commit

src/python2/pjisuv/README.md

@@ -1,18 +0,0 @@
-# pjisuv-module
-nohup python2 pjisuv_merge.py > log/pjisuv_merge.out 2>&1 &
-nohup python2 pjisuv_csv.py > log/pjisuv_csv.out 2>&1 &
-nohup python2 pjisuv_camera.py > log/pjisuv_camera.out 2>&1 &
-nohup python2 pjisuv_pcd.py > log/pjisuv_pcd.out 2>&1 & 
-nohup python2 pjisuv_xosc.py > log/pjisuv_xosc.out 2>&1 &
-nohup python2 pjisuv_simulation.py > log/pjisuv_simulation.out 2>&1 &
-nohup python2 pjisuv_callback.py > log/pjisuv_callback.out 2>&1 &
-
-# 
-多功能车没有hmi，之前采取的方案是用orig.csv生成相同但不同名的两个xosc，我觉得不合理，现在只生成一个orig
-
-
-# oss 配置
-cname：http://open-bucket.oss.icvdc.com
-keyid：n8glvFGS25MrLY7j
-secret：xZ2Fozoarpfw0z28FUhtg8cu0yDc5d
-预设OSS路径： oss://open-bucket

src/python2/pjisuv/csv-pjisuv.py

@@ -7,7 +7,7 @@ from resource import drive_csv
 
 import logging
 
-path1 = '/mnt/disk001/cicv-data-closedloop/python2-pjisuv-module/'
+path1 = '/mnt/disk001/dcl_data_process/src/python2/pjisuv/'
 
 logging.basicConfig(filename=path1 + 'log/csv.log', level=logging.INFO,
                     format='%(asctime)s - %(levelname)s - %(message)s')

