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openpylivox.py
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openpylivox.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Started on Mon. May 13th 2019
@author: Ryan Brazeal
@email: [email protected]
@author: Fletcher Wadsworth
@email: [email protected]
Program Name: openpylivox.py
Version: 1.1.0
Description: Python3 driver for UDP Communications with Lixov Lidar sensors
Livox SDK link: https://github.com/Livox-SDK/Livox-SDK/wiki/Livox-SDK-Communication-Protocol
"""
# standard modules
import binascii
import select
import socket
import struct
import threading
import multiprocessing as mp
import time
import sys
import os
from pathlib import Path
from multiprocessing import shared_memory
# additional modules
import crcmod
import numpy as np
from tqdm import tqdm
import laspy
from deprecated import deprecated
class _heartbeatThread(object):
def __init__(self, interval, transmit_socket, send_to_IP, send_to_port, send_command, showMessages, format_spaces):
self.interval = interval
self.IP = send_to_IP
self.port = send_to_port
self.t_socket = transmit_socket
self.t_command = send_command
self.started = True
self.work_state = -1
self.idle_state = 0
self._showMessages = showMessages
self._format_spaces = format_spaces
self.thread = threading.Thread(target=self.run, args=())
self.thread.daemon = True
self.thread.start()
def run(self):
while True:
if self.started:
self.t_socket.sendto(self.t_command, (self.IP, self.port))
# check for proper response from heartbeat request
if select.select([self.t_socket], [], [], 0.1)[0]:
binData, addr = self.t_socket.recvfrom(22)
tempObj = openpylivox(0,0,0,0,0,True)
_, ack, cmd_set, cmd_id, ret_code_bin = tempObj._parseResp(binData)
if ack == "ACK (response)" and cmd_set == "General" and cmd_id == "3":
ret_code = int.from_bytes(ret_code_bin[0], byteorder='little')
if ret_code != 0:
if self._showMessages: print(" " + self.IP + self._format_spaces + self._format_spaces + " --> incorrect heartbeat response")
else:
self.work_state = int.from_bytes(ret_code_bin[1], byteorder='little')
if self.work_state == 4:
print(" " + self.IP + self._format_spaces + self._format_spaces + " --> *** ERROR: HEARTBEAT ERROR MESSAGE RECEIVED ***")
sys.exit(0)
elif ack == "MSG (message)" and cmd_set == "General" and cmd_id == "7":
# not given an option to hide this message!!
print(" " + self.IP + self._format_spaces + self._format_spaces + " --> *** ERROR: ABNORMAL STATUS MESSAGE RECEIVED ***")
sys.exit(1)
else:
if self._showMessages: print(" " + self.IP + self._format_spaces + self._format_spaces + " --> incorrect heartbeat response")
for i in range(9, -1, -1):
self.idle_state = i
time.sleep(self.interval / 10.0)
else:
break
def stop(self):
self.started = False
self.thread.join()
self.idle_state = 9
class _dataCaptureThread(object):
def __init__(self, sensorIP, data_socket, imu_socket, filePathAndName, fileType, secsToWait, duration, firmwareType, showMessages, format_spaces, deviceType,
data_ready_for_proc, data_processor_empty, data_processor_not_copying, num_points, null_points):
self.startTime = -1
self.sensorIP = sensorIP
self.d_socket = data_socket
self.i_socket = imu_socket
self.filePathAndName = filePathAndName
# fileType 0 = Stored ASCII, 1 = Real-time ASCII, 2 = Real-time BINARY
self.fileType = fileType
self.secsToWait = secsToWait
self.duration = duration
self.firmwareType = firmwareType
self.started = True
self.isCapturing = False
self.dataType = -1
self.numPts = 0
self.nullPts = 0
self.imu_records = 0
self._showMessages = showMessages
self._format_spaces = format_spaces
self._deviceType = deviceType
self.system_status = -1
self.temp_status = -1
self.volt_status = -1
self.motor_status = -1
self.dirty_status = -1
self.firmware_status = -1
self.pps_status = -1
self.device_status = -1
self.fan_status = -1
self.self_heating_status = -1
self.ptp_status = -1
self.time_sync_status = -1
#----- add mp.Event() flags as input to init of data capture class -----
self.data_ready_for_proc_capture = data_ready_for_proc
self.data_processor_empty_capture = data_processor_empty
self.data_not_copying_capture = data_processor_not_copying
#----- take number of points as argument -----
self.num_points_capture = num_points
self.null_points_capture = null_points
#----- link to mp.shared_memory buffer created in main thread -----
self.shared_data_array_capture = shared_memory.SharedMemory(name='SHARED_BUFF')
#----- preallocate numpy array of appropriate size to store data as its collected -----
self.data_array_shared = np.ndarray((self.num_points_capture,3,), dtype='float32', buffer=self.shared_data_array_capture.buf)
self.data_array = np.zeros((self.num_points_capture, 3), dtype='float32')
print("Initializing data capture thread!")
