提交修改

script/trans_and_export_data.py

@@ -438,6 +438,8 @@ def shadow_casting(points,bbox):
   far_points = bbox * 1.5
   hull = np.concatenate((bbox,far_points),axis=0)
   flag = in_hull(points,hull)
+  del_flag = in_hull(points,bbox)
+  flag = flag^del_flag
   #print("X"*100, np.count_nonzero(flag))
   #print(points[flag])
   return flag
@@ -445,11 +447,11 @@ def shadow_casting(points,bbox):
 def Save_Cloud_File(cloud):
     #去除boxx内的点
     drawpointcloud = []
-    for bbox in cloud.boxes:
-        flag_del = shadow_casting(cloud.np_pcd,bbox[1])
+    for bbox in cloud["boxes"]:
+        flag_del = shadow_casting(cloud["np_pcd"],bbox[1])
         #g_np_flag = g_np_flag & (~flag_del)
-        cloud.np_pcd = cloud.np_pcd[~flag_del]
-        drawboxesorgin = gen_o3d_3dbboxes(bbox[1])
+        cloud["np_pcd"] = cloud["np_pcd"][~flag_del]
+        drawboxes = gen_o3d_3dbboxes(bbox[1])
         drawpointcloud += [drawboxes]
         heading_point = (bbox[3][0] + bbox[3][2]) / 2
         heading_pcd = o3d.geometry.PointCloud()
@@ -458,7 +460,7 @@ def Save_Cloud_File(cloud):
         heading_pcd.colors = o3d.utility.Vector3dVector(colors)
         drawpointcloud += [heading_pcd]        
     pcd_save = o3d.geometry.PointCloud()
-    pcd_save.points = o3d.utility.Vector3dVector(cloud.np_pcd)
+    pcd_save.points = o3d.utility.Vector3dVector(cloud["np_pcd"])
     drawpointcloud += [pcd_save]
     axis_pcd = o3d.geometry.TriangleMesh.create_coordinate_frame(size=5, origin=[0, 0, 0])
     drawpointcloud += [axis_pcd]
@@ -471,8 +473,9 @@ def Save_Cloud_File(cloud):
 
 def Add_Cloud_box(save_cloud,add_idx,bbox,pickcloud):
     save_cloud[add_idx]["boxes"].append(bbox)
-    tmp = np.vstack((save_cloud[add_idx]["np_pcd"],pickcloud))
-    save_cloud[add_idx]["np_pcd"] = tmp
+    delflag = in_hull(save_cloud[add_idx]["np_pcd"],bbox[1])
+    save_cloud[add_idx]["np_pcd"] = save_cloud[add_idx]["np_pcd"][~delflag]
+    save_cloud[add_idx]["np_pcd"] = np.vstack((save_cloud[add_idx]["np_pcd"],pickcloud))
     if save_cloud[0]["isSave"] == 1:
         Save_Cloud_File(save_cloud[0])
         save_cloud.pop(0)
@@ -481,12 +484,22 @@ def Check_Add_Cloud_box(save_cloud,bbox,pcd,child_dir,pcdName,path):
     add_idx = -1
     for cloud_idx,cloud in enumerate(save_cloud):
         #查找可以添加的点云
-        add_idx = cloud_idx
-        break;
-    if add_idx == -1 and len(save_cloud) > 50:
+        interactive = 0
+        for box in cloud["boxes"]:
+            if abs(bbox[4][0] - box[4][0]) < (bbox[6][0] + box[6][0])/2 and abs(bbox[4][1] - box[4][1]) < (bbox[6][0] + box[6][0])/2:
+                interactive = 1
+        if interactive == 1 :
+            continue
+        else:
+            add_idx = cloud_idx
+            break;
+    if add_idx == -1 :
         #需要保存数据了
-        save_cloud[0].isSave = 1
-    elif add_idx == -1:
+        if len(save_cloud) >=  50 and  len(save_cloud[0]["boxes"]) >= 10  :
+            save_cloud[0]["isSave"] = 1
+        elif len(save_cloud) > 0 and len(save_cloud[0]["boxes"]) >20 :
+            save_cloud[0]["isSave"] = 1
+    if add_idx == -1:
         new_cloud = {}
         new_cloud["np_pcd"] = np.array(pcd.points)
         new_cloud["boxes"] = []
@@ -495,7 +508,7 @@ def Check_Add_Cloud_box(save_cloud,bbox,pcd,child_dir,pcdName,path):
         new_cloud["pcdName"] = pcdName
         new_cloud["path"] = path
         save_cloud.append(new_cloud)
-        add_idx = 0;
+        add_idx = len(save_cloud) - 1;
     return add_idx