提交更新

script/trans_and_export_data_multi_auto.py

@@ -493,7 +493,7 @@ MAX_SAVE_FILE_NUM = 10000
 g_thread_lock = threading.Lock()
 g_map_lock =  threading.Lock()
 
-def Save_Cloud_File(cloud,json):
+def Save_Cloud_File(cloud,json,dir_g):
     global g_saveFileType
     global g_showCloud
     global g_save_count
@@ -545,7 +545,7 @@ def Save_Cloud_File(cloud,json):
         savefile = os.path.join(cloud["path"],cloud["pcdName"])
         cloud["np_pcd"] = cloud["np_pcd"].astype(np.float32)
         cloud["np_pcd"].tofile(savefile)
-    jsn_pcd["fileuri"] = "5-3/pcd/" + cloud["pcdName"]
+    jsn_pcd["fileuri"] = dir_g + "/pcd/" + cloud["pcdName"]
     json.append(jsn_pcd)
     if g_showCloud == 1:
         axis_pcd = o3d.geometry.TriangleMesh.create_coordinate_frame(size=5, origin=[0, 0, 0])
@@ -557,14 +557,14 @@ def Save_Cloud_File(cloud,json):
 
     
 
-def Add_Cloud_box(save_cloud,add_idx,bbox,pickcloud,json):
+def Add_Cloud_box(save_cloud,add_idx,bbox,pickcloud,json,dir_g):
     save_cloud[add_idx]["boxes"].append(bbox)
     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:
         if len(save_cloud[0]["boxes"]) >=10:
-            Save_Cloud_File(save_cloud[0],json)
+            Save_Cloud_File(save_cloud[0],json,dir_g)
         save_cloud.pop(0)
 
 def Check_Add_Cloud_box(save_cloud,bbox,pcd,pcdName,path,index):
@@ -609,7 +609,7 @@ threads = []
 threadID = 1
 
 class pcdThread (threading.Thread):
-    def __init__(self, threadID, name,start,idx, _dirs,_dir_pcd_list,save_list,jsn_list, trans,kit2o,box_info_count,_dir_g,_m):
+    def __init__(self, threadID, name,start,idx, _dirs,_dir_pcd_list,save_list,jsn_list, trans,kit2o,box_info_count,_dir_g,_m, pcd_path):
         threading.Thread.__init__(self)
         self.threadID = threadID
         self.name = name
@@ -624,6 +624,7 @@ class pcdThread (threading.Thread):
         self.box_info_count = box_info_count
         self.dir_g = _dir_g
         self.m = _m
+        self.pcd_path = pcd_path
     def run(self):
         global g_save_count
         global MAX_SAVE_FILE_NUM
@@ -670,6 +671,7 @@ class pcdThread (threading.Thread):
                         mapInfoExport = get_map_data(exportCenterBL[0],exportCenterBL[1],angle2)
                         g_map_lock.release()
                         # print("call get ex data isInMap = ",mapInfoExport)
+                        self.box_info_count["boxes"] += 1
                         if mapInfoExport[0] != 1:
                             continue;
                         laneAngle = mapInfoExport[10]
@@ -691,13 +693,14 @@ class pcdThread (threading.Thread):
                         #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
+                        self.box_info_count["choose"] += 1
                         name = pcd_file.split("/")[-1]
                         if g_saveFileType == 1:
                             name = name[0:-3] + "bin"
                         ind = 0
                         if index > self.begin :
                             ind = 1
-                        idx = Check_Add_Cloud_box(save_cloud_list,bbox,g_converted_pcd,name,generate_pcd_path,  ind)
+                        idx = Check_Add_Cloud_box(save_cloud_list,bbox,g_converted_pcd,name,self.pcd_path,  ind)
                         if idx == -1:
                             continue;
                         flag = in_hull(xyz,bbox[1])
@@ -712,7 +715,7 @@ class pcdThread (threading.Thread):
                         # print(pickcloud)
                         bbox[1] += dz
 
-                        Add_Cloud_box(save_cloud_list,idx,bbox,pickcloud,json_list)
+                        Add_Cloud_box(save_cloud_list,idx,bbox,pickcloud,json_list,self.dir_g)
 
             if isDeal == 1:
                 index += self.idx
@@ -732,6 +735,7 @@ if __name__ == '__main__':
     # origin_root_path = "/media/sf_shared/nodes/" #读取数据的总目录
     # generate_root_path = "/media/sf_shared/5-3/"
     origin_root_path = "/host/home/sata2/datasets/N19_annotations/" #读取数据的总目录
+    base_root_path = "/host/home/sata2/oscar/jfxmap_python/script/generate/"
     generate_root_path = "/host/home/sata2/oscar/jfxmap_python/script/generate/"
     # generate_car_yaw_cal_angle = 79.89299572540227
     # p_dir = "/home/oscar/ros/git/jfxmap_python/jfxmap/"
@@ -740,6 +744,7 @@ if __name__ == '__main__':
     debug = 0
     if debug == 1 :
         origin_root_path = "/media/sf_shared/nodes/"
+        base_root_path = "/home/oscar/ros/git/jfxmap_python/script/generate/"
         generate_root_path = "/media/sf_shared/generate/"
         p_dir = "/home/oscar/ros/git/jfxmap_python/jfxmap/"
 
@@ -747,10 +752,10 @@ if __name__ == '__main__':
     ret = init_jfxmap(p_dir,f_path)
     print(ret)
 