#print("Size of array backed by shared memory: ", self.data_array.shape)
#print("Printing data array object: ",self.data_array)
if duration == 0:
self.duration = 126230400 # 4 years of time (so technically not indefinite)
self.thread = None
if self.fileType == 1:
self.thread = threading.Thread(target=self.run_realtime_csv, args=())
elif self.fileType == 2:
self.thread = threading.Thread(target=self.run_realtime_bin, args=())
else:
self.thread = threading.Thread(target=self.run, args=())
self.thread.daemon = True
self.thread.start()
def run(self):
# read point cloud data packet to get packet version and datatype
# keep looping to 'consume' data that we don't want included in the captured point cloud data
print("&&&& Entered _dataCaptureStream.run() ~line 160 &&&&")
breakByCapture = False
while True:
if self.started:
selectTest = select.select([self.d_socket], [], [], 0)
if selectTest[0]:
data_pc, addr = self.d_socket.recvfrom(1500)
version = int.from_bytes(data_pc[0:1], byteorder='little')
self.dataType = int.from_bytes(data_pc[9:10], byteorder='little')
timestamp_type = int.from_bytes(data_pc[8:9], byteorder='little')
timestamp1 = self.getTimestamp(data_pc[10:18], timestamp_type)
self.updateStatus(data_pc[4:8])
if self.isCapturing:
self.startTime = timestamp1
breakByCapture = True
break
else:
break
if breakByCapture:
# check data packet is as expected (first byte anyways)
if version == 5:
# lists to capture point cloud data stream info
# TODO: should use an object, I know, I know!
timestamps = []
timestamp_types = []
slot_ids = []
lidar_ids = []
coord1s = []
coord2s = []
coord3s = []
intensities = []
returnNums = []
# delayed start to capturing data check (secsToWait parameter)
timestamp2 = self.startTime
while True:
if self.started:
timeSinceStart = timestamp2 - self.startTime
if timeSinceStart <= self.secsToWait:
# read data from receive buffer and keep 'consuming' it
if select.select([self.d_socket], [], [], 0)[0]:
data_pc, addr = self.d_socket.recvfrom(1500)
timestamp_type = int.from_bytes(data_pc[8:9], byteorder='little')
timestamp2 = self.getTimestamp(data_pc[10:18], timestamp_type)
self.updateStatus(data_pc[4:8])
else:
self.startTime = timestamp2
break
else:
break
if self._showMessages: print(" " + self.sensorIP + self._format_spaces + self._format_spaces + " --> CAPTURING DATA...")
