提交更新

script/trans_and_export_data_multi.py

@@ -465,21 +465,23 @@ 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 = 100
+MAX_SAVE_FILE_NUM = 1000
 g_thread_lock = threading.Lock()
+g_map_lock =  threading.Lock()
 
 def Save_Cloud_File(cloud,json):
     global g_saveFileType
     global g_showCloud
     global g_save_count
     global MAX_SAVE_FILE_NUM
+    global g_thread_lock
 
     #去除boxx内的点
     drawpointcloud = []
     jsn_pcd = {}
-    
-    jsn_pcd["labels_box3D"] = []
+    jsn_pcd["fileuri"] = ""
     jsn_pcd["box_num"] = {'big': 0, 'little':0,'pedestrian':0,'mid':0,'cyclist':0}
+    jsn_pcd["labels_box3D"] = []
     for bbox in cloud["boxes"]:
         jsn_box = {}
         jsn_box["box3D"] = {}
@@ -526,7 +528,7 @@ def Save_Cloud_File(cloud,json):
         drawpointcloud += [axis_pcd]
         custom_draw_geometry_with_key_callback(drawpointcloud, "")
     g_save_count += 1
-    print("save file g_save_count = ",g_save_count,"  file = ",cloud["pcdName"])
+    print("save file g_save_count = ",g_save_count,"  file = ",cloud["pcdName"]," box num = ",jsn_pcd["box_num"] )
     g_thread_lock.release()
 
     
@@ -564,17 +566,20 @@ def Check_Add_Cloud_box(save_cloud,bbox,pcd,pcdName,path,index):
         elif index == 1 and len(save_cloud) >=  100 :
             save_cloud[0]["isSave"] = 1
     if add_idx == -1:
-        new_cloud = {}
-        new_cloud["np_pcd"] = np.array(pcd.points)
-        new_cloud["boxes"] = []
-        new_cloud["isSave"] = 0
-        new_cloud["pcdName"] =  pcdName
-        new_cloud["path"] = path
-        save_cloud.append(new_cloud)
-        add_idx = len(save_cloud) - 1;
+        if len(save_cloud) < 60:
+            new_cloud = {}
+            new_cloud["np_pcd"] = np.array(pcd.points)
+            new_cloud["boxes"] = []
+            new_cloud["isSave"] = 0
+            new_cloud["pcdName"] =  pcdName
+            new_cloud["path"] = path
+            save_cloud.append(new_cloud)
+            add_idx = len(save_cloud) - 1;
+        else:
+            print(" save_cloud is too big > 100")
     return add_idx
 
-Thread_NUM = 2
+Thread_NUM =3
 threads = []
 threadID = 1
 
@@ -595,12 +600,12 @@ class pcdThread (threading.Thread):
         global g_save_count
         global MAX_SAVE_FILE_NUM
         global g_saveFileType
+        global g_map_lock
         print ("开启线程：" + self.name)
         isStop = 0
         index = self.begin
         dir_pcd_list = self._dir_pcd_list
         dirs = self._dirs
-        thread_idx = self.begin
         save_cloud_list = self.save_list #保存点云的数组
         json_list = self.jsn_list
         while isStop == 0:
@@ -631,7 +636,9 @@ class pcdThread (threading.Thread):
                         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, self.trans,self.kit2ori)
                         # print(exportCenterBL)
                         angle2 = car_yaw_cal(generate_car_yaw_cal_angle,bbox[2])
+                        g_map_lock.acquire()
                         mapInfoExport = get_map_data(exportCenterBL[0],exportCenterBL[1],angle2)
+                        g_map_lock.release()
                         # print("call get ex data isInMap = ",mapInfoExport)
                         if mapInfoExport[0] != 1:
                             continue;
@@ -678,10 +685,10 @@ class pcdThread (threading.Thread):
 
             if isDeal == 1:
                 index += self.idx
-                if (index - self.begin) % 10*self.idx == 0:
-                    print("while thread idx = ",self.begin,"  index = ",index)
-                if index >= 50:
-                    break
+                if (index - self.begin) % 2*self.idx == 0:
+                    print("while thread idx = ",self.threadID,"  index = ",index," cloud list = ",len(save_cloud_list))
+                # if index >= 100:
+                #     break
             else:
                 isStop = 1
                 print("finish all the data")        
@@ -748,16 +755,16 @@ if __name__ == '__main__':
             for an in annos:
                 fileuri = os.path.join(origin_root_path,dir)+ "/pcd/" + an['fileuri'].split("/")[-1]
                 anno[fileuri] = an['labels_box3D']
+            fp.close()
         dir_pcd_list[dir].append(anno)
     for i in range(Thread_NUM):
         list = []
         save_cloud_list.append(list)
         jsn_list = []
         save_json_list.append(jsn_list)
-        thread = pcdThread(threadID, "Thread"+ str(i) ,i,Thread_NUM,dirs,dir_pcd_list,save_cloud_list[i],save_json_list[i],generate_Trans,generate_kitti2origin)
+        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)
         thread.start()
         threads.append(thread)
-        threadID += 1
     for t in threads:
         t.join()
     for _ind,cloud_i in enumerate(save_cloud_list):
@@ -770,7 +777,7 @@ 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)
+        json.dump(save_json,file_obj,cls=NumpyEncoder,indent=4)
 
 
     # isStop = 0