仅仅使用一个python代码文件,使用了 socket 模块和雷达进行通讯,并能够保存 bin 数据文件,同时还可以读取 bin 数据文件里面的雷达数据,依赖简单且容易使用,缺点是python本身速度较慢,无法做到实时
代码如下:
#!/usr/bin/python
import os
import csv
import sys
import socket
import glob
from datetime import datetime, timedelta
import struct
import time
import traceback
import numpy as np
from multiprocessing import Process, Queue, Pool
import logging
import logging.config
HOST = "192.168.1.201"
PORT = 2368
LASER_ANGLES = [-15, 1, -13, 3, -11, 5, -9, 7, -7, 9, -5, 11, -3, 13, -1, 15]
NUM_LASERS = 16
EXPECTED_PACKET_TIME = 0.001327 # valid only in "the strongest return mode"
EXPECTED_SCAN_DURATION = 0.1
DISTANCE_RESOLUTION = 0.002
ROTATION_RESOLUTION = 0.01
ROTATION_MAX_UNITS = 36000
DATA_QUEUE = Queue(-1)
formatter = '[%(asctime)s][%(filename)s:%(lineno)s][%(levelname)s][%(message)s]'
LOGGING_CO