# duration adjustment (trying to get exactly 100,000 points / sec)
if self.duration != 126230400:
if self.firmwareType == 1:
self.duration += (0.001 * (self.duration / 2.0))
elif self.firmwareType == 2:
self.duration += (0.0005 * (self.duration / 2.0))
elif self.firmwareType == 3:
self.duration += (0.00055 * (self.duration / 2.0))
timestamp_sec = self.startTime
# main loop that captures the desired point cloud data
while True:
if self.started:
timeSinceStart = timestamp_sec - self.startTime
if timeSinceStart <= self.duration:
# read data from receive buffer
if select.select([self.d_socket], [], [], 0)[0]:
data_pc, addr = self.d_socket.recvfrom(1500)
version = int.from_bytes(data_pc[0:1], byteorder='little')
slot_id = int.from_bytes(data_pc[1:2], byteorder='little')
lidar_id = int.from_bytes(data_pc[2:3], byteorder='little')
# byte 3 is reserved
# update lidar status information
self.updateStatus(data_pc[4:8])
timestamp_type = int.from_bytes(data_pc[8:9], byteorder='little')
timestamp_sec = self.getTimestamp(data_pc[10:18], timestamp_type)
bytePos = 18
# single return firmware (most common)
if self.firmwareType == 1:
# to account for first point's timestamp being increment in the loop
timestamp_sec -= 0.00001
# Cartesian Coordinate System
if self.dataType == 0:
for i in range(0, 100):
# X coordinate
coord1 = data_pc[bytePos:bytePos + 4]
bytePos += 4
# Y coordinate
coord2 = data_pc[bytePos:bytePos + 4]
bytePos += 4
# Z coordinate
coord3 = data_pc[bytePos:bytePos + 4]
bytePos += 4
# intensity
intensity = data_pc[bytePos:bytePos + 1]
bytePos += 1
# timestamp
timestamp_sec += 0.00001
timestamps.append(timestamp_sec)
timestamp_types.append(timestamp_type)
slot_ids.append(slot_id)
lidar_ids.append(lidar_id)
coord1s.append(coord1)
coord2s.append(coord2)
coord3s.append(coord3)
intensities.append(intensity)
# Spherical Coordinate System
elif self.dataType == 1:
for i in range(0, 100):
# distance
coord1 = data_pc[bytePos:bytePos + 4]
bytePos += 4
# zenith
coord2 = data_pc[bytePos:bytePos + 2]
bytePos += 2
# azimuth
coord3 = data_pc[bytePos:bytePos + 2]
bytePos += 2
# intensity
intensity = data_pc[bytePos:bytePos + 1]
bytePos += 1
# timestamp
timestamp_sec += 0.00001
timestamps.append(timestamp_sec)
timestamp_types.append(timestamp_type)
slot_ids.append(slot_id)
lidar_ids.append(lidar_id)
coord1s.append(coord1)
coord2s.append(coord2)
coord3s.append(coord3)
intensities.append(intensity)
# double return firmware
elif self.firmwareType == 2:
# to account for first point's timestamp being increment in the loop
timestamp_sec -= 0.00001
# Cartesian Coordinate System
if self.dataType == 0:
for i in range(0, 100):
returnNum = 1
# X coordinate
coord1 = data_pc[bytePos:bytePos + 4]
bytePos += 4
# Y coordinate
coord2 = data_pc[bytePos:bytePos + 4]
bytePos += 4
# Z coordinate
coord3 = data_pc[bytePos:bytePos + 4]
bytePos += 4
# intensity
intensity = data_pc[bytePos:bytePos + 1]
bytePos += 1
zeroORtwo = i % 2
# timestamp
timestamp_sec += float(not (zeroORtwo)) * 0.00001
# return number
returnNum += zeroORtwo * 1
timestamps.append(timestamp_sec)
timestamp_types.append(timestamp_type)
slot_ids.append(slot_id)
lidar_ids.append(lidar_id)
coord1s.append(coord1)
coord2s.append(coord2)
coord3s.append(coord3)
intensities.append(intensity)
returnNums.append(returnNum)
# Spherical Coordinate System
elif self.dataType == 1:
for i in range(0, 100):
returnNum = 1
# distance
coord1 = data_pc[bytePos:bytePos + 4]
bytePos += 4
# zenith
coord2 = data_pc[bytePos:bytePos + 2]
bytePos += 2
# azimuth
coord3 = data_pc[bytePos:bytePos + 2]
bytePos += 2
# intensity
intensity = data_pc[bytePos:bytePos + 1]
