提交保存

script/trans_and_export_data.py

@@ -463,16 +463,17 @@ def Save_Cloud_File(cloud):
     axis_pcd = o3d.geometry.TriangleMesh.create_coordinate_frame(size=5, origin=[0, 0, 0])
     drawpointcloud += [axis_pcd]
 
-    savefile = os.path.join(cloud.path,cloud.pcdName)
+    savefile = os.path.join(cloud["path"],cloud["pcdName"])
     o3d.io.write_point_cloud(savefile,pcd_save)
 
     custom_draw_geometry_with_key_callback(drawpointcloud, savefile)
     
 
 def Add_Cloud_box(save_cloud,add_idx,bbox,pickcloud):
-    save_cloud[add_idx].boxes.append(bbox)
-    save_cloud[add_idx].np_pcd += pickcloud
-    if save_cloud[0].isSave == 1:
+    save_cloud[add_idx]["boxes"].append(bbox)
+    tmp = np.vstack((save_cloud[add_idx]["np_pcd"],pickcloud))
+    save_cloud[add_idx]["np_pcd"] = tmp
+    if save_cloud[0]["isSave"] == 1:
         Save_Cloud_File(save_cloud[0])
         save_cloud.pop(0)
 
@@ -487,12 +488,12 @@ def Check_Add_Cloud_box(save_cloud,bbox,pcd,child_dir,pcdName,path):
         save_cloud[0].isSave = 1
     elif add_idx == -1:
         new_cloud = {}
-        new_cloud.np_pcd = np.array(pcd.points)
-        new_cloud.boxes = []
-        new_cloud.isSave = 0
-        new_cloud.child_dir = child_dir
-        new_cloud.pcdName = pcdName
-        new_cloud.path = path
+        new_cloud["np_pcd"] = np.array(pcd.points)
+        new_cloud["boxes"] = []
+        new_cloud["isSave"] = 0
+        new_cloud["child_dir"] = child_dir
+        new_cloud["pcdName"] = pcdName
+        new_cloud["path"] = path
         save_cloud.append(new_cloud)
         add_idx = 0;
     return add_idx