def line_map(size, pre_data_array, lineMap_array):
lf = LidarFunctions()
data_id = pre_data_array[0]
data_size = int(pre_data_array[1])
data = np.frombuffer(pre_data_array.get_obj(),
c.c_uint16)[2:(data_size + 2)].reshape(-1, 2)
lineMap = lf.draw_line_map(np.zeros(size, dtype=c.c_uint8), data)
lineMap_array[0] = data_id
lineMap_array[1:] = lineMap.reshape(-1)
print("LineMap:", data_id)
def main_map(size, pre_data_array, rotation, position, mainMap_array):
lf = LidarFunctions()
data_id = pre_data_array[0]
data_size = pre_data_array[1]
position_data = (position[0], position[1])
grad = rotation
mainMap = np.frombuffer(mainMap_array.get_obj(), c.c_uint8).reshape(size)
mainMap = lf.draw_main_map(
np.frombuffer(pre_data_array.get_obj(), c.c_uint16)[2:].reshape(-1, 2),
position_data, size, mainMap, grad)
mainMap_array[:] = mainMap.reshape(-1)
def process_lidar_data(lidar_data_queue, pre_data_array, lineMap_array,
mainMap_array, rotation, size):
position = (size[0] // 2, size[1] // 2)
while True:
if not lidar_data_queue.empty():
st = time.time()
data_id, data = lidar_data_queue.get()
lf = LidarFunctions()
pre_data = lf.prepare_data(data, position)
pre_data_array[0] = data_id
pre_data_array[1] = pre_data.size
pre_data_array[2:pre_data.size + 2] = pre_data.reshape(-1)
mp.Process(target=process_data,
args=(size, pre_data_array, lineMap_array,
mainMap_array, rotation, position)).start()
def movement(last_pre_data, pre_data, rotation, size):
last_cp = draw_map(last_pre_data, size)
cp = draw_map(pre_data, size)
cp = rotate(cp, rotation)
# Queue
lidar_data = Queue()
mainMap_img_q = ImageQueue(5, 2)
pci_img_q = ImageQueue(3, 2)
lidar = Lidar(lidar_data)
lf = LidarFunctions()
print(lidar.start_lidar())
size = (5000, 5000)
position = (size[0] // 2, size[1] // 2)
mainMap = np.zeros(size, np.uint8)
# mainMapArray = Array()
new_scan_event = Event()
get_lidar_data = Process(target=lidar.get_scan_v3, args=(new_scan_event, 3))
start_time = time.time()
last_line_map = None
rotation_counter = 0
last_rotation = 0
new_scan_event.set()
try:
import numpy as np
import pandas as pd
import cv2
import sklearn
import matplotlib
from modules import LidarFunctions
lf = LidarFunctions()
data_frame = pd.read_csv("data_set.csv")
data_set1 = np.array([data_frame["0"], data_frame["1"]], dtype=np.uint8)
data_set2 = np.array([data_frame["2"], data_frame["3"]], dtype=np.uint8)
print(data_set1)
image1 = lf.draw_point_cloud(data_set1.T, (500, 500))
image2 = lf.draw_point_cloud(data_set2.T, (500, 500))
images = np.hstack((image1, image2))
print(images.shape)
cv2.imshow("Image", cv2.resize(images, (1000, 500)))
cv2.waitKey(0)
cv2.destroyAllWindows()
exit()
import cv2
import numpy as np
from modules import Lidar, LidarFunctions, Rotation, Motion, ImageQueue
from multiprocessing import Process, Queue, Event
import time
from imutils import rotate
lidar_data = Queue()
ImgQueue = ImageQueue(10, 1)
lidar = Lidar(lidar_data)
lf = LidarFunctions()
print(lidar.start_lidar())
size = (5000, 5000)
position = (size[0] // 2, size[1] // 2)
mainMap = np.zeros(size, np.uint8)
new_scan_event = Event()
get_lidar_data = Process(target=lidar.get_scan_v3, args=(new_scan_event, 6))
start_time = time.time()
last_line_map = None
last_image = None
last_rotation = None
rotation_counter = 0
new_scan_event.set()
Motion = Motion(size)
try:
get_lidar_data.start()
import cv2
import numpy as np
from modules import Lidar, LidarFunctions, Rotation, Motion, ImageQueue, Filter
from multiprocessing import Process, Queue, Event
import time
import pandas as pd
import sys
lidar_data = Queue()
ImgQueue = ImageQueue(10, 2)
lidar = Lidar(lidar_data)
lf = LidarFunctions()
print(lidar.start_lidar())
size = (5000, 5000)
position = (size[0] // 2, size[1] // 2)
new_scan_event = Event()
get_lidar_data = Process(target=lidar.get_scan_v3, args=(new_scan_event, 6))
start_time = time.time()
last_line_map = None
last_data_set = None
last_rotation = None
rotation_counter = 0
new_scan_event.set()
last_point_cloud = np.zeros(size, np.uint8)
try:
get_lidar_data.start()
import cv2 import numpy as np from modules import Lidar, LidarFunctions from multiprocessing import Process, Queue, Event import time from Process import cal_rot_move # Queue lidar_data = Queue() lidar = Lidar(lidar_data) lf = LidarFunctions() print(lidar.start_lidar()) size = (5000, 5000) position = (size[0] // 2, size[1] // 2) mainMap = np.zeros(size, np.uint8) new_scan_event = Event() get_lidar_data = Process(target=lidar.get_scan_v3, args=(new_scan_event, 3)) start_time = time.time() last_line_map = None grad_counter = 0 new_scan_event.set() try: get_lidar_data.start() while True: if not lidar_data.empty(): st = time.time()