bytePos += 1
zeroORtwo = i % 2
# timestamp
timestamp_sec += float(not (zeroORtwo)) * 0.00001
# return number
returnNum += zeroORtwo * 1
timestamps.append(timestamp_sec)
timestamp_types.append(timestamp_type)
slot_ids.append(slot_id)
lidar_ids.append(lidar_id)
coord1s.append(coord1)
coord2s.append(coord2)
coord3s.append(coord3)
intensities.append(intensity)
returnNums.append(returnNum)
# triple return firmware
elif self.firmwareType == 3:
# to account for first point's timestamp being increment in the loop
timestamp_sec -= 0.000016666
# Cartesian Coordinate System
if self.dataType == 0:
for i in range(0, 100):
returnNum = 1
# X coordinate
coord1 = data_pc[bytePos:bytePos + 4]
bytePos += 4
# Y coordinate
coord2 = data_pc[bytePos:bytePos + 4]
bytePos += 4
# Z coordinate
coord3 = data_pc[bytePos:bytePos + 4]
bytePos += 4
# intensity
intensity = data_pc[bytePos:bytePos + 1]
bytePos += 1
zeroORoneORtwo = i % 3
# timestamp
timestamp_sec += float(not (zeroORoneORtwo)) * 0.000016666
# return number
returnNum += zeroORoneORtwo * 1
timestamps.append(timestamp_sec)
timestamp_types.append(timestamp_type)
slot_ids.append(slot_id)
lidar_ids.append(lidar_id)
coord1s.append(coord1)
coord2s.append(coord2)
coord3s.append(coord3)
intensities.append(intensity)
returnNums.append(returnNum)
# Spherical Coordinate System
elif self.dataType == 1:
for i in range(0, 100):
returnNum = 1
# distance
coord1 = data_pc[bytePos:bytePos + 4]
bytePos += 4
# zenith
coord2 = data_pc[bytePos:bytePos + 2]
bytePos += 2
# azimuth
coord3 = data_pc[bytePos:bytePos + 2]
bytePos += 2
# intensity
intensity = data_pc[bytePos:bytePos + 1]
bytePos += 1
zeroORoneORtwo = i % 3
# timestamp
timestamp_sec += float(not (zeroORoneORtwo)) * 0.000016666
# return number
returnNum += zeroORoneORtwo * 1
timestamps.append(timestamp_sec)
timestamp_types.append(timestamp_type)
slot_ids.append(slot_id)
lidar_ids.append(lidar_id)
coord1s.append(coord1)
coord2s.append(coord2)
coord3s.append(coord3)
intensities.append(intensity)
returnNums.append(returnNum)
# duration check (exit point)
else:
self.started = False
self.isCapturing = False
break
# thread still running check (exit point)
else:
break
# make sure some data was captured
lenData = len(coord1s)
if lenData > 0:
if self._showMessages: print(
" " + self.sensorIP + self._format_spaces + self._format_spaces + " --> writing data to ASCII file: " + self.filePathAndName)
csvFile = open(self.filePathAndName, "w")
numPts = 0
nullPts = 0
# single return fimware
if self.firmwareType == 1:
# Cartesian
if self.dataType == 0:
csvFile.write("//X,Y,Z,Inten-sity,Time\n")
for i in range(0, lenData):
coord1 = round(float(struct.unpack('<i', coord1s[i])[0]) / 1000.0, 3)
coord2 = round(float(struct.unpack('<i', coord2s[i])[0]) / 1000.0, 3)
coord3 = round(float(struct.unpack('<i', coord3s[i])[0]) / 1000.0, 3)
if coord1 or coord2 or coord3:
numPts += 1
csvFile.write("{0:.3f}".format(coord1) \
+ "," + "{0:.3f}".format(coord2) \
+ "," + "{0:.3f}".format(coord3) \
+ "," + str(int.from_bytes(intensities[i], byteorder='little')) \
+ "," + "{0:.6f}".format(timestamps[i]) + "\n")
else:
nullPts += 1
# Spherical
elif self.dataType == 1:
csvFile.write("//Distance,Zenith,Azimuth,Inten-sity,Time\n")
for i in range(0, lenData):
coord1 = round(float(struct.unpack('<I', coord1s[i])[0]) / 1000.0, 3)
coord2 = round(float(struct.unpack('<H', coord2s[i])[0]) / 100.0, 2)
coord3 = round(float(struct.unpack('<H', coord3s[i])[0]) / 100.0, 2)
if coord1:
numPts += 1
csvFile.write("{0:.3f}".format(coord1) \
+ "," + "{0:.2f}".format(coord2) \
+ "," + "{0:.2f}".format(coord3) \
+ "," + str(int.from_bytes(intensities[i], byteorder='little')) \
+ "," + "{0:.6f}".format(timestamps[i]) + "\n")
else:
nullPts += 1
# multiple returns firmware
elif self.firmwareType == 2 or self.firmwareType == 3:
# Cartesian
if self.dataType == 0:
csvFile.write("//X,Y,Z,Inten-sity,Time,ReturnNum\n")
for i in range(0, lenData):
coord1 = round(float(struct.unpack('<i', coord1s[i])[0]) / 1000.0, 3)
coord2 = round(float(struct.unpack('<i', coord2s[i])[0]) / 1000.0, 3)
coord3 = round(float(struct.unpack('<i', coord3s[i])[0]) / 1000.0, 3)
if coord1 or coord2 or coord3:
numPts += 1
csvFile.write("{0:.3f}".format(coord1) \
+ "," + "{0:.3f}".format(coord2) \
+ "," + "{0:.3f}".format(coord3) \
+ "," + str(int.from_bytes(intensities[i], byteorder='little')) \
+ "," + "{0:.6f}".format(timestamps[i]) \
+ "," + str(returnNums[i]) + "\n")
else:
nullPts += 1
# Spherical
elif self.dataType == 1:
csvFile.write("//Distance,Zenith,Azimuth,Inten-sity,Time,ReturnNum\n")
for i in range(0, lenData):
coord1 = round(float(struct.unpack('<I', coord1s[i])[0]) / 1000.0, 3)
coord2 = round(float(struct.unpack('<H', coord2s[i])[0]) / 100.0, 2)
coord3 = round(float(struct.unpack('<H', coord3s[i])[0]) / 100.0, 2)
if coord1:
numPts += 1
csvFile.write("{0:.3f}".format(coord1) \
+ "," + "{0:.2f}".format(coord2) \
+ "," + "{0:.2f}".format(coord3) \
+ "," + str(int.from_bytes(intensities[i], byteorder='little')) \
+ "," + "{0:.6f}".format(timestamps[i]) \
+ "," + str(returnNums[i]) + "\n")
else:
nullPts += 1
self.numPts = numPts
self.nullPts = nullPts
if self._showMessages:
print(" " + self.sensorIP + self._format_spaces + self._format_spaces + " --> closed ASCII file: " + self.filePathAndName)
print(
" (points: " + str(numPts) + " good, " + str(nullPts) + " null, " + str(
numPts + nullPts) + " total)")
csvFile.close()
else:
if self._showMessages: print(
" " + self.sensorIP + self._format_spaces + " --> WARNING: no point cloud data was captured")
else:
if self._showMessages: print(" " + self.sensorIP + self._format_spaces + " --> Incorrect lidar packet version")
def run_realtime_csv(self):
# read point cloud data packet to get packet version and datatype
# keep looping to 'consume' data that we don't want included in the captured point cloud data
print("&&&&& Entered _dataCaptureThread.run_realtime_csv() at ~line 610 &&&&&")
breakByCapture = False
while True:
if self.started:
selectTest = select.select([self.d_socket], [], [], 0)
if selectTest[0]:
data_pc, addr = self.d_socket.recvfrom(1500)
version = int.from_bytes(data_pc[0:1], byteorder='little')
self.dataType = int.from_bytes(data_pc[9:10], byteorder='little')
timestamp_type = int.from_bytes(data_pc[8:9], byteorder='little')
timestamp1 = self.getTimestamp(data_pc[10:18], timestamp_type)
self.updateStatus(data_pc[4:8])
if self.isCapturing:
self.startTime = timestamp1
breakByCapture = True
break
else:
break
if breakByCapture:
# check data packet is as expected (first byte anyways)
if version == 5:
# delayed start to capturing data check (secsToWait parameter)
timestamp2 = self.startTime
while True:
if self.started:
timeSinceStart = timestamp2 - self.startTime
if timeSinceStart <= self.secsToWait:
# read data from receive buffer and keep 'consuming' it
if select.select([self.d_socket], [], [], 0)[0]:
data_pc, addr = self.d_socket.recvfrom(1500)
timestamp_type = int.from_bytes(data_pc[8:9], byteorder='little')
timestamp2 = self.getTimestamp(data_pc[10:18], timestamp_type)
self.updateStatus(data_pc[4:8])
else:
self.startTime = timestamp2
break
else:
break
if self._showMessages: print(" " + self.sensorIP + self._format_spaces + " --> CAPTURING DATA...")
