dcl_data_process/src/python3/pjisuv/pcd.py

import json
import math
import shutil
import os
import subprocess

import pandas as pd
import cv2
import numpy as np
import requests

geocode_base = 'http://restapi.amap.com/v3/geocode/regeo'


def geocode(location):
    parameters = {'output': 'json', 'key': 'cdf24f471cc579ba6d5dd1f9b856ee31', 'location': location,
                  'extensions': 'base'}
    response = requests.get(geocode_base, parameters)
    # print('HTTP 请求的状态: %s' % response.status_code)
    return response.json()


def convert(locations):
    parameters = {'output': 'json', 'key': 'cdf24f471cc579ba6d5dd1f9b856ee31', 'locations': locations,
                  'coordsys': 'gps'}

    base = 'https://restapi.amap.com/v3/assistant/coordinate/convert'

    response_cor = requests.get(base, parameters).json()
    result_location = response_cor['locations']
    para_location = result_location.replace(';', '|')
    response_location = geocode(para_location)
    status = response_location['status']
    if status == '1':
        try:
            address = geocode(para_location)['regeocode']['formatted_address']
            return status, (result_location, address)
        except:
            return '0', None
    else:
        return status, None


def get_position_single(base_df, inset_df):
    inset_df['Longitude'] = inset_df['Longitude'].astype('str')
    inset_df['Latitude'] = inset_df['Latitude'].astype('str')
    inset_df = inset_df[['Longitude', 'Latitude']]
    for index, twenty_df in inset_df.groupby(lambda x: math.floor(x / 20)):
        twenty_df = twenty_df.T
        cor_list = twenty_df.values.tolist()
        cor_total = ''
        for i, v in enumerate(cor_list[0]):
            cor_total += f'{v},{cor_list[1][i]}|'
        cor_total = cor_total[:-1]
        status, convert_result = convert(cor_total)
        if status == '1':
            result_cor = convert_result[0]
            result_cor_list = result_cor.split(';')
            result_cor_list = list(map(lambda x: x.split(','), result_cor_list))
            twenty_df = pd.DataFrame(result_cor_list, columns=['Longitude', 'Latitude'])
            base_df = pd.concat([base_df, twenty_df]).reset_index(drop=True)
    return base_df[1:].reset_index(drop=True)


def draw_points(pic, filename):
    f = open(filename, "r")
    ff = f.readline()

    for i in range(0, len(ff)):
        point = ff[i].split()[:4]
        point_x = float(point[0])
        point_y = -float(point[1])

        if math.isnan(point_x):
            pass
        else:
            cv2.circle(pic, (int(800 - point_x * 10), int(400 - point_y * 10)), 0, (250, 250, 250), 0)


def pcd_image(pcd_path):
    for root, dirs, files in os.walk(pcd_path):

        # create pcd_ascii and pcd_jpg folders
        if "pcd" in dirs:
            if "jpg" not in dirs:
                jpg_path = os.path.join(root, 'jpg')
                os.mkdir(jpg_path)

        # find .pcd files and do the transfer twice
        for file in files:
            if "pcd" == root[-3:] and ".pcd" == file[-4:]:

                inputFilePath = root + "/" + file
                outputFilePath = root[:-3] + "jpg/" + file[:-3] + "jpg"
                pic = np.zeros([800, 1600, 3])
                draw_points(pic, inputFilePath)
                cv2.imwrite(outputFilePath, pic)
            else:
                break
    return jpg_path


def generate_video(img_path, video_name):
    if video_name == 'CAMERA0.mp4':
        img_name = 'image'
    else:
        img_name = 'jpg'
    image_list = get_file(img_path, img_name)
    for item in image_list:
        res_path = os.path.join(item, video_name)
        if os.path.exists(res_path):
            return
        all_image = list(map(int, list(map(lambda x: x.split('.')[0], os.listdir(os.path.join(img_path, img_name))))))
        all_image.sort(reverse=False)
        frame = round(len(all_image) / ((all_image[-1] - all_image[0]) / 1000), 2)
        command = f"ffmpeg -f image2 -r {frame} -pattern_type glob -i '" + item + f"/{img_name}/*.jpg" + "' -y '" + res_path + "'"
        process = subprocess.Popen(command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
        process.wait()


def get_file(path, key_file_name):
    files = os.listdir(path)

    file_list = []
    if key_file_name not in files:
        for name in files:
            next_path = os.path.join(path, name)
            if os.path.isdir(next_path):
                file_list.extend(get_file(next_path, key_file_name))
    else:
        file_list.append(path)
    file_list = list(set(file_list))

