提交更新

script/trans_and_export_data.py

@@ -460,6 +460,7 @@ class NumpyEncoder(json.JSONEncoder):
 
 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 = {}
 
 def Save_Cloud_File(cloud,json):
     #去除boxx内的点
@@ -504,7 +505,7 @@ def Save_Cloud_File(cloud,json):
         axis_pcd = o3d.geometry.TriangleMesh.create_coordinate_frame(size=5, origin=[0, 0, 0])
         drawpointcloud += [axis_pcd]
         custom_draw_geometry_with_key_callback(drawpointcloud, "")
-
+    g_pcd_info[cloud["pcdName"]] = len(cloud["boxes"])
 
     
 
@@ -532,10 +533,14 @@ 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) >=  20 and  len(save_cloud[0]["boxes"]) >= 5  :
+        if index > 1 and len(save_cloud) >=  50 and  len(save_cloud[0]["boxes"]) >= 10  :
+            save_cloud[0]["isSave"] = 1
+        elif index > 1 and len(save_cloud) > 0 and len(save_cloud[0]["boxes"]) > 20 :
             save_cloud[0]["isSave"] = 1
-        elif index > 1 and len(save_cloud) > 0 and len(save_cloud[0]["boxes"]) > 10 :
+        elif index > 1 and len(save_cloud) >=  100 :
             save_cloud[0]["isSave"] = 1
+            if  len(save_cloud[0]["boxes"]) < 10:
+                print("save cloud file = ",save_cloud[0]["pcdName"], "  box num = ", len(save_cloud[0]["boxes"]))
     if add_idx == -1:
         new_cloud = {}
         new_cloud["np_pcd"] = np.array(pcd.points)
@@ -634,10 +639,10 @@ if __name__ == '__main__':
                 for bbox in bboxes:
                     # exportCenterBL = get_loc_from_origin([bbox[4][0], bbox[4][1], bbox[4][2]], 0, generate_Trans)
                     lidar_loc_ex,out_BL_ex,exportCenterBL = get_loc([bbox[4][0], bbox[4][1], bbox[4][2],bbox[6][0],bbox[6][1],bbox[6][2],bbox[2]], 0, generate_Trans,generate_kitti2origin)
-                    print(exportCenterBL)
+                    # print(exportCenterBL)
                     angle2 = car_yaw_cal(generate_car_yaw_cal_angle,bbox[2])
                     mapInfoExport = get_map_data(exportCenterBL[0],exportCenterBL[1],angle2)
-                    print("call get ex data isInMap = ",mapInfoExport)
+                    # print("call get ex data isInMap = ",mapInfoExport)
                     if mapInfoExport[0] != 1:
                         continue;
                     laneAngle = mapInfoExport[10];
@@ -646,8 +651,8 @@ if __name__ == '__main__':
                         detaAngel -= 360
                     while detaAngel < -180:
                         detaAngel += 360
-                    print("angle = ",angle2," laneAngle = ",laneAngle," detaAngel = ",detaAngel)  
-                    if abs(detaAngel) > 30:
+                    # print("angle = ",angle2," laneAngle = ",laneAngle," detaAngel = ",detaAngel)  
+                    if bbox[0] != "pedestrian" and abs(detaAngel) > 30:
                         continue;
                     #获取到汽车点云符合条件，可以添加到新点云里
                     # f1.write('%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n'%(exportCenterBL[0],exportCenterBL[1],bbox[4][0], bbox[4][1], bbox[4][2],bbox[6][0], bbox[6][1], bbox[6][2],angle2,laneAngle))
@@ -666,15 +671,17 @@ if __name__ == '__main__':
 
                     dz = np.array([0,0,delta_z])
                     pickcloud = np.add(pickcloud,dz)
-                    print(pickcloud)
+                    # print(pickcloud)
                     bbox[1] += dz
 
                     Add_Cloud_box(save_cloud_list,idx,bbox,pickcloud,save_json)
 
         if isDeal == 1:
             index += 1
-            if index >= 10:
-                break
+            if index % 10 == 0:
+                print("while  index = ",index)
+            # if index >= 10:
+            #     break
         else:
             isStop = 1
     for cloud in save_cloud_list:
@@ -682,6 +689,9 @@ if __name__ == '__main__':
     jsn_path = os.path.join(generate_root_path,generate_child_dir + ".json")
     with open(jsn_path,'w') as file_obj:
         json.dump(save_json,file_obj,cls=NumpyEncoder)
+    for file, num in g_pcd_info.items():
+        if num < 10:
+            print("file = ",file,", box num = ",num)
     # for dir in dirs:
     #     if os.path.isdir(origin_root_path + "/" + dir) == False:
     #         continue