# duration adjustment (trying to get exactly 100,000 points / sec)
if self.duration != 126230400:
if self.firmwareType == 1:
self.duration += (0.001 * (self.duration / 2.0))
elif self.firmwareType == 2:
self.duration += (0.0005 * (self.duration / 2.0))
elif self.firmwareType == 3:
self.duration += (0.00055 * (self.duration / 2.0))
timestamp_sec = self.startTime
if self._showMessages: print(
" " + self.sensorIP + self._format_spaces + " --> writing real-time data to ASCII file: " + self.filePathAndName)
csvFile = open(self.filePathAndName, "w", 1)
numPts = 0
nullPts = 0
# write header info
if self.firmwareType == 1: # single return firmware
if self.dataType == 0: # Cartesian
csvFile.write("//X,Y,Z,Inten-sity,Time\n")
elif self.dataType == 1: # Spherical
csvFile.write("//Distance,Zenith,Azimuth,Inten-sity,Time\n")
elif self.firmwareType == 2 or self.firmwareType == 3: # double or triple return firmware
if self.dataType == 0: # Cartesian
csvFile.write("//X,Y,Z,Inten-sity,Time,ReturnNum\n")
elif self.dataType == 1: # Spherical
csvFile.write("//Distance,Zenith,Azimuth,Inten-sity,Time,ReturnNum\n")
# main loop that captures the desired point cloud data
while True:
if self.started:
timeSinceStart = timestamp_sec - self.startTime
if timeSinceStart <= self.duration:
# read data from receive buffer
if select.select([self.d_socket], [], [], 0)[0]:
data_pc, addr = self.d_socket.recvfrom(1500)
# version = int.from_bytes(data_pc[0:1], byteorder='little')
# slot_id = int.from_bytes(data_pc[1:2], byteorder='little')
# lidar_id = int.from_bytes(data_pc[2:3], byteorder='little')
# byte 3 is reserved
# update lidar status information
self.updateStatus(data_pc[4:8])
timestamp_type = int.from_bytes(data_pc[8:9], byteorder='little')
timestamp_sec = self.getTimestamp(data_pc[10:18], timestamp_type)
bytePos = 18
# single return firmware (most common)
if self.firmwareType == 1:
# to account for first point's timestamp being increment in the loop
timestamp_sec -= 0.00001
# Cartesian Coordinate System
if self.dataType == 0:
for i in range(0, 100):
# Y coordinate (check for non-zero)
coord2 = struct.unpack('<i', data_pc[bytePos + 4:bytePos + 8])[0]
# timestamp
timestamp_sec += 0.00001
if coord2:
# X coordinate
coord1 = struct.unpack('<i', data_pc[bytePos:bytePos + 4])[0]
bytePos += 8
# Z coordinate
coord3 = struct.unpack('<i', data_pc[bytePos:bytePos + 4])[0]
bytePos += 4
# intensity
intensity = int.from_bytes(data_pc[bytePos:bytePos + 1],
byteorder='little')
bytePos += 1
numPts += 1
csvFile.write(
"{0:.3f}".format(float(coord1) / 1000.0) + "," + "{0:.3f}".format(
float(coord2) / 1000.0) + "," + "{0:.3f}".format(
float(coord3) / 1000.0) + "," + str(
intensity) + "," + "{0:.6f}".format(timestamp_sec) + "\n")
else:
nullPts += 1
bytePos += 13
# Spherical Coordinate System
elif self.dataType == 1:
for i in range(0, 100):
