def __process_s3_pcl_files(self,
ros_topic=None,
files=None,
resp=None,
frame_id=None,
s3_client=None,
lidar_view=None,
vehicle_transform_matrix=None):
for f in files:
try:
path = resp.get(block=True).split(" ", 1)[0]
npz = np.load(path)
pcl_ts = int(f[2])
points, reflectance = RosUtil.parse_pcl_npz(
npz=npz,
lidar_view=lidar_view,
vehicle_transform_matrix=vehicle_transform_matrix)
if not np.isnan(points).any():
self.__record_pcl_msg(ros_topic=ros_topic,
points=points,
reflectance=reflectance,
pcl_ts=pcl_ts,
frame_id=frame_id,
s3_client=s3_client)
os.remove(path)
except BaseException as _:
exc_type, exc_value, exc_traceback = sys.exc_info()
traceback.print_tb(exc_traceback, limit=20, file=sys.stdout)
self.logger.error(str(exc_type))
self.logger.error(str(exc_value))
def __record_pcl_from_fs(self,
manifest=None,
ros_topic=None,
sensor=None,
frame_id=None):
pcl_reader = dict()
pcl_ts = dict()
npz = dict()
lidar_view = self.request.get("lidar_view", "camera")
vehicle_transform_matrix = self.__sensor_to_vehicle_matrix(
sensor=sensor) if lidar_view == "vehicle" else None
while True:
files = None
while not files and manifest.is_open():
files = manifest.fetch()
if not files:
break
count = read_pcl_from_fs(data_store=self.data_store,
files=files,
pcl_reader=pcl_reader,
pcl_ts=pcl_ts,
npz=npz)
for i in range(0, count):
pcl_reader[i].join()
points, reflectance = RosUtil.parse_pcl_npz(
npz=npz[i],
lidar_view=lidar_view,
vehicle_transform_matrix=vehicle_transform_matrix)
if not np.isnan(points).any():
self.__record_pcl_msg(ros_topic=ros_topic,
points=points,
reflectance=reflectance,
pcl_ts=pcl_ts[i],
frame_id=frame_id)
if self.request['preview']:
break
self.topic_active[ros_topic] = False