    return file_list


def copy_files(source, target, dir_name):
    files_source_path = os.path.join(source, dir_name)
    if dir_name == 'simulation':
        dir_name = dir_name.upper()
    files_target_path = os.path.join(target, dir_name)
    if os.path.isdir(files_source_path):
        shutil.copytree(files_source_path, files_target_path)
    else:
        shutil.copy(files_source_path, files_target_path)
    return files_target_path


if __name__ == '__main__':
    root_path = '/media/hancheng/Simulation4/1013/here_bizhang2_2023-10-13-14-32-23'
    output_path = '/media/hancheng/Simulation4/1013/here_bizhang2_2023-10-13-14-32-23/output'
    # xodr_list = ['/home/hancheng/simulation_dynamic/od/jiuzhonglu.xodr', '/home/hancheng/simulation_dynamic/od/gaosu.xodr']
    # osgb_list = ['/home/hancheng/simulation_dynamic/od/GJBM_20km_0822.opt.osgb', '/home/hancheng/simulation_dynamic/od/gaosu.osgb']
    source_files_list = get_file(root_path, 'pos.csv')

    if not os.path.exists(output_path):
        os.mkdir(output_path)

    for single_path in source_files_list:
        # if not os.path.exists(os.path.join(single_path, 'simulation')):
        #     continue
        # json_path = os.path.join(single_path, 'autoSliceRes.json')
        # with open(json_path) as f:
        #     sc_json = json.load(f)
        #     road_section = sc_json['road_section']
        #target_path = os.path.join(output_path, os.path.basename(single_path))
        # if not os.path.exists(target_path):
        #     os.mkdir(target_path)
        # else:
        #     shutil.rmtree(target_path)
        #
        # # 原始照片/视频
        # copy_files(single_path, target_path, 'CAMERA0')

        # 点云图片/视频
        #target_lidar_path = copy_files(single_path, target_path, 'LIDAR0')
        #jpg_path = pcd_image(target_lidar_path)
        generate_video('/media/hancheng/Simulation4/1013/here_bizhang2_2023-10-13-14-32-23/output/here_bizhang2_2023-10-13-14-32-23/LIDAR0', 'LIDAR0.mp4')
        #shutil.rmtree(jpg_path)

        # 场景以及道路文件
        # target_sc_path = copy_files(single_path, target_path, 'simulation')
        # simulation_video = (os.path.join(target_sc_path, 'simulation_Camera_1.mp4'))
        # os.rename(simulation_video, simulation_video.replace('_Camera_1', ''))
        # xodr_path = os.path.join(target_sc_path, "SIMULATION.xodr")
        # osgb_path = os.path.join(target_sc_path, "SIMULATION.osgb")
        # shutil.copy(xodr_list[road_section-1], xodr_path)
        # shutil.copy(osgb_list[road_section-1], osgb_path)
        # xosc_path = os.path.join(target_sc_path, 'simulation.xosc')
        # xosc_upper = os.path.join(target_sc_path, 'SIMULATION.xosc')
        # os.rename(xosc_path, xosc_upper)

        # 数据以及说明文件
        #copy_files(single_path, target_path, 'label.json')
        # data_path = os.path.join(target_path, 'data.csv')
        # autocan = pd.read_csv(os.path.join(os.path.join(single_path, 'autocan.csv')))
        # gps_origin = pd.read_csv(os.path.join(os.path.join(single_path, 'gps.csv')))
        # origin_data = pd.DataFrame(columns=['date', 'time', 'location', 'lon', 'lat'], index=[0])
        # gps = get_position_single(origin_data, gps_origin)
        # data_df = pd.DataFrame(
        #     columns=['Time', 'FrameID', 'Velocity', 'AcceleratorPedalPos', 'BrakePedalSignal',
        #              'SteeringAngle',
        #              'GPSStatus', 'gdlng', 'gdlat'])
        # data_df['Time'] = autocan['Time']
        # data_df['FrameID'] = autocan['FrameID']
        # data_df['Velocity'] = autocan['Velocity']
        # data_df['AcceleratorPedalPos'] = autocan['AcceleratorPedalPos']
        # data_df['BrakePedalSignal'] = autocan['BrakePedalSignal']
        # data_df['SteeringAngle'] = autocan['SteeringAngle']
        # data_df['GPSStatus'] = gps_origin['GPSStatus']
        # data_df['gdlng'] = gps['Longitude']
        # data_df['gdlat'] = gps['Latitude']
        # data_df.reset_index(drop=False)
        # data_df.to_csv(data_path)

        print(f'{single_path} done!')