# Distance coordinate (check for non-zero)
coord1 = struct.unpack('<I', data_pc[bytePos:bytePos + 4])[0]
# timestamp
timestamp_sec += 0.00001
if coord1:
bytePos += 4
# Zenith coordinate
coord2 = struct.unpack('<H', data_pc[bytePos:bytePos + 2])[0]
bytePos += 2
# Azimuth coordinate
coord3 = struct.unpack('<H', data_pc[bytePos:bytePos + 2])[0]
bytePos += 2
# intensity
intensity = int.from_bytes(data_pc[bytePos:bytePos + 1],
byteorder='little')
bytePos += 1
numPts += 1
csvFile.write(
"{0:.3f}".format(float(coord1) / 1000.0) + "," + "{0:.2f}".format(
float(coord2) / 100.0) + "," + "{0:.2f}".format(
float(coord3) / 100.0) + "," + str(
intensity) + "," + "{0:.6f}".format(timestamp_sec) + "\n")
else:
nullPts += 1
bytePos += 9
# double return firmware
elif self.firmwareType == 2:
# to account for first point's timestamp being increment in the loop
timestamp_sec -= 0.00001
# Cartesian Coordinate System
if self.dataType == 0:
for i in range(0, 100):
returnNum = 1
# Y coordinate (check for non-zero)
coord2 = struct.unpack('<i', data_pc[bytePos + 4:bytePos + 8])[0]
zeroORtwo = i % 2
# timestamp
timestamp_sec += float(not (zeroORtwo)) * 0.00001
# return number
returnNum += zeroORtwo * 1
if coord2:
# X coordinate
coord1 = struct.unpack('<i', data_pc[bytePos:bytePos + 4])[0]
bytePos += 8
# Z coordinate
coord3 = struct.unpack('<i', data_pc[bytePos:bytePos + 4])[0]
bytePos += 4
# intensity
intensity = int.from_bytes(data_pc[bytePos:bytePos + 1],
byteorder='little')
bytePos += 1
numPts += 1
csvFile.write(
"{0:.3f}".format(float(coord1) / 1000.0) + "," + "{0:.3f}".format(
float(coord2) / 1000.0) + "," + "{0:.3f}".format(
float(coord3) / 1000.0) + "," + str(
intensity) + "," + "{0:.6f}".format(timestamp_sec) + "," + str(
returnNum) + "\n")
else:
nullPts += 1
bytePos += 13
# Spherical Coordinate System
elif self.dataType == 1:
for i in range(0, 100):
returnNum = 1
# Distance coordinate (check for non-zero)
coord1 = struct.unpack('<I', data_pc[bytePos:bytePos + 4])[0]
zeroORtwo = i % 2
# timestamp
timestamp_sec += float(not (zeroORtwo)) * 0.00001
# return number
returnNum += zeroORtwo * 1
if coord1:
bytePos += 4
# Zenith coordinate
coord2 = struct.unpack('<H', data_pc[bytePos:bytePos + 2])[0]
bytePos += 2
# Azimuth coordinate
coord3 = struct.unpack('<H', data_pc[bytePos:bytePos + 2])[0]
bytePos += 2
# intensity
intensity = int.from_bytes(data_pc[bytePos:bytePos + 1],
byteorder='little')
bytePos += 1
numPts += 1
csvFile.write(
"{0:.3f}".format(float(coord1) / 1000.0) + "," + "{0:.2f}".format(
float(coord2) / 100.0) + "," + "{0:.2f}".format(
float(coord3) / 100.0) + "," + str(
intensity) + "," + "{0:.6f}".format(timestamp_sec) + "," + str(
returnNum) + "\n")
else:
nullPts += 1
bytePos += 9
# triple return firmware
elif self.firmwareType == 3:
# to account for first point's timestamp being increment in the loop
timestamp_sec -= 0.000016666
# Cartesian Coordinate System
if self.dataType == 0:
