num
+    global must_save_cloud_list_max_limit
     add_idx = -1
     for cloud_idx,cloud in enumerate(save_cloud):
         #查找可以添加的点云
         interactive = 0
         for box in cloud["boxes"]:
-            if abs(bbox[4][0] - box[4][0]) < (bbox[6][0] + box[6][0]) and abs(bbox[4][1] - box[4][1]) < (bbox[6][0] + box[6][0]):
+            if abs(bbox[4][0] - box[4][0]) < (bbox[6][0] + box[6][0])*car_car_distance_ratio and abs(bbox[4][1] - box[4][1]) < (bbox[6][0] + box[6][0])*car_car_distance_ratio:
                 interactive = 1
         if interactive == 1 :
             continue
@@ -584,13 +598,13 @@ def Check_Add_Cloud_box(save_cloud,bbox,pcd,pcdName,path,index):
             break;
     if add_idx == -1 :
         #需要保存数据了
-        if index == 1 and len(save_cloud) >= 100 and  len(save_cloud[0]["boxes"]) >= 5  :
+        if index == 1 and len(save_cloud) >= need_save_cloud_list_max and  len(save_cloud[0]["boxes"]) >= min_cloud_boxes_num  :
             save_cloud[0]["isSave"] = 1
-        elif index == 1 and len(save_cloud) > 0 and len(save_cloud[0]["boxes"]) > 30 :
+        elif index == 1 and len(save_cloud) > 0 and len(save_cloud[0]["boxes"]) > max_cloud_boxes_num :
             save_cloud[0]["isSave"] = 1
-        elif index == 1 and len(save_cloud) >=  200 :
+        elif index == 1 and len(save_cloud) >=  must_save_cloud_list_max_limit :
             save_cloud[0]["isSave"] = 1
-    max_cloud_list_num = 200
+    max_cloud_list_num = must_save_cloud_list_max_limit
     if add_idx == -1:
         if len(save_cloud) < max_cloud_list_num:
             new_cloud = {}
@@ -605,7 +619,7 @@ def Check_Add_Cloud_box(save_cloud,bbox,pcd,pcdName,path,index):
             print(" save_cloud is too big > ",max_cloud_list_num)
     return add_idx
 
-Thread_NUM = 10
+
 threads = []
 threadID = 1
 
@@ -632,6 +646,7 @@ class pcdThread (threading.Thread):
         global g_saveFileType
         global g_map_lock
         global car_yaw_cal_angle
+        global lane_car_angle
         print ("开启线程：" + self.name)
         isStop = 0
         index = self.begin
@@ -685,7 +700,7 @@ class pcdThread (threading.Thread):
                         while detaAngel < -180:
                             detaAngel += 360
                         # print("angle = ",angle2," laneAngle = ",laneAngle," detaAngel = ",detaAngel)  
-                        if bbox[0] != "pedestrian" and abs(detaAngel) > 30:
+                        if bbox[0] != "pedestrian" and abs(detaAngel) > lane_car_angle:
                             continue
                         if bbox[0] == "pedestrian" and isInCross == 0:
                             continue
@@ -862,7 +877,7 @@ if __name__ == '__main__':
             t.join()
         for _ind,cloud_i in enumerate(save_cloud_list):
             for cloud in cloud_i:
-                if len(cloud["boxes"]) >=10:
+                if len(cloud["boxes"]) >= min_cloud_boxes_num:
                     Save_Cloud_File(cloud,save_json_list[_ind],dir_g)
         for t_idx in save_json_list:
             for jsn in t_idx: