使用numpy库对点云数据进行旋转操作

最新推荐文章于 2024-06-24 18:14:21 发布

吃透open3D

最新推荐文章于 2024-06-24 18:14:21 发布

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分类专栏：点云操作文章标签： python

本文链接：https://blog.csdn.net/yangxin30520/article/details/127500590

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import numpy as np
from math import *


def VaryPoint(data, axis, degree):
    xyzArray = {
        'X': np.array([[1, 0, 0],
                  [0, cos(radians(degree)), -sin(radians(degree))],
                  [0, sin(radians(degree)), cos(radians(degree))]]),
        'Y': np.array([[cos(radians(degree)), 0, sin(radians(degree))],
                  [0, 1, 0],
                  [-sin(radians(degree)), 0, cos(radians(degree))]]),
        'Z': np.array([[cos(radians(degree)), -sin(radians(degree)), 0],
                  [sin(radians(degree)), cos(radians(degree)), 0],
                  [0, 0, 1]])}
    newData = np.dot(data, xyzArray[axis])
    return newData


def SaveTxt(txtAll):
    for data_ in txtAll:
        np.savetxt(data_[1], data_[0])


def ProcssPoint(readPath, varyData, sessionNum, savePath):
    txtAll = []

    for i in range(0, sessionNum + 1):
        pathNew = readPath + str(i) + ".txt"
        savePath_ = savePath + str(i) + ".txt"
        print(pathNew)
        try:
            dataInitNp = np.loadtxt(pathNew)
            print(dataInitNp)
            for para in varyData:
                dataInitNp = VaryPoint(dataInitNp[:, :3], para[0], para[1])
            txtAll.append([dataInitNp, savePath_])

        except:
            continue
    return txtAll


if __name__ == "__main__":
    readPath = "File/DoD/3cm/BU/"  # 待处理点云地址
    savePath = 'File/DoD/3cm/VaryBU/'  # 处理后点云保存地址
    sessionNum = 14  # 场次
    # 旋转轴，XYZ均可填入
    varyData = [
        ["Z", 41],
        ["Y", 61]]
    txtAll = ProcssPoint(readPath, varyData, sessionNum, savePath)
    SaveTxt(txtAll)