# 点云显示
# 外接包围盒显示
import os
from matplotlib import pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
def displayPoint(data):
#解决中文显示问题
# plt.rcParams['font.sans-serif']=['SimHei']
# plt.rcParams['axes.unicode_minus'] = False
#散点图参数设置
fig=plt.figure()
ax=Axes3D(fig)
ax.set_title('points')
ax.scatter3D(data[0], data[1],data[2], c = 'r', marker = '.')
ax.set_xlabel('x')
ax.set_ylabel('y')
ax.set_zlabel('z')
plt.show()
def plot_linear_cube(x, y, z, dx, dy, dz, color='red'):
fig = plt.figure()
ax = Axes3D(fig)
xx = [x, x, x+dx, x+dx, x]
yy = [y, y+dy, y+dy, y, y]
kwargs = {'alpha': 1, 'color': color}
ax.plot3D(xx, yy, [z]*5, **kwargs)
ax.plot3D(xx, yy, [z+dz]*5, **kwargs)
ax.plot3D([x, x], [y, y], [z, z+dz], **kwargs)
ax.plot3D([x, x], [y+dy, y+dy], [z, z+dz], **kwargs)
ax.plot3D([x+dx, x+dx], [y+dy, y+dy], [z, z+dz], **kwargs)
ax.plot3D([x+dx, x+dx], [y, y], [z, z+dz], **kwargs)
plt.title('Cube')
plt.show()
def plot_BBOX_point(data, x, y, z, dx, dy, dz, color='red'):
fig=plt.figure()
ax=Axes3D(fig)
ax.set_title('points&cube')
ax.scatter3D(data[0], data[1],data[2], c = 'r', marker = '.')
ax.set_xlabel('x')
ax.set_ylabel('y')
ax.set_zlabel('z')
xx = [x, x, x+dx, x+dx, x]
yy = [y, y+dy, y+dy, y, y]
kwargs = {'alpha': 1, 'color': color}
ax.plot3D(xx, yy, [z]*5, **kwargs)
ax.plot3D(xx, yy, [z+dz]*5, **kwargs)
ax.plot3D([x, x], [y, y], [z, z+dz], **kwargs)
ax.plot3D([x, x], [y+dy, y+dy], [z, z+dz], **kwargs)
ax.plot3D([x+dx, x+dx], [y+dy, y+dy], [z, z+dz], **kwargs)
ax.plot3D([x+dx, x+dx], [y, y], [z, z+dz], **kwargs)
plt.show()
def main():
data = []
xlist = []
ylist = []
zlist = []
with open('./test_1_inliers.txt', 'r') as f:
lines = f.readlines()
for line in lines:
x,y,z = [float(i) for i in line.split(' ')]
xlist.append(x)
ylist.append(y)
zlist.append(z)
f.close()
data.append(xlist)
data.append(ylist)
data.append(zlist)
xmin = min(xlist)
xmax = max(xlist)
ymin = min(ylist)
ymax = max(ylist)
zmin = min(zlist)
zmax = max(zlist)
dx = xmax - xmin
dy = ymax - ymin
dz = zmax - zmin
# plot_linear_cube(xmin, ymin, zmin, dx, dy, dz, color='red')
# displayPoint(data)
plot_BBOX_point(data, xmin, ymin, zmin, dx, dy, dz, color='red')
if __name__ == '__main__':
main()
点云的绘制也可以用python-pcl中的visualization.py。