src/python2/pjisuv/pcd-pjisuv_004.py

@@ -1,113 +0,0 @@
-# -*- coding: utf-8 -*-
-import os
-import time
-import oss2
-from resource import pcd_overlook_mp4
-from resource import pcd_forwardlook_mp4
-import logging
-
-path1 = '/mnt/disk001/cicv-data-closedloop/python2-pjisuv-module/'
-
-logging.basicConfig(filename=path1 + 'log/pcd_pjisuv-004.log', level=logging.INFO,
-                    format='%(asctime)s - %(levelname)s - %(message)s')
-
-key1 = 'pjisuv/pjisuv-004/'
-sleep_time = 60  # 每多少秒扫描一次
-
-
-def parse_to_pcd_mp4(merged_bag_file_path,merged_bag_object_key1, parse_prefix_full1, local_parse_dir, local_delete_list):
-    try:
-        logging.info('生成点云视频 %s' % merged_bag_file_path)
-        local_pcd_dir_overlook, hz = pcd_overlook_mp4.parse(merged_bag_file_path, local_parse_dir)
-        local_pcd_dir_forward, hz = pcd_forwardlook_mp4.parse(merged_bag_file_path, local_parse_dir)
-        local_pcd_mp4_file_overlook = local_pcd_dir_overlook + '/pcd_overlook.mp4'
-        local_pcd_mp4_file_forwardlook = local_pcd_dir_forward + '/pcd_forwardlook.mp4'
-        oss_csv_object_key1 = parse_prefix_full1 + 'pcd_overlook_' + str(hz) + '.mp4'
-        oss_csv_object_key11 = parse_prefix_full1 + 'pcd_overlook.mp4'
-        oss_csv_object_key2 = parse_prefix_full1 + 'pcd_forwardlook_' + str(hz) + '.mp4'
-        oss_csv_object_key21 = parse_prefix_full1 + 'pcd_forwardlook.mp4'
-        local_delete_list.append(local_pcd_mp4_file_overlook)
-        local_delete_list.append(local_pcd_mp4_file_forwardlook)
-        bucket.put_object_from_file(oss_csv_object_key1, local_pcd_mp4_file_overlook)
-        bucket.put_object_from_file(oss_csv_object_key11, local_pcd_mp4_file_overlook)
-        logging.info('上传点云视频到 %s' % oss_csv_object_key1)
-        bucket.put_object_from_file(oss_csv_object_key2, local_pcd_mp4_file_forwardlook)
-        bucket.put_object_from_file(oss_csv_object_key21, local_pcd_mp4_file_forwardlook)
-        logging.info('上传点云视频到 %s' % oss_csv_object_key2)
-    except Exception as e:
-        logging.exception("生成点云视频报错: %s" % str(e))
-        # 删除多个文件。
-        for obj in oss2.ObjectIterator(bucket, prefix=parse_prefix_full1):
-            bucket.delete_object(obj.key)
-        # 删除 bag包
-        bucket.delete_object(merged_bag_object_key1)
-
-
-'''
-cname：http://open-bucket.oss.icvdc.com
-内网endpoint: oss-cn-beijing-gqzl-d01-a.ops.gqzl-cloud.com
-oss桶名： open-bucket
-keyid：n8glvFGS25MrLY7j
-secret：xZ2Fozoarpfw0z28FUhtg8cu0yDc5d
-'''
-# ------- 获取合并之后的bag包，解析出csv -------
-if __name__ == '__main__':
-    # 1 创建阿里云对象
-    auth = oss2.Auth('n8glvFGS25MrLY7j', 'xZ2Fozoarpfw0z28FUhtg8cu0yDc5d')
-    # cname = 'http://open-bucket.oss.icvdc.com'
-    # bucket = oss2.Bucket(auth, cname, 'open-bucket', is_cname=True)
-    endpoint = 'oss-cn-beijing-gqzl-d01-a.ops.gqzl-cloud.com'
-    bucket = oss2.Bucket(auth, endpoint, 'open-bucket')
-    while True:
-        try:
-            logging.info("开始新一轮扫描")
-            prefix_list = []
-            # 2 获取已经上传完成的所有目录并分组
-            for obj1 in oss2.ObjectIterator(bucket, prefix=key1):
-                try:
-                    local_delete_list = []
-                    oss_delete_list = []
-                    # 获取合并后的包
-                    merged_bag_object_key = str(obj1.key)
-                    # print(f'判断1{merged_bag_object_key}')
-                    if 'data_merge' in str(obj1.key) and str(obj1.key).endswith('.bag'):
-                        merged_bag_object_key_split = merged_bag_object_key.split('/')
-                        merged_prefix = '/'.join(merged_bag_object_key_split[:-1])
-                        parse_prefix = merged_prefix.replace('data_merge', 'data_parse')
-                        parse_prefix_full = merged_bag_object_key.replace('data_merge', 'data_parse')[:-4] + '/'
-                        pcd1_done = False
-                        pcd2_done = False
-                        for obj2 in oss2.ObjectIterator(bucket, prefix=parse_prefix_full):
-                            if 'pcd_overlook_' in str(obj2.key) and str(obj2.key).endswith('.mp4'):
-                                pcd1_done = True
-                            if 'pcd_forwardlook_' in str(obj2.key) and str(obj2.key).endswith('.mp4'):
-                                pcd2_done = True
-                        if pcd1_done and pcd2_done:
-                            continue
-                        logging.info('需要解析：%s' % merged_bag_object_key)
-                        local_merged_bag_path = path1 + 'pcd/' + merged_bag_object_key
-                        local_merged_dir = '/'.join(local_merged_bag_path.split('/')[:-1])
-                        local_parse_dir = local_merged_dir.replace('data_merge', 'data_parse')
-                        if not os.path.exists(local_merged_dir):
-                            os.makedirs(local_merged_dir)
-                        if not os.path.exists(local_parse_dir):
-                            os.makedirs(local_parse_dir)
-                        merged_bag_full_name = merged_bag_object_key_split[-1]
-                        merged_bag_name = merged_bag_full_name.split('.')[0]
-                        bucket.get_object_to_file(merged_bag_object_key, local_merged_bag_path)
-                        local_delete_list.append(local_merged_bag_path)
-                        parse_to_pcd_mp4(local_merged_bag_path,merged_bag_object_key, parse_prefix_full, local_parse_dir, local_delete_list)
-
-                        # 删除本地临时文件
-                        if len(local_delete_list) > 0:
-                            for local_delete in local_delete_list:
-                                try:
-                                    os.remove(local_delete)
-                                    logging.info("删除本地临时文件: %s" % local_delete)
-                                except Exception as e:
-                                    logging.exception("删除本地临时文件报错: %s" % str(e))
-                except Exception as e:
-                    logging.exception("局部异常处理: %s", str(e))
-            time.sleep(sleep_time)
-        except Exception as e:
-            logging.exception("全局异常处理: %s", str(e))

