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fuse3.py
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import os
import numpy as np
BASE_DIR="./"
PC_DIR="test/velodyne"
LOC_DIR="test/locational"
def read_client_dir():
folders = next(os.walk(BASE_DIR))[1]
return folders
def get_datapoint_count(folders):
pc_count = -1
loc_count = -1
count = -1
for folder in folders:
pc_dir = os.path.join(BASE_DIR,folder,PC_DIR)
loc_dir = os.path.join(BASE_DIR,folder,LOC_DIR)
pc_count= len([name for name in os.listdir(pc_dir) if name.endswith('.bin')])
loc_count= len([name for name in os.listdir(loc_dir) if name.endswith('.txt')])
if pc_count == loc_count:
if count == pc_count or count == -1:
count = pc_count
else:
print("Folder %s doesn't match in count" %(folder))
return None
else:
print("Folder %s has unmatched loc and pc counts" %folder)
return None
return count
def format_saved_pc(pc):
return (np.reshape(pc, (-1, 4)))
def pc_transform(ref,loc,pc):
ref = np.array([float(i) for i in ref.split()])
loc = np.array([float(i) for i in loc.split()])
pc=format_saved_pc(pc)
#to_unreal_transform2 = get_matrix([0,0,0,0,-ref[4],0], 1.0,1.0,1.0)
yaw=np.radians(-ref[4])
rot = np.matrix(np.identity(2))
rot[0,0]=np.cos(yaw)
rot[0,1]=-np.sin(yaw)
rot[1,0]=np.sin(yaw)
rot[1,1]=np.cos(yaw)
rel_loc=loc-ref
#print(rel_loc)
rel_loc[0],rel_loc[1] = rot*np.array([[rel_loc[0]],[rel_loc[1]]])
#print(rel_loc)
txm_mat = get_matrix(rel_loc)
#txm_mat = np.dot(txm_mat,to_unreal_transform2)
pc[:,1]=-pc[:,1]
txmed_pc = txm_mat * pc.transpose()
return txmed_pc[0:3].transpose()
def save_fused(ind,client_dir,fused_pc):
fused_dir = os.path.join(BASE_DIR,client_dir,"fused_pc3")
if not os.path.exists(fused_dir):
os.makedirs(fused_dir)
fused_pc = np.append(fused_pc, np.ones((fused_pc.shape[0],1)), axis=1)
fused_pc=np.array(fused_pc).astype(np.float32)
#print(fused_pc)
#print(np.amax(fused_pc))
fused_pc.tofile(os.path.join(fused_dir,("%06d.bin"%ind)))
def fuse(ref_folder, folders, dp_count):
for i in range(dp_count):
print("Working on %06d.bin" %i)
ref_pc_path = os.path.join(BASE_DIR, ref_folder, PC_DIR, ("%06d.bin"%i))
ref_loc_path = os.path.join(BASE_DIR, ref_folder, LOC_DIR,("%06d.txt"%i))
fused = format_saved_pc(np.fromfile(ref_pc_path, '<f4'))[:,0:3]
ref = open(ref_loc_path, 'r').read()
for folder in folders:
if folder==ref_folder or (int(folder[-1])-int(ref_folder[-1]))%4==1:
continue
pc_path = os.path.join(BASE_DIR, folder, PC_DIR, ("%06d.bin"%i))
loc_path = os.path.join(BASE_DIR, folder, LOC_DIR,("%06d.txt"%i))
pc = np.fromfile(pc_path, '<f4')
loc = open(loc_path, 'r').read()
#print(fused)
txmed_pc = pc_transform(ref,loc,pc)
txmed_pc[:,1]=-txmed_pc[:,1]
fused=np.concatenate((fused, txmed_pc),axis=0)
#print(np.amax(fused))
save_fused(i,ref_folder,fused)
def get_matrix(rel_loc,sc_x=1.0, sc_y=1.0,sc_z=1.0):
"""
Creates matrix from carla transform.
"""
x,y,z,pitch,yaw,roll = rel_loc
#yaw=yaw+180
c_y = np.cos(np.radians(yaw))
s_y = np.sin(np.radians(yaw))
c_r = np.cos(np.radians(roll))
s_r = np.sin(np.radians(roll))
c_p = np.cos(np.radians(pitch))
s_p = np.sin(np.radians(pitch))
matrix = np.matrix(np.identity(4))
matrix[0, 3] = x
matrix[1, 3] = y
matrix[2, 3] = z
matrix[0, 0] = sc_x*c_p * c_y
matrix[0, 1] = sc_y*(c_y * s_p * s_r - s_y * c_r)
matrix[0, 2] = -sc_z*(c_y * s_p * c_r + s_y * s_r)
matrix[1, 0] = sc_x*s_y * c_p
matrix[1, 1] = sc_y*(s_y * s_p * s_r + c_y * c_r)
matrix[1, 2] = sc_z*(-s_y * s_p * c_r + c_y * s_r)
matrix[2, 0] = sc_x*s_p
matrix[2, 1] = -sc_y*(c_p * s_r)
matrix[2, 2] = sc_z*(c_p * c_r)
return matrix
def main():
folders=read_client_dir()
dp_count=get_datapoint_count(folders)
for folder in folders:
print("Working on %s"%folder)
fuse(folder, folders, dp_count)
main()