提交统计逻辑

script/trans_and_export_data_multi.py

@@ -550,7 +550,7 @@ def Check_Add_Cloud_box(save_cloud,bbox,pcd,pcdName,path,index):
         #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])*2/3 and abs(bbox[4][1] - box[4][1]) < (bbox[6][0] + box[6][0])*2/3:
+            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]):
                 interactive = 1
         if interactive == 1 :
             continue
@@ -559,11 +559,11 @@ 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) >=  50 and  len(save_cloud[0]["boxes"]) >= 10  :
+        if index == 1 and len(save_cloud) >= 100 and  len(save_cloud[0]["boxes"]) >= 5  :
             save_cloud[0]["isSave"] = 1
-        elif index == 1 and len(save_cloud) > 0 and len(save_cloud[0]["boxes"]) > 20 :
+        elif index == 1 and len(save_cloud) > 0 and len(save_cloud[0]["boxes"]) > 30 :
             save_cloud[0]["isSave"] = 1
-        elif index == 1 and len(save_cloud) >=  100 :
+        elif index == 1 and len(save_cloud) >=  200 :
             save_cloud[0]["isSave"] = 1
     max_cloud_list_num = 200
     if add_idx == -1:
@@ -580,12 +580,12 @@ 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 = 5
+Thread_NUM = 10
 threads = []
 threadID = 1
 
 class pcdThread (threading.Thread):
-    def __init__(self, threadID, name,start,idx, _dirs,_dir_pcd_list,save_list,jsn_list, trans,kit2o):
+    def __init__(self, threadID, name,start,idx, _dirs,_dir_pcd_list,save_list,jsn_list, trans,kit2o,box_info_count):
         threading.Thread.__init__(self)
         self.threadID = threadID
         self.name = name
@@ -597,6 +597,7 @@ class pcdThread (threading.Thread):
         self.jsn_list = jsn_list
         self.trans = trans
         self.kit2ori = kit2o
+        self.box_info_count = box_info_count
     def run(self):
         global g_save_count
         global MAX_SAVE_FILE_NUM
@@ -661,6 +662,7 @@ class pcdThread (threading.Thread):
                             print("pedestrian in cross, pos = [",exportCenterBL[0],",",exportCenterBL[1],"]")
                         #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))
+                        self.box_info_count[bbox[0]] += 1
                         name = pcd_file.split("/")[-1]
                         if g_saveFileType == 1:
                             name = name[0:-3] + "bin"
@@ -742,6 +744,7 @@ if __name__ == '__main__':
     save_json = {}
     save_json["annotations"] = []
     save_json_list = []
+    cloud_box_count = [] #统计box的数据
 
     dir_pcd_list = {}
     dirsAll = os.listdir(origin_root_path)
@@ -770,7 +773,9 @@ if __name__ == '__main__':
         save_cloud_list.append(list)
         jsn_list = []
         save_json_list.append(jsn_list)
-        thread = pcdThread(i, "Thread"+ str(i) ,i,Thread_NUM,dirs,dir_pcd_list,save_cloud_list[i],save_json_list[i],generate_Trans,generate_kitti2origin)
+        box_info_cout = {'big': 0, 'little':0,'pedestrian':0,'mid':0,'cyclist':0}
+        cloud_box_count.append(box_info_cout)
+        thread = pcdThread(i, "Thread"+ str(i) ,i,Thread_NUM,dirs,dir_pcd_list,save_cloud_list[i],save_json_list[i],generate_Trans,generate_kitti2origin,cloud_box_count[i])
         thread.start()
         threads.append(thread)
     for t in threads:
@@ -786,7 +791,17 @@ 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,indent=4)
-
+    totel_count = {'big': 0, 'little':0,'pedestrian':0,'mid':0,'cyclist':0}
+    for count in cloud_box_count:
+        totel_count['big'] += count['big']
+        totel_count['little'] += count['little']
+        totel_count['pedestrian'] += count['pedestrian']
+        totel_count['mid'] += count['mid']
+        totel_count['cyclist'] += count['cyclist']
+    cloud_box_count.append(totel_count)
+    count_jsn_path = os.path.join(generate_root_path,"count.json")
+    with open(count_jsn_path,'w') as file_o:
+        json.dump(cloud_box_count,file_o,cls=NumpyEncoder,indent=4)
 
     # isStop = 0
     # index = 0