提交文件名重复的问题

script/trans_and_export_data.py

@@ -461,8 +461,20 @@ class NumpyEncoder(json.JSONEncoder):
 g_saveFileType = 1 #0为pcd文件，1是bin文件
 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
 
 def Save_Cloud_File(cloud,json):
+    global g_saveFileType
+    global g_showCloud
+    global g_pcd_info
+    global g_no_save_count
+    global g_save_count
+    global MAX_SAVE_FILE_NUM
+    if g_save_count >= MAX_SAVE_FILE_NUM :
+        return
+    cloud["pcdName"] = str(g_save_count) + cloud["pcdName"]
     #去除boxx内的点
     drawpointcloud = []
     jsn_pcd = {}
@@ -506,19 +518,26 @@ def Save_Cloud_File(cloud,json):
         drawpointcloud += [axis_pcd]
         custom_draw_geometry_with_key_callback(drawpointcloud, "")
     g_pcd_info[cloud["pcdName"]] = len(cloud["boxes"])
+    g_save_count += 1
+    print("save file g_save_count = ",g_save_count,"  file = ",cloud["pcdName"])
 
     
 
 def Add_Cloud_box(save_cloud,add_idx,bbox,pickcloud,json):
+    global g_no_save_count    
     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:
-        Save_Cloud_File(save_cloud[0],json)
+        if len(save_cloud[0]["boxes"]) >=10:
+            Save_Cloud_File(save_cloud[0],json)
+        else:
+            g_no_save_count  += 1
         save_cloud.pop(0)
 
 def Check_Add_Cloud_box(save_cloud,bbox,pcd,pcdName,path,index):
+    global g_save_count
     add_idx = -1
     for cloud_idx,cloud in enumerate(save_cloud):
         #查找可以添加的点云
@@ -539,14 +558,12 @@ def Check_Add_Cloud_box(save_cloud,bbox,pcd,pcdName,path,index):
             save_cloud[0]["isSave"] = 1
         elif index > 1 and len(save_cloud) >=  100 :
             save_cloud[0]["isSave"] = 1
-            if  len(save_cloud[0]["boxes"]) < 10:
-                print("save cloud file = ",save_cloud[0]["pcdName"], "  box num = ", len(save_cloud[0]["boxes"]))
     if add_idx == -1:
         new_cloud = {}
         new_cloud["np_pcd"] = np.array(pcd.points)
         new_cloud["boxes"] = []
         new_cloud["isSave"] = 0
-        new_cloud["pcdName"] =  str(len(save_cloud)) + pcdName
+        new_cloud["pcdName"] =  pcdName
         new_cloud["path"] = path
         save_cloud.append(new_cloud)
         add_idx = len(save_cloud) - 1;
@@ -556,9 +573,9 @@ def Check_Add_Cloud_box(save_cloud,bbox,pcd,pcdName,path,index):
 
 if __name__ == '__main__':
 
-  
+    
     origin_root_path = "/media/sf_shared/nodes/" #读取数据的总目录
-    generate_root_path = "/home/oscar/ros/git/jfxmap_python/script/data/5-3/"
+    generate_root_path = "/media/sf_shared/5-3/"
     generate_car_yaw_cal_angle = 79.89299572540227
 
     generate_pcd_path = os.path.join(generate_root_path,"pcd/")
@@ -568,8 +585,6 @@ if __name__ == '__main__':
       os.remove(generate_pcd_path)
       os.mkdir(generate_pcd_path)
 
-    save_root_path = "/home/oscar/ros/git/jfxmap_python/script/"
-    
     generate_child_dir = "N5_3"
 
     generate_cfg_path = generate_root_path + "config/5-3.yaml"
@@ -619,6 +634,9 @@ if __name__ == '__main__':
     isStop = 0
     index = 0
     while isStop == 0:
+        if g_save_count >= MAX_SAVE_FILE_NUM:
+            print("finish g_save_count  = ",g_save_count)
+            break
         isDeal = 0
         for dir in dirs:
             if len(dir_pcd_list[dir][0]) > index:
@@ -636,6 +654,8 @@ if __name__ == '__main__':
                     continue      
                 xyzi,pcd,converted_pcd = parse_pandarmind_pcd(pcd_file, rotMat[child_dir])
                 xyz = np.array(converted_pcd.points)
+                if xyz.size == 0:
+                    continue;
                 for bbox in bboxes:
                     # exportCenterBL = get_loc_from_origin([bbox[4][0], bbox[4][1], bbox[4][2]], 0, generate_Trans)
                     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, generate_Trans,generate_kitti2origin)
@@ -684,14 +704,16 @@ if __name__ == '__main__':
             #     break
         else:
             isStop = 1
+            print("finish all the data")
     for cloud in save_cloud_list:
         Save_Cloud_File(cloud,save_json)
     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)
-    for file, num in g_pcd_info.items():
-        if num < 10:
-            print("file = ",file,", box num = ",num)
+    # for file, num in g_pcd_info.items():
+    #     print("file = ",file,", box num = ",num)
+    print("no save file num = ",g_no_save_count)
+            
     # for dir in dirs:
     #     if os.path.isdir(origin_root_path + "/" + dir) == False:
     #         continue