src/python2/pjisuv/pcd-pjisuv_013.py → src/python2/pjisuv/pcd-pjisuv_005.py

@@ -6,12 +6,12 @@ from resource import pcd_overlook_mp4
 from resource import pcd_forwardlook_mp4
 import logging
 
-path1 = '/mnt/disk001/cicv-data-closedloop/python2-pjisuv-module/'
+path1 = '/mnt/disk001/dcl_data_process/src/python2/pjisuv/'
 
-logging.basicConfig(filename=path1 + 'log/pcd_pjisuv-013.log', level=logging.INFO,
+logging.basicConfig(filename=path1 + 'log/pcd_pjisuv-005.log', level=logging.INFO,
                     format='%(asctime)s - %(levelname)s - %(message)s')
 
-key1 = 'pjisuv/pjisuv-013/'
+key1 = 'pjisuv/pjisuv-005/'
 sleep_time = 60  # 每多少秒扫描一次
 
 

src/python2/pjisuv/pcd-pjisuv_007.py

@@ -1,113 +0,0 @@
-# -*- coding: utf-8 -*-
-import os
-import time
-import oss2
-from resource import pcd_overlook_mp4
-from resource import pcd_forwardlook_mp4
-import logging
-
-path1 = '/mnt/disk001/cicv-data-closedloop/python2-pjisuv-module/'
-
-logging.basicConfig(filename=path1 + 'log/pcd_pjisuv-007.log', level=logging.INFO,
-                    format='%(asctime)s - %(levelname)s - %(message)s')
-
-key1 = 'pjisuv/pjisuv-007/'
-sleep_time = 60  # 每多少秒扫描一次
-
-
-def parse_to_pcd_mp4(merged_bag_file_path,merged_bag_object_key1, parse_prefix_full1, local_parse_dir, local_delete_list):
-    try:
-        logging.info('生成点云视频 %s' % merged_bag_file_path)
-        local_pcd_dir_overlook, hz = pcd_overlook_mp4.parse(merged_bag_file_path, local_parse_dir)
-        local_pcd_dir_forward, hz = pcd_forwardlook_mp4.parse(merged_bag_file_path, local_parse_dir)
-        local_pcd_mp4_file_overlook = local_pcd_dir_overlook + '/pcd_overlook.mp4'
-        local_pcd_mp4_file_forwardlook = local_pcd_dir_forward + '/pcd_forwardlook.mp4'
-        oss_csv_object_key1 = parse_prefix_full1 + 'pcd_overlook_' + str(hz) + '.mp4'
-        oss_csv_object_key11 = parse_prefix_full1 + 'pcd_overlook.mp4'
-        oss_csv_object_key2 = parse_prefix_full1 + 'pcd_forwardlook_' + str(hz) + '.mp4'
-        oss_csv_object_key21 = parse_prefix_full1 + 'pcd_forwardlook.mp4'
-        local_delete_list.append(local_pcd_mp4_file_overlook)
-        local_delete_list.append(local_pcd_mp4_file_forwardlook)
-        bucket.put_object_from_file(oss_csv_object_key1, local_pcd_mp4_file_overlook)
-        bucket.put_object_from_file(oss_csv_object_key11, local_pcd_mp4_file_overlook)
-        logging.info('上传点云视频到 %s' % oss_csv_object_key1)
-        bucket.put_object_from_file(oss_csv_object_key2, local_pcd_mp4_file_forwardlook)
-        bucket.put_object_from_file(oss_csv_object_key21, local_pcd_mp4_file_forwardlook)
-        logging.info('上传点云视频到 %s' % oss_csv_object_key2)
-    except Exception as e:
-        logging.exception("生成点云视频报错: %s" % str(e))
-        # 删除多个文件。
-        for obj in oss2.ObjectIterator(bucket, prefix=parse_prefix_full1):
-            bucket.delete_object(obj.key)
-        # 删除 bag包
-        bucket.delete_object(merged_bag_object_key1)
-
-
-'''
-cname：http://open-bucket.oss.icvdc.com
-内网endpoint: oss-cn-beijing-gqzl-d01-a.ops.gqzl-cloud.com
-oss桶名： open-bucket
-keyid：n8glvFGS25MrLY7j
-secret：xZ2Fozoarpfw0z28FUhtg8cu0yDc5d
-'''
-# ------- 获取合并之后的bag包，解析出csv -------
-if __name__ == '__main__':
-    # 1 创建阿里云对象
-    auth = oss2.Auth('n8glvFGS25MrLY7j', 'xZ2Fozoarpfw0z28FUhtg8cu0yDc5d')
-    # cname = 'http://open-bucket.oss.icvdc.com'
-    # bucket = oss2.Bucket(auth, cname, 'open-bucket', is_cname=True)