for i in range(0, 100):
returnNum = 1
# Y coordinate (check for non-zero)
coord2 = struct.unpack('<i', data_pc[bytePos + 4:bytePos + 8])[0]
zeroORoneORtwo = i % 3
# timestamp
timestamp_sec += float(not (zeroORoneORtwo)) * 0.000016666
# return number
returnNum += zeroORoneORtwo * 1
if coord2:
# X coordinate
coord1 = struct.unpack('<i', data_pc[bytePos:bytePos + 4])[0]
bytePos += 8
# Z coordinate
coord3 = struct.unpack('<i', data_pc[bytePos:bytePos + 4])[0]
bytePos += 4
# intensity
intensity = int.from_bytes(data_pc[bytePos:bytePos + 1],
byteorder='little')
bytePos += 1
numPts += 1
csvFile.write(
"{0:.3f}".format(float(coord1) / 1000.0) + "," + "{0:.3f}".format(
float(coord2) / 1000.0) + "," + "{0:.3f}".format(
float(coord3) / 1000.0) + "," + str(
intensity) + "," + "{0:.6f}".format(timestamp_sec) + "," + str(
returnNum) + "\n")
else:
nullPts += 1
bytePos += 13
# Spherical Coordinate System
elif self.dataType == 1:
for i in range(0, 100):
returnNum = 1
# Distance coordinate (check for non-zero)
coord1 = struct.unpack('<I', data_pc[bytePos:bytePos + 4])[0]
zeroORoneORtwo = i % 3
# timestamp
timestamp_sec += float(not (zeroORoneORtwo)) * 0.000016666
# return number
returnNum += zeroORoneORtwo * 1
if coord1:
bytePos += 4
# Zenith coordinate
coord2 = struct.unpack('<H', data_pc[bytePos:bytePos + 2])[0]
bytePos += 2
# Azimuth coordinate
coord3 = struct.unpack('<H', data_pc[bytePos:bytePos + 2])[0]
bytePos += 2
# intensity
intensity = int.from_bytes(data_pc[bytePos:bytePos + 1],
byteorder='little')
bytePos += 1
numPts += 1
csvFile.write(
"{0:.3f}".format(float(coord1) / 1000.0) + "," + "{0:.2f}".format(
float(coord2) / 100.0) + "," + "{0:.2f}".format(
float(coord3) / 100.0) + "," + str(
intensity) + "," + "{0:.6f}".format(timestamp_sec) + "," + str(
returnNum) + "\n")
else:
nullPts += 1
bytePos += 9
# duration check (exit point)
else:
self.started = False
self.isCapturing = False
break
# thread still running check (exit point)
else:
break
self.numPts = numPts
self.nullPts = nullPts
if self._showMessages:
print(" " + self.sensorIP + self._format_spaces + " --> closed ASCII file: " + self.filePathAndName)
print(" (points: " + str(numPts) + " good, " + str(nullPts) + " null, " + str(numPts + nullPts) + " total)")
csvFile.close()
else:
if self._showMessages: print(" " + self.sensorIP + self._format_spaces + " --> Incorrect lidar packet version")
def run_realtime_bin(self):
# read point cloud data packet to get packet version and datatype
# keep looping to 'consume' data that we don't want included in the captured point cloud data
print("&&&&& Entered _dataCaptureThread.run_realtime_bin() at ~line 975 &&&&&")
#Reset flag to indicate data is not ready
self.data_ready_for_proc_capture.clear()
breakByCapture = False
#used to check if the sensor is a Mid-100
deviceCheck = 0
try:
deviceCheck = int(self._deviceType[4:7])
except:
pass
while True:
if self.started: