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最新推荐文章于 2024-05-19 23:31:32 发布

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最新推荐文章于 2024-05-19 23:31:32 发布

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文章标签： python 开发语言

本文链接：https://blog.csdn.net/qq_43667577/article/details/131092426

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将点云中的部分点云及其法向量截取出来

import numpy as np
import matplotlib.pyplot as plt

xmin = 0
xmax = 700

ymin = -800
ymax = 0

zmin = -1000
zmax = 0

Y = np.loadtxt('data/pointsetX_1000.txt')
Y_hat = np.loadtxt('data/pointsetX_1000_pcd.txt')  # 加载目标点云数据

New_Y = []
list = []
i = 0
for Y_new in Y:
    if xmin <= Y_new[0] <= xmax and ymin <= Y_new[1] <= ymax and zmin <= Y_new[2] <= zmax:
        New_Y.append(Y_new)
        list.append(i)
    i = i + 1

New_Y = np.array(New_Y)
list = np.array(list)

New_Y_hat = Y_hat[list]

fig = plt.figure()  # 生成一个图框
ax = fig.add_subplot(111, projection='3d')  # 创建一个三维图
ax.autoscale(enable=True, axis='both', tight=None)
ax.set_box_aspect([1, 1, 1])
x = New_Y[:, 0]
y = New_Y[:, 1]
z = New_Y[:, 2]
ax.scatter(x, y, z, color='red', label='Target', marker='.')
ax.set_box_aspect([np.ptp(x), np.ptp(y), np.ptp(z)])
ax.set_xlabel('X Label')
ax.set_ylabel('Y Label')
ax.set_zlabel('Z Label')

plt.show()# 绘制点云数据集

np.savetxt('data/half_pointset.txt',New_Y)
np.savetxt('data/half_pointset_hat.txt',New_Y_hat)