-    endpoint = 'oss-cn-beijing-gqzl-d01-a.ops.gqzl-cloud.com'
-    bucket = oss2.Bucket(auth, endpoint, 'open-bucket')
-    while True:
-        try:
-            logging.info("开始新一轮扫描")
-            prefix_list = []
-            # 2 获取已经上传完成的所有目录并分组
-            for obj1 in oss2.ObjectIterator(bucket, prefix=key1):
-                try:
-                    local_delete_list = []
-                    oss_delete_list = []
-                    # 获取合并后的包
-                    merged_bag_object_key = str(obj1.key)
-                    # print(f'判断1{merged_bag_object_key}')
-                    if 'data_merge' in str(obj1.key) and str(obj1.key).endswith('.bag'):
-                        merged_bag_object_key_split = merged_bag_object_key.split('/')
-                        merged_prefix = '/'.join(merged_bag_object_key_split[:-1])
-                        parse_prefix = merged_prefix.replace('data_merge', 'data_parse')
-                        parse_prefix_full = merged_bag_object_key.replace('data_merge', 'data_parse')[:-4] + '/'
-                        pcd1_done = False
-                        pcd2_done = False
-                        for obj2 in oss2.ObjectIterator(bucket, prefix=parse_prefix_full):
-                            if 'pcd_overlook_' in str(obj2.key) and str(obj2.key).endswith('.mp4'):
-                                pcd1_done = True
-                            if 'pcd_forwardlook_' in str(obj2.key) and str(obj2.key).endswith('.mp4'):
-                                pcd2_done = True
-                        if pcd1_done and pcd2_done:
-                            continue
-                        logging.info('需要解析：%s' % merged_bag_object_key)
-                        local_merged_bag_path = path1 + 'pcd/' + merged_bag_object_key
-                        local_merged_dir = '/'.join(local_merged_bag_path.split('/')[:-1])
-                        local_parse_dir = local_merged_dir.replace('data_merge', 'data_parse')
-                        if not os.path.exists(local_merged_dir):
-                            os.makedirs(local_merged_dir)
-                        if not os.path.exists(local_parse_dir):
-                            os.makedirs(local_parse_dir)
-                        merged_bag_full_name = merged_bag_object_key_split[-1]
-                        merged_bag_name = merged_bag_full_name.split('.')[0]
-                        bucket.get_object_to_file(merged_bag_object_key, local_merged_bag_path)
-                        local_delete_list.append(local_merged_bag_path)
-                        parse_to_pcd_mp4(local_merged_bag_path,merged_bag_object_key, parse_prefix_full, local_parse_dir, local_delete_list)
-
-                        # 删除本地临时文件
-                        if len(local_delete_list) > 0:
-                            for local_delete in local_delete_list:
-                                try:
-                                    os.remove(local_delete)
-                                    logging.info("删除本地临时文件: %s" % local_delete)
-                                except Exception as e:
-                                    logging.exception("删除本地临时文件报错: %s" % str(e))
-                except Exception as e:
-                    logging.exception("局部异常处理: %s", str(e))
-            time.sleep(sleep_time)
-        except Exception as e:
-            logging.exception("全局异常处理: %s", str(e))

