def get_height_result_s6(in_dir, sensor_d, gridSize, convt):
if not os.path.isdir(in_dir):
fail('Could not find input directory: ' + in_dir)
return
xRange = -1
hist_data = np.zeros((4, 16, HIST_BIN_NUM))
hist_subplot_data = np.zeros((32, HIST_BIN_NUM))
# parse json file
metafile, hist, hist_subplot = analysis_utils.find_result_file_s6(
in_dir, sensor_d, gridSize)
if metafile == [] or hist == [] or hist_subplot == []:
return
metadata = analysis_utils.lower_keys(analysis_utils.load_json(metafile))
center_position = analysis_utils.get_position(metadata)
hist_data = np.load(hist, 'r')
hist_subplot_data = np.load(hist_subplot, 'r')
for i in range(PLOT_RANGE_NUM):
xmin = convt.np_bounds_subplot[i][0][0]
xmax = convt.np_bounds_subplot[i][0][1]
if (center_position[0] > xmin) and (center_position[0] <= xmax):
xRange = i + 1
break
return [xRange, hist_data, hist_subplot_data]
def gen_hist_analysis(ply_path, json_path, out_dir, convt):
baseName = os.path.basename(ply_path)
print(baseName)
if not os.path.isdir(ply_path):
fail('Could not find input directory: ' + ply_path)
if not os.path.isdir(out_dir):
os.mkdir(out_dir)
# parse json file
metas, ply_file_wests, ply_file_easts, gImgWests, pImgWests, gImgEasts, pImgEasts = analysis_utils.find_input_files_all(
ply_path, json_path)
for meta, ply_file_west, ply_file_east, gImgWest, pImgWest, gImgEast, pImgEast in zip(
metas, ply_file_wests, ply_file_easts, gImgWests, pImgWests,
gImgEasts, pImgEasts):
json_dst = os.path.join(out_dir, meta)
if os.path.exists(json_dst):
return
metadata = analysis_utils.lower_keys(
analysis_utils.load_json(os.path.join(json_path, meta))
) # make all our keys lowercase since keys appear to change case (???)
center_position = analysis_utils.get_position(
metadata) # (x, y, z) in meters
scanDirection = analysis_utils.get_direction(
metadata) # scan direction
plyData = PlyData.read(os.path.join(ply_path, ply_file_west))
print('west')
hist_w = gen_height_histogram(plyData, scanDirection, out_dir, 'w',
center_position, convt)
if hist_w.max() == 0.0:
return
histPath = os.path.join(out_dir, 'hist_w.npy')
try:
np.save(histPath, hist_w)
except Exception as ex:
fail(str(ex))
print("east")
plyData = PlyData.read(os.path.join(ply_path, ply_file_east))
hist_e = gen_height_histogram(plyData, scanDirection, out_dir, 'e',
center_position, convt)
if hist_e.max() == 0.0:
return
histPath = os.path.join(out_dir, 'hist_e.npy')
np.save(histPath, hist_e)
shutil.copyfile(os.path.join(json_path, meta), json_dst)
return
def gen_hist_s4_analysis(ply_path, json_path, out_dir, convt):
print('start processing gen_hist_s4_analysis')
if not os.path.isdir(ply_path):
fail('Could not find input directory: ' + ply_path)
if not os.path.isdir(out_dir):
os.mkdir(out_dir)
# parse json file
print('parse json file')
metas, ply_file_wests, ply_file_easts = analysis_utils.find_input_files(
ply_path, json_path)
for meta, ply_file_west, ply_file_east in zip(metas, ply_file_wests,
ply_file_easts):
json_dst = os.path.join(out_dir, meta)
if os.path.exists(json_dst):
return
metadata = analysis_utils.lower_keys(
analysis_utils.load_json(os.path.join(json_path, meta))
) # make all our keys lowercase since keys appear to change case (???)