-    dirsAll_g = os.listdir(generate_root_path)
+    dirsAll_g = os.listdir(base_root_path)
     dirs_g =[]
     for file_g in dirsAll_g:
-        if os.path.isdir(generate_root_path + file_g) == True:
+        if os.path.isdir(base_root_path + file_g) == True:
             dirs_g.append(file_g)
 
     dir_pcd_list = {}
@@ -777,17 +782,25 @@ if __name__ == '__main__':
         dir_pcd_list[dir].append(anno)
 
     for dir_g in dirs_g:
-        pcd_list = glob.glob(os.path.join(generate_root_path + dir_g,"*.pcd"))
+        base_dir_path = os.path.join(base_root_path,dir_g)
+        pcd_list = glob.glob(os.path.join(base_dir_path,"*.pcd"))
         if len(pcd_list) <= 0 :
             continue
-        yaml_list = glob.glob(os.path.join(generate_root_path + dir_g,"*.yaml"))
+        yaml_list = glob.glob(os.path.join(base_dir_path,"*.yaml"))
         if len(yaml_list) <= 0 :
             continue
-        plane_list = glob.glob(os.path.join(generate_root_path + dir_g,"*.json"))
+        plane_list = glob.glob(os.path.join(base_dir_path,"*.json"))
         if len(plane_list) <= 0 :
             continue
 
-        generate_pcd_path = os.path.join(generate_root_path + dir_g,"pcd/")
+        generate_dir_path = os.path.join(generate_root_path , dir_g)
+        if os.path.exists(generate_dir_path) == False:
+            os.mkdir(generate_dir_path)
+        if os.path.isdir(generate_dir_path) == False:
+            os.remove(generate_dir_path)
+            os.mkdir(generate_dir_path)
+
+        generate_pcd_path = os.path.join(generate_dir_path,"pcd/")
         if os.path.exists(generate_pcd_path) == False:
             os.mkdir(generate_pcd_path)
         if os.path.isdir(generate_pcd_path) == False:
@@ -796,7 +809,7 @@ if __name__ == '__main__':
 
         generate_child_dir = dir_g
 
-        generate_cfg_path = os.path.join(generate_root_path + dir_g, yaml_list[0])
+        generate_cfg_path = os.path.join(base_dir_path, yaml_list[0])
         generate_cfg = read_yaml(generate_cfg_path)
         generate_Trans=generate_cfg.TRACKING.TRANS
         generate_Trans = np.array(generate_Trans)
@@ -805,7 +818,7 @@ if __name__ == '__main__':
 
 
 
-        base_file_path = os.path.join(generate_root_path + dir_g, pcd_list[0])
+        base_file_path = os.path.join(base_dir_path, pcd_list[0])
         g_xyzi,g_pcd,g_converted_pcd = parse_pandarmind_pcd(base_file_path, rotMat[generate_child_dir])
         # 计算点云图的地面平面
         # converted_points = np.array(g_converted_pcd.points)
@@ -815,7 +828,7 @@ if __name__ == '__main__':
 
         # seg,m = ground_segmentation(data=cropped_cropped[:,:3])
         # m =  [ 1.11119401e-03, -8.66741252e-04,  1.60358817e-01,  9.87057781e-01]
-        jsn_file = os.path.join(generate_root_path + dir_g, plane_list[0])
+        jsn_file = os.path.join(base_dir_path, plane_list[0])
         m = []
         with open(jsn_file, 'r',encoding='utf-8',errors='ignore') as fp:
             m = json.load(fp)
@@ -832,9 +845,9 @@ if __name__ == '__main__':
             save_cloud_list.append(list)
             jsn_list = []
             save_json_list.append(jsn_list)
-            box_info_cout = {'big': 0, 'little':0,'pedestrian':0,'mid':0,'cyclist':0}
+            box_info_cout = {'big': 0, 'little':0,'pedestrian':0,'mid':0,'cyclist':0,"boxes":0,"choose":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],dir_g,m)
+            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],dir_g,m,generate_pcd_path)
             thread.start()
             threads.append(thread)
         for t in threads:
@@ -847,18 +860,21 @@ if __name__ == '__main__':
             for jsn in t_idx:
                 save_json["annotations"].append(jsn)
 
-        jsn_path = os.path.join(generate_root_path + dir_g,generate_child_dir + ".json")
+        jsn_path = os.path.join(generate_dir_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}
+        totel_count = {'totel_big': 0, 'totel_little':0,'totel_pedestrian':0,'totel_mid':0,'totel_cyclist':0,"totel_boxes": 0,"totel_choose": 0,"totel_rate":0.0}
         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']
+            totel_count['totel_big'] += count['big']
+            totel_count['totel_little'] += count['little']
+            totel_count['totel_pedestrian'] += count['pedestrian']
+            totel_count['totel_mid'] += count['mid']
+            totel_count['totel_cyclist'] += count['cyclist']
+            totel_count['totel_boxes'] += count['boxes']
+            totel_count['totel_choose'] += count['choose']
+        totel_count['totel_rate'] = totel_count['totel_choose']/totel_count['totel_boxes'];
         cloud_box_count.append(totel_count)
-        count_jsn_path = os.path.join(generate_root_path + dir_g,"count.json")
+        count_jsn_path = os.path.join(generate_dir_path,"count.json")
         with open(count_jsn_path,'w') as file_o:
             json.dump(cloud_box_count,file_o,cls=NumpyEncoder,indent=4)