PointCloudData/PointCloudData.py at master · yyaddaden/PointCloudData · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
# -*- coding: UTF-8 -*-

import os
import csv
from datetime import datetime
from geopy.distance import geodesic
import numpy as np
import open3d


class PointCloudData():

    def __init__(self, in_path, path_start, zone_perimeter, path_end, out_path):

        self.in_path = in_path
        self.out_path = out_path
        self.path_start = path_start
        self.zone_perimeter = zone_perimeter
        self.path_end = path_end

        self.time_gps_data = []
        self.time_obj_data = []
        self.gps_obj_data = []
        self.files_per_zone = {}

    def compute_distance(self, src, dst):

        gps_src = (src["latitude"], src["longitude"])
        gps_dst = (dst["latitude"], dst["longitude"])

        return geodesic(gps_src, gps_dst).meters

    def import_gps_data(self):
        print("Importing localization (gps) data ... ", end="", flush=True)

        gps_data_all = []

        for gps_file in os.listdir(self.in_path):
            if gps_file.endswith("gps.csv"):
                with open(self.in_path + gps_file) as csv_file:
                    reader = csv.DictReader(
                        csv_file, skipinitialspace=True, delimiter=",")

                    for row in reader:
                        row_datetime_str = row["Date"] + " " + row["Time"]
                        row_datetime = datetime.strptime(
                            row_datetime_str, "%Y-%m-%d %H:%M:%S.%f")

                        row_latitude = row["Latitude (°)"]
                        row_longitude = row["Longitude (°)"]

                        gps_data_all.append(
                            {"datetime": row_datetime, "latitude": row_latitude, "longitude": row_longitude})

        end_distances = []
        for elt in gps_data_all:
            end_distances.append(self.compute_distance(self.path_end, elt))

        end_idx = end_distances.index(min(end_distances))

        gps_data_all = gps_data_all[0:end_idx+1]

        start_distances = []
        for elt in gps_data_all:
            start_distances.append(self.compute_distance(self.path_start, elt))

        start_idx = start_distances.index(min(start_distances))

        self.time_gps_data = gps_data_all[start_idx:]

        print("[\u2713]")

    def import_obj_data(self):
        print("Importing point cloud (LiDAR) data ... ", end="", flush=True)

        for obj_file in os.listdir(self.in_path):
            if obj_file.endswith("Centre.obj"):

                obj_datetime_str = obj_file[:23]
                obj_datetime = datetime.strptime(
                    obj_datetime_str, "%Y-%m-%d %H-%M-%S-%f")

                if(obj_datetime <= self.time_gps_data[-1]["datetime"]):
                    self.time_obj_data.append(
                        {"datetime": obj_datetime, "file": obj_file})

        print("[\u2713]")

    def compute_gps_obj_data(self):

        print("Generating point cloud (LiDAR) with localization (gps) data ... ",
              end="", flush=True)

        for time_obj_elt in self.time_obj_data:

            datetime_diff = []

            for time_gps_elt in self.time_gps_data:
                datetime_diff.append(
                    abs(time_obj_elt["datetime"] - time_gps_elt["datetime"]))

            elt_idx = datetime_diff.index(min(datetime_diff))
            self.gps_obj_data.append({"file": time_obj_elt["file"], "latitude": self.time_gps_data[elt_idx]
                                      ["latitude"], "longitude": self.time_gps_data[elt_idx]["longitude"]})

        print("[\u2713]")

    def compute_files_per_zone(self):
        print("Dividing the route path into zones ... ", end="", flush=True)

        gps_point = self.gps_obj_data[0]
        distance = 0

        for elt in self.gps_obj_data:
            distance += self.compute_distance(gps_point, elt)
            zone = int(distance / self.zone_perimeter)

            if(str(zone + 1).zfill(3) in self.files_per_zone.keys()):
                self.files_per_zone[str(zone + 1).zfill(3)].append(elt["file"])
            else:
                self.files_per_zone.update(
                    {str(zone + 1).zfill(3): [elt["file"]]})

            gps_point = elt

        print("[\u2713]")

    def export_pcd_data(self):
        print("Converting & exporting point cloud (LiDAR) data to .pcd ... ",
              end="", flush=True)

        if(not os.path.exists(self.out_path)):
            os.mkdir(self.out_path)

        for zone, files in self.files_per_zone.items():
            os.mkdir(self.out_path + zone)

            for idx in range(len(files)):
                obj_file = open(self.in_path + files[idx])

                obj_data = []
                for line in obj_file:
                    if(line[0] == "v"):
                        obj_data.append([float(elt)
                                         for elt in line[2:].split()])

                pcd = open3d.geometry.PointCloud()
                pcd.points = open3d.utility.Vector3dVector(np.array(obj_data))

                open3d.io.write_point_cloud(
                    "{}/{}/{}.pcd".format(self.out_path, zone, str(idx + 1).zfill(4)), pcd)

        print("[\u2713]")