src/python2/pjisuv/pcd-pjisuv_012.py

@@ -1,113 +0,0 @@
-# -*- coding: utf-8 -*-
-import os
-import time
-import oss2
-from resource import pcd_overlook_mp4
-from resource import pcd_forwardlook_mp4
-import logging
-
-path1 = '/mnt/disk001/cicv-data-closedloop/python2-pjisuv-module/'
-
-logging.basicConfig(filename=path1 + 'log/pcd_pjisuv-012.log', level=logging.INFO,
-                    format='%(asctime)s - %(levelname)s - %(message)s')
-
-key1 = 'pjisuv/pjisuv-012/'
-sleep_time = 60  # 每多少秒扫描一次
-
-
-def parse_to_pcd_mp4(merged_bag_file_path,merged_bag_object_key1, parse_prefix_full1, local_parse_dir, local_delete_list):
-    try:
-        logging.info('生成点云视频 %s' % merged_bag_file_path)
-        local_pcd_dir_overlook, hz = pcd_overlook_mp4.parse(merged_bag_file_path, local_parse_dir)
-        local_pcd_dir_forward, hz = pcd_forwardlook_mp4.parse(merged_bag_file_path, local_parse_dir)
-        local_pcd_mp4_file_overlook = local_pcd_dir_overlook + '/pcd_overlook.mp4'
-        local_pcd_mp4_file_forwardlook = local_pcd_dir_forward + '/pcd_forwardlook.mp4'
-        oss_csv_object_key1 = parse_prefix_full1 + 'pcd_overlook_' + str(hz) + '.mp4'
-        oss_csv_object_key11 = parse_prefix_full1 + 'pcd_overlook.mp4'
-        oss_csv_object_key2 = parse_prefix_full1 + 'pcd_forwardlook_' + str(hz) + '.mp4'
-        oss_csv_object_key21 = parse_prefix_full1 + 'pcd_forwardlook.mp4'
-        local_delete_list.append(local_pcd_mp4_file_overlook)
-        local_delete_list.append(local_pcd_mp4_file_forwardlook)
-        bucket.put_object_from_file(oss_csv_object_key1, local_pcd_mp4_file_overlook)
-        bucket.put_object_from_file(oss_csv_object_key11, local_pcd_mp4_file_overlook)
-        logging.info('上传点云视频到 %s' % oss_csv_object_key1)
-        bucket.put_object_from_file(oss_csv_object_key2, local_pcd_mp4_file_forwardlook)
-        bucket.put_object_from_file(oss_csv_object_key21, local_pcd_mp4_file_forwardlook)
-        logging.info('上传点云视频到 %s' % oss_csv_object_key2)
-    except Exception as e:
-        logging.exception("生成点云视频报错: %s" % str(e))
-        # 删除多个文件。
-        for obj in oss2.ObjectIterator(bucket, prefix=parse_prefix_full1):
-            bucket.delete_object(obj.key)
-        # 删除 bag包
-        bucket.delete_object(merged_bag_object_key1)
-
-
-'''
-cname：http://open-bucket.oss.icvdc.com
-内网endpoint: oss-cn-beijing-gqzl-d01-a.ops.gqzl-cloud.com
-oss桶名： open-bucket
-keyid：n8glvFGS25MrLY7j
-secret：xZ2Fozoarpfw0z28FUhtg8cu0yDc5d
-'''
-# ------- 获取合并之后的bag包，解析出csv -------
-if __name__ == '__main__':
-    # 1 创建阿里云对象
-    auth = oss2.Auth('n8glvFGS25MrLY7j', 'xZ2Fozoarpfw0z28FUhtg8cu0yDc5d')
-    # cname = 'http://open-bucket.oss.icvdc.com'
-    # bucket = oss2.Bucket(auth, cname, 'open-bucket', is_cname=True)
-    endpoint = 'oss-cn-beijing-gqzl-d01-a.ops.gqzl-cloud.com'
-    bucket = oss2.Bucket(auth, endpoint, 'open-bucket')
-    while True:
-        try:
-            logging.info("开始新一轮扫描")
-            prefix_list = []
-            # 2 获取已经上传完成的所有目录并分组
-            for obj1 in oss2.ObjectIterator(bucket, prefix=key1):
-                try:
-                    local_delete_list = []
-                    oss_delete_list = []
-                    # 获取合并后的包
-                    merged_bag_object_key = str(obj1.key)
-                    # print(f'判断1{merged_bag_object_key}')
-                    if 'data_merge' in str(obj1.key) and str(obj1.key).endswith('.bag'):
-                        merged_bag_object_key_split = merged_bag_object_key.split('/')
