71 lines
2.3 KiB
Python
71 lines
2.3 KiB
Python
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import cv2
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import matplotlib.pyplot as plt
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import numpy as np
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import pdb
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import os
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from matplotlib.colors import LinearSegmentedColormap,ListedColormap
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from matplotlib.animation import FuncAnimation, FFMpegWriter
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# 指定文件夹路径
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folder_path = 'datas'
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# 获取文件夹中的所有文件
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files = [f for f in os.listdir(folder_path) if os.path.isfile(os.path.join(folder_path, f))]
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# 根据文件的修改时间排序
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sorted_files = sorted(files, key=lambda x: os.path.getmtime(os.path.join(folder_path, x)))
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# 创建一个自定义的 colormap
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colors = ['red', 'yellow', 'green', 'blue']
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# 自定义颜色
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colors = ['fuchsia', 'red', 'yellow', 'lime', 'cyan', 'blue',
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'fuchsia', 'red', 'yellow', 'lime', 'cyan', 'blue',
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'fuchsia', 'red', 'yellow', 'lime', 'cyan', 'blue',
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'fuchsia', 'red', 'yellow', 'lime', 'cyan', 'blue']
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mcmap = LinearSegmentedColormap.from_list("custom_cmap", colors)
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plt.figure(figsize=(7, 7))
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# 打印排序后的文件名
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for file in sorted_files:
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data = np.load(os.path.join(folder_path,file))
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depth = data['arr1']
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points = data['arr2']
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color_image = data['arr3']
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h,w,_ = color_image.shape
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points = points.reshape((h,w,3))
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depth[depth > 1300] = 0
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depth[depth < 900] = 0
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depth = depth[50:200,50:210]
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# 背景图
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background = np.ones_like(depth) * 0.5 # 设定灰色背景
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# 使用 np.ma.masked_equal() 来屏蔽深度图中的零值。masked_array 中的值不会被绘制，从而避免了零值的显示。
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depth = np.ma.masked_equal(depth, 0)
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# 绘制背景
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plt.imshow(background, origin='lower', cmap='gray', alpha=0.3)
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# 绘制白色栅格线，并将其置于底层
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plt.grid(True, which='both', axis='both', color='white', linestyle='-', linewidth=1, zorder=0)
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if False:
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plt.subplot(1,2,1)
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plt.imshow(depth, cmap='plasma', vmin=1000, vmax=1200)
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plt.subplot(1,2,2)
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# 绘制等高线图并设置原点在左下角
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# 通过设置 zorder 来控制它们的层级。例如，设置 zorder=2 或更大的值来确保它们位于栅格线之上。
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plt.contourf(depth, levels=200, cmap=mcmap,vmin=900, vmax=1300,origin='upper',zorder=2)
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plt.pause(0.1) # 暂停0.1秒
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plt.draw() # 重绘图像
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plt.clf() # 清除当前图像
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#plt.show()
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