提交更新

script/trans_data.py

@@ -431,18 +431,29 @@ def read_yaml(path):
 
 if __name__ == '__main__':
 
-    cfg_path = "/home/oscar/ros/git/jfxmap_python/7-1.yaml"
-    cfg = read_yaml(cfg_path)
-    Trans=cfg.TRACKING.TRANS
-    Trans = np.array(Trans)
-    kitti2origin=cfg.POINTPILLARS.KITTI2ORIGIN
-    kitti2origin = np.array(kitti2origin)
-
-    root_path = "/home/oscar/ros/git/jfxmap_python/script/data_aug_samples/"
-    child_dir = "N10_1"
+  
+    origin_root_path = "/home/oscar/ros/git/jfxmap_python/script/data/10-1/"
+    generate_root_path = "/home/oscar/ros/git/jfxmap_python/script/data/5-3/"
+    origin_child_dir = "N10_1"
+    generate_child_dir = "N5_3"
+
+    origin_cfg_path = origin_root_path + "config/10-1.yaml"
+    origin_cfg = read_yaml(origin_cfg_path)
+    origin_Trans=origin_cfg.TRACKING.TRANS
+    origin_Trans = np.array(origin_Trans)
+    origin_kitti2origin=origin_cfg.POINTPILLARS.KITTI2ORIGIN
+    origin_kitti2origin = np.array(origin_kitti2origin)
+
+    generate_cfg_path = generate_root_path + "config/5-3.yaml"
+    generate_cfg = read_yaml(generate_cfg_path)
+    generate_Trans=generate_cfg.TRACKING.TRANS
+    generate_Trans = np.array(generate_Trans)
+    generate_kitti2origin=generate_cfg.POINTPILLARS.KITTI2ORIGIN
+    generate_kitti2origin = np.array(generate_kitti2origin)    
+
     #读标注的json文件
     anno = {}
-    jsn_file = os.path.join(root_path, child_dir + ".json")
+    jsn_file = os.path.join(origin_root_path, "origin/" + origin_child_dir + ".json")
     print(jsn_file)
 
     p_dir = "/home/oscar/ros/git/catkin_ws_xishan/src/jfx_traffic_events/thirdparty/jfxmap/"
@@ -450,13 +461,16 @@ if __name__ == '__main__':
     ret = init_jfxmap(p_dir,f_path)
     print(ret)
 
+    base_file_path = os.path.join(generate_root_path, "base/1633640721.417269000.pcd")
+    g_xyzi,g_pcd,g_converted_pcd = parse_pandarmind_pcd(base_file_path, rotMat[generate_child_dir])
+
     vis = True
     with open(jsn_file, 'r',encoding='utf-8',errors='ignore') as fp:
       jsn = json.load(fp)
       annos = jsn["annotations"]
       for an in annos:
-        fileuri = "10-1_pcds/" + an['fileuri'].split("/")[-1]
-        fileuri_path = os.path.join(root_path,fileuri)
+        fileuri = "origin/pcds/" + an['fileuri'].split("/")[-1]
+        fileuri_path = os.path.join(origin_root_path,fileuri)
         # print(fileuri_path)
         if os.path.isfile(fileuri_path):
           print(fileuri_path,"  ",fileuri)
@@ -472,7 +486,7 @@ if __name__ == '__main__':
       # print(bbox_flag)
       # print(bboxes)
       # 地面转成水平面，地面点的z值几乎差不多
-      xyzi,pcd,converted_pcd = parse_pandarmind_pcd(file_path, rotMat[child_dir])
+      xyzi,pcd,converted_pcd = parse_pandarmind_pcd(file_path, rotMat[origin_child_dir])
       print(xyzi)
       print(pcd)
       print(converted_pcd)
@@ -482,7 +496,7 @@ if __name__ == '__main__':
       drawpointcloud = []
       merge_geos = [pcd]
       for bbox in bboxes:
-        lidar_loc, out_BL, out_center_BL = get_loc([bbox[4][0], bbox[4][1], bbox[4][2], bbox[6][0], bbox[6][1], bbox[6][2], bbox[2]], 0, Trans, kitti2origin)
+        lidar_loc, out_BL, out_center_BL = get_loc([bbox[4][0], bbox[4][1], bbox[4][2], bbox[6][0], bbox[6][1], bbox[6][2], bbox[2]], 0, origin_Trans, origin_kitti2origin)
         print(out_center_BL)
         angle = bbox[2]/np.pi*180
         isInMap = get_map_data(out_center_BL[0],out_center_BL[1],angle)
@@ -519,8 +533,8 @@ if __name__ == '__main__':
         merge_geos += [axis_pcd]
         drawpointcloud += [axis_pcd]
         #pcd.paint_uniform_color([1.00, 0, 0])
-        savefile = "D:/pointcloud" + str(num) + ".pcd"
-        o3d.io.write_point_cloud(savefile,savecloud)
+        # savefile = "D:/pointcloud" + str(num) + ".pcd"
+        # o3d.io.write_point_cloud(savefile,savecloud)
         num += 1
         # custom_draw_geometry_with_key_callback(merge_geos, file_path)
         custom_draw_geometry_with_key_callback(drawpointcloud, file_path)