-                        merged_prefix = '/'.join(merged_bag_object_key_split[:-1])
-                        parse_prefix = merged_prefix.replace('data_merge', 'data_parse')
-                        parse_prefix_full = merged_bag_object_key.replace('data_merge', 'data_parse')[:-4] + '/'
-                        pcd1_done = False
-                        pcd2_done = False
-                        for obj2 in oss2.ObjectIterator(bucket, prefix=parse_prefix_full):
-                            if 'pcd_overlook_' in str(obj2.key) and str(obj2.key).endswith('.mp4'):
-                                pcd1_done = True
-                            if 'pcd_forwardlook_' in str(obj2.key) and str(obj2.key).endswith('.mp4'):
-                                pcd2_done = True
-                        if pcd1_done and pcd2_done:
-                            continue
-                        logging.info('需要解析：%s' % merged_bag_object_key)
-                        local_merged_bag_path = path1 + 'pcd/' + merged_bag_object_key
-                        local_merged_dir = '/'.join(local_merged_bag_path.split('/')[:-1])
-                        local_parse_dir = local_merged_dir.replace('data_merge', 'data_parse')
-                        if not os.path.exists(local_merged_dir):
-                            os.makedirs(local_merged_dir)
-                        if not os.path.exists(local_parse_dir):
-                            os.makedirs(local_parse_dir)
-                        merged_bag_full_name = merged_bag_object_key_split[-1]
-                        merged_bag_name = merged_bag_full_name.split('.')[0]
-                        bucket.get_object_to_file(merged_bag_object_key, local_merged_bag_path)
-                        local_delete_list.append(local_merged_bag_path)
-                        parse_to_pcd_mp4(local_merged_bag_path,merged_bag_object_key, parse_prefix_full, local_parse_dir, local_delete_list)
-
-                        # 删除本地临时文件
-                        if len(local_delete_list) > 0:
-                            for local_delete in local_delete_list:
-                                try:
-                                    os.remove(local_delete)
-                                    logging.info("删除本地临时文件: %s" % local_delete)
-                                except Exception as e:
-                                    logging.exception("删除本地临时文件报错: %s" % str(e))
-                except Exception as e:
-                    logging.exception("局部异常处理: %s", str(e))
-            time.sleep(sleep_time)
-        except Exception as e:
-            logging.exception("全局异常处理: %s", str(e))

src/python2/pjisuv/simulation-pjisuv.py

@@ -10,7 +10,7 @@ import logging
 key1 = 'pjisuv/'
 path1 = '/scenarios2/'
 path2 = '/mnt/disk001/dcl_data_process/src/python2/pjisuv/'
-path3 = '/mnt/disk001/cicv-data-closedloop/resource/'
+path3 = '/mnt/disk001/simulation_pjisuv/'
 
 logging.basicConfig(filename=path2 + 'log/simulation.log', level=logging.INFO,
                     format='%(asctime)s - %(levelname)s - %(message)s')

src/python2/pjisuv/xosc-pjisuv.py

@@ -4,8 +4,8 @@ import time
 import oss2
 import logging
 
-path1 = '/mnt/disk001/cicv-data-closedloop/python2-pjisuv-module/'
-path2 = '/mnt/disk001/cicv-data-closedloop/python3-pjisuv-module/'
+path1 = '/mnt/disk001/dcl_data_process/src/python2/pjisuv/'
+path2 = '/mnt/disk001/dcl_data_process/src/python3/pjisuv/'
 
 logging.basicConfig(filename=path1 + 'log/xosc.log', level=logging.INFO,
                     format='%(asctime)s - %(levelname)s - %(message)s')