center_position = analysis_utils.get_position(
metadata) # (x, y, z) in meters
scanDirection = analysis_utils.get_direction(
metadata) # scan direction
plywest = PlyData.read(os.path.join(ply_path, ply_file_west))
print('gen_height_histogram_four_plot_level west')
hist_w, hist_subplot_w = gen_height_histogram(plywest, scanDirection,
out_dir, 'w',
center_position, convt)
print('save npy file')
histPath = os.path.join(out_dir, 'hist_w.npy')
try:
np.save(histPath, hist_w)
except Exception as ex:
fail(str(ex))
histPath = os.path.join(out_dir, 'hist_subplot_w.npy')
np.save(histPath, hist_subplot_w)
plyeast = PlyData.read(os.path.join(ply_path, ply_file_east))
hist_e, hist_subplot_e = gen_height_histogram(plyeast, scanDirection,
out_dir, 'e',
center_position, convt)
histPath = os.path.join(out_dir, 'hist_e.npy')
np.save(histPath, hist_e)
histPath = os.path.join(out_dir, 'hist_subplot_e.npy')
np.save(histPath, hist_subplot_e)
shutil.copyfile(os.path.join(json_path, meta), json_dst)
return
def get_height_result(full_path, sensor_d, convt):
xRange = -1
metafile, hist = analysis_utils.find_result_files(full_path, sensor_d)
if metafile == [] or hist == []:
return
metadata = analysis_utils.lower_keys(analysis_utils.load_json(metafile))
center_position = analysis_utils.get_position(metadata)
hist_data = np.load(hist, 'r')
for i in range(convt.max_range):
xmin = convt.np_bounds[i][0][0]
xmax = convt.np_bounds[i][0][1]
if (center_position[0] > xmin) and (center_position[0] <= xmax):
xRange = i + 1
break
return [xRange, hist_data]
def gen_hist_s6_analysis(ply_path, json_path, out_dir, convt):
baseName = os.path.basename(ply_path)
print(baseName)
if not os.path.isdir(ply_path):
fail('Could not find input directory: ' + ply_path)
if not os.path.isdir(out_dir):
os.mkdir(out_dir)
# parse json file
metas, ply_file_wests, ply_file_easts, gImgWests, pImgWests, gImgEasts, pImgEasts = analysis_utils.find_input_files_all(
ply_path, json_path)
for meta, ply_file_west, ply_file_east, gImgWest, pImgWest, gImgEast, pImgEast in zip(
metas, ply_file_wests, ply_file_easts, gImgWests, pImgWests,
gImgEasts, pImgEasts):
json_dst = os.path.join(out_dir, meta)
if os.path.exists(json_dst):
return
metadata = analysis_utils.lower_keys(
analysis_utils.load_json(os.path.join(json_path, meta))
) # make all our keys lowercase since keys appear to change case (???)
center_position = analysis_utils.get_position(
metadata) # (x, y, z) in meters
scanDirection = analysis_utils.get_direction(
metadata) # scan direction
plySrc = PlyData.read(os.path.join(ply_path, ply_file_west))
pImg = cv2.imread(os.path.join(json_path, pImgWest), -1)
gImg = cv2.imread(os.path.join(json_path, gImgWest), -1)
print('west')
for gridSize in (0, 2, 4, 8, 10, 15):
plyData = analysis_utils.ply_down_sampling(pImg, gImg,
plySrc.elements[0],
gridSize, 0)
hist_w, hist_subplot_w = gen_height_histogram_four_plot_level(
plyData, scanDirection, out_dir, 'w', center_position, convt)
histPath = os.path.join(out_dir,
'hist_w_' + str(gridSize * 2) + '.npy')
try:
np.save(histPath, hist_w)
except Exception as ex:
fail(str(ex))
histPath = os.path.join(
out_dir, 'hist_subplot_w_' + str(gridSize * 2) + '.npy')
np.save(histPath, hist_subplot_w)
print("east")
plySrc = PlyData.read(os.path.join(ply_path, ply_file_east))
pImg = cv2.imread(os.path.join(json_path, pImgEast), -1)
gImg = cv2.imread(os.path.join(json_path, gImgEast), -1)
for gridSize in (0, 2, 4, 8, 10, 15):
plyData = analysis_utils.ply_down_sampling(pImg, gImg,
plySrc.elements[0],
gridSize, 0)
hist_e, hist_subplot_e = gen_height_histogram_four_plot_level(
plyData, scanDirection, out_dir, 'e', center_position, convt)
histPath = os.path.join(out_dir,
'hist_e_' + str(gridSize * 2) + '.npy')
np.save(histPath, hist_e)
histPath = os.path.join(
out_dir, 'hist_subplot_e_' + str(gridSize * 2) + '.npy')
np.save(histPath, hist_subplot_e)
shutil.copyfile(os.path.join(json_path, meta), json_dst)
return