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json2txt_lidar_rename.py
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json2txt_lidar_rename.py
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'''
Description:同时输出pcd和txt
Author: HCQ
Company(School): UCAS
Email: 1756260160@qq.com
Date: 2022-01-20 16:20:06
LastEditTime: 2022-04-25 14:57:54
FilePath: /Python/data_process/json/json2txt_lidar_rename.py
'''
import os
import json
import numpy as np
from tqdm import tqdm
import shutil
import random
# 本文件测试
json_dir = '/home/hcq/pointcloud/Python/data_process/json/livox_data/' # json文件路径
out_dir = '/home/hcq/pointcloud/Python/data_process/json/livox_result/' # 输出的 txt 文件路径
# 项目输入
json_livox_dirs = []
# json_livox = ['/home/hcq/data/2022anno/融合交付/融合交付/2021.12.10-shenbao/10.25-1', '/home/hcq/data/2022anno/融合交付/融合交付/2021.12.10-shenbao/10.25-2']
json_livox = ['/home/hcq/data/2022anno/融合追踪标注0408/标注结果']
# pcd文件（原始数据转移）
# /home/hcq/data/2022anno/2021.12.10-shenbao/10.25-1/_2021-10-25-09-44-52/livox
pcd_livox = "/home/hcq/data/2022anno/2021.12.10-shenbao/10.25-1/"
# 输出
out_dir_livox_txt = '/home/hcq/data/2022anno/finaul_result/txt_result_180filter/'
out_dir_livox_pcd = '/home/hcq/data/2022anno/finaul_result/pcd_result/'
# step1 整理目录层级，得到所有json列表
for i in json_livox:
# path_paths =
# for path_path in os.listdir(path):
# for path in json_livox + path_path:
# file_path = json_livox + path_path + path
for j in os.listdir(i):
list_json = os.listdir('%s/%s/livox/'%(i,j)) # ['000002.json', '000044.json', ...]
# 1 排序（转数字排序，再转字符）
flielist = [int(x.split('.')[0]) for x in list_json] # 只有json
flielist.sort()
flielist = ['%06d.json' % x for x in flielist] # 数字转成字符00000.json
# 2 遍历保存完整json路径
# for k in list_json:
for k in flielist:
# json.load(open('%s/%s/livox/%s' % (i,j,k)))
json_livox_dirs.append('%s/%s/livox/%s' % (i,j,k)) # 所有json文件路径
# '/home/hcq/data/2022anno/融合交付/融合交付/2021.12.10-shenbao/10.25-1/_2021-10-25-11-40-50/livox/000002.json'
# print(len(json_livox_dirs))
# 打乱路径
print("before: ", json_livox_dirs)
random.shuffle(json_livox_dirs)
print("after: ", json_livox_dirs)
# ======================================================上面先运行============================================================
# step2 处理每个json文件
# json_file '/home/hcq/data/2022anno/HT融合追踪交付0317/标注结果/_2021-10-25-10-12-37/livox/000000.json'
def get_json(json_file, out_dir, filename):
# 读取 json 文件数据
with open(json_file, 'r') as load_f:
content = json.load(load_f)
# 修改输出文件名
# filename = 0
# filename = '%06d' % filename # filename 修改名字 '000000'
filename_txt = out_dir +filename + '.txt' # 保存txt文件路径============
# 保存pcd名字 json的路径
pcd_path = pcd_livox + json_file.split("/")[-3] + "/livox/" + json_file.split("/")[-1].split(".")[0] + ".pcd"
# 重命名并保存pcd到指定位置
src = pcd_path
dst = out_dir_livox_pcd + filename + ".pcd" # 保存pcd文件路径============
# os.rename(src, dst) # rename不能用，相当于移动
shutil.copyfile(src, dst)
# 将数据写入文件
str_tmp = "" # 存储字符串内容
# 1.获取数据============================================
objects = content["objects"]
# print(len(objects))
# print("Output", objects[0])
# 遍历障碍物
for i in range(len(objects)):
# 判断objects是否符合要求
if "content" not in content["objects"][i].keys():
continue
label = content["objects"][i]["content"]["label"]
idx_2_name = {1: 'Pedestrian', 2: 'Truck', 3: 'Widebody', 5: 'Car', 4: 'Auxiliary', 6: 'Excavator'}
label = idx_2_name[int(label)]
# print("label:", label)
cx = (content["objects"][i])["center"]["x"]
if cx > 180.0: continue
cy = (content["objects"][i])["center"]["y"]
cz = (content["objects"][i])["center"]["z"]
str_tmp += str(label) + " " # 0维
str_tmp += str(cx) + " " + str(cy)+ " " + str(cz)+ " " ##暂存内容
dx = (content["objects"][i])["dimensions"]["length"]
dy = (content["objects"][i])["dimensions"]["width"]
dz = (content["objects"][i])["dimensions"]["height"]
str_tmp += str(dx) + " " + str(dy)+ " " + str(dz)+ " " ##暂存内容
yaw = (content["objects"][i])["rotation"]["z"] # 7 yaw角
trackid = (content["objects"][i])["objectid"] # 8
str_tmp += str(yaw) + " " + str(trackid) # 行尾
# 换行
str_tmp += "\n" ##暂存内容
if not str_tmp == "":
# 创建txt文件
fp = open(filename_txt, mode="w", encoding="utf-8")
fp.write(str_tmp)
fp.close()
def main():
files = os.listdir(json_dir) # 得到文件夹下的所有文件名称 ['000000.json', '000015.json']
s = []
for file in files: # 遍历文件夹
filename = file.split('.')[0]
# print(filename) # 000015
get_json(json_dir + file, out_dir, filename)
# ====================================================================================
def main_livox():
# 输出文件名：000000
filename_livox = 0
# 遍历每个json文件，输出为 out_dir_livox_txt + filename_livox +txt
for file_livox in tqdm(json_livox_dirs): # 遍历文件夹
# print(filename_livox) # 000015
get_json(file_livox, out_dir_livox_txt, '%06d' % filename_livox)
# print("Extracted %d json file"%filename_livox)
filename_livox+=1 # 输出文件名从00000递增
print("Extracted successfully")
if __name__ == '__main__':
# main()
main_livox()