dongchangxi
2 years ago
7 changed files with 280 additions and 7 deletions
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import open3d as o3d |
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import numpy as np |
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import matplotlib.pyplot as plt |
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import sys |
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import statistics |
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import math |
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import copy |
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import os,time |
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from scipy.stats import mode |
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from scipy.spatial import KDTree |
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from scipy.spatial import cKDTree |
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import matplotlib.font_manager as fm |
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#处理点云文件保存脚踝一下的部分点云 |
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def dealPointData(pidPath,pidNewPath): |
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# 读取 PLY 文件 |
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point_cloud = o3d.io.read_point_cloud(pidPath) |
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# 移除离散点 |
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cl, ind = point_cloud.remove_statistical_outlier(nb_neighbors=20, std_ratio=0.06) |
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point_cloud = point_cloud.select_by_index(ind) |
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# 保存处理后的点云 |
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o3d.io.write_point_cloud(pidNewPath, point_cloud) |
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data = np.loadtxt(pidNewPath) |
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# 提取xyz坐标 |
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x = data[:, 0] |
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y = data[:, 1] |
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z = data[:, 2] |
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# 创建一个布尔索引，筛选出在x-y平面内，半径在0.5范围内的点 (z >= 0.00) & |
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mask = (z >=0) & (z <= 0.1) & (x**2 + y**2 <= 0.7**2) |
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# 根据索引，保留符合条件的点 |
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filtered_data = data[mask] |
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# 将保留的点云数据保存到新的文件 |
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np.savetxt(pidNewPath, filtered_data, delimiter=' ') |
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#计算点云的数据中，脚底和地板的切线位置 |
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def boxCenter(pid): |
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pidPath = "D:\\xyz\\" + str(pid) + "_point.xyz" |
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pidNewPath = "D:\\xyz\\" + str(pid) + "_new.xyz" |
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dealPointData(pidPath,pidNewPath) |
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pcd = o3d.io.read_point_cloud(pidNewPath) |
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allPoints = np.asarray(pcd.points) |
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if len(allPoints) == 0: |
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print("点云为空，无法计算均值。") |
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return 0 |
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# 使用RANSAC算法提取平面 |
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plane_model, inliers = pcd.segment_plane(distance_threshold=0.00670, ransac_n=3, num_iterations=1000) |
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inlier_cloud = pcd.select_by_index(inliers) |
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# 获取被染成红色的点的坐标数组 |
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red_points = inlier_cloud.points |
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red_points_np = np.asarray(red_points) |
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# 获取 red_points_np 的 z 值数组 |
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z_red_values = red_points_np[:, 2] |
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# 计算中位数 |
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medianRed = np.median(z_red_values) |
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# 计算中位数向上的平均数 |
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meanRedUp = np.mean(z_red_values[z_red_values > medianRed]) |
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#计算中位数向下的平均数 |
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#meanRedDown = np.mean(z_red_values[z_red_values < medianRed]) |
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# Exclude ground points from allPoints |
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foot_points_np = np.asarray([point for point in allPoints if point not in red_points_np]) |
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if len(foot_points_np) == 0 : |
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print("脚部点云为空。") |
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return 0 |
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#过滤掉地板，计算出脚底的点云数据 |
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points_np_foot = foot_points_np[(foot_points_np[:, 2] < 0.046) & (foot_points_np[:, 2] > meanRedUp)] |
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# 计算平均值 |
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mean = np.mean(points_np_foot[:, 2]) |
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# 按照 Z 值进行排序 |
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sorted_points = points_np_foot[np.argsort(points_np_foot[:, 2])] |
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# 获取 Z 值最低的前十个点 |
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if len(sorted_points) == 0: |
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print("脚底板最低的点云为空") |
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return 0 |
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try: |
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lowest_points = sorted_points[10:20] |
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except Exception as e: |
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print("获取脚底板最低的倒数第十到20的点出现异常错误") |
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return 0 |
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# 计算平均值 |
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meanLowEst = np.mean(lowest_points[:, 2]) + 1.05 |
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return meanLowEst |
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@@ -0,0 +1,76 @@
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import redis,requests,json,os,sys |
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import platform |
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if platform.system() == 'Windows': |
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sys.path.append('e:\\libs\\') |
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else: |
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sys.path.append('/data/deploy/make3d/make2/libs/') |
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import config |
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import requests |
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from PIL import Image |
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from io import BytesIO |
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def main(): |
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#连接mp 的redis |
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r = redis.Redis(host="106.14.158.208",password="kcV2000",port=6379,db=1) |
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#取出数据 |
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oemId = r.lpop('setup') |
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oemId = 21 |
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if oemId is None: |
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print("没有从redis中获取到oemId的数据") |
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return |
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print("oemId",oemId) |
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#请求mp的接口,获取对应的oem的数据 |
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res = requests.get("http://172.16.20.7:8199/api/oem/infoById",params={"id":oemId}) |
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#获取数据解析数据 |
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# print(res.text) |
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#解析数据 |
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data = json.loads(res.text) |
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# print(data) |
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if data['code'] != 1000: |
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print("根据id获取oem数据失败") |
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return |
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print(data['data']) |
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#pythob 进入到 E:\wails\oemProject ，将 data 数据写入到 wails.json 文件中的 ext_oem 字段中 |
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with open("D:\\oemProject\\wails.json","r",encoding="utf-8") as f: |
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wailsData = json.load(f) |
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wailsData['ext_oem'] = data['data'] |
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wailsData['name'] = data['data']['brand_name'] |
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wailsData["outputfilename"] = str(data['data']['id']) |
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with open("D:\\oemProject\\wails.json","w",encoding="utf-8") as f: |
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json.dump(wailsData,f,ensure_ascii=False,indent=4) |
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# #将图片下载到本地 |
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getExeImg(data['data']['logo'], "D:\\oemProject\\build\\appicon.png") |
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#写入成功后在 E:\\wails\\oemProject\\ 目录下执行 wails build 命令 |
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os.system("cd D:\\oemProject && wails build") |
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# #执行 wails build 命令后，将 E:\wails\oemProject\build\bin ，在上传到 oss 中 |
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config.oss_bucket.put_object_from_file(f'exe/'+str(data['data']['id'])+".exe", "D:\\oemProject\\build\\bin\\"+str(data['data']['id'])+".exe") |
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print("上传成功") |
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# #上传成功后，调用接口，告诉mp，已经生成exe及上传成功 |
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requests.get("http://172.16.20.7:8199/api/oem/infoSetupUpdate",params={"id":oemId}) |
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def getExeImg(image_url, output_path): |
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# 从URL获取图片 |
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response = requests.get(image_url) |
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if response.status_code == 200: |
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# 将内容读取为图片 |
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image = Image.open(BytesIO(response.content)) |
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# 修改图片尺寸为1024x1024 |
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resized_image = image.resize((1024, 1024)) |
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# 保存图片为PNG格式 |
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resized_image.save(output_path, 'PNG') |
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else: |
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print(f"Failed to download image. Status code: {response.status_code}") |
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if __name__ == '__main__': |
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main() |
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