draw_points_3d

draw_points_3d 用于在图片上绘制3D点 它有以下成员函数 mg_reset(self)

# 加载 obj文件中的3d点 def load_obj(self,obj_file_name="map_3d.obj")

# 自己生成坐标轴的3d点 def create_points_axis(self)

# 获取围绕第axis_index个坐标轴旋转angel角度的旋转矩阵 def get_rotate_matrix(self,axis_index,angle)

# 获取 往像素映射的平移矩阵 def get_img2pixel_translate_matrix(self)

# 获取 平移矩阵 def get_translate_matrix(self,trans_value=np.array[0.,0.,0.])

# 按照先trans_value, 再theta,最后trans_value_behand对pionts_3d_cac进行平移动旋转 def trans_rotate_trans_operation(self,points_3d_cac,trans_value=np.array([0.,0.,0.]),theta=np.array([0.,0.,0.]),trans_value_behand=np.array([0.,0.,0.]))

# bird eye view def get_bev(self)

#绘制3D点 def draw_axis(self,theta0,theta1,theta2) def draw_points(self,theta0,theta1,theta2,z_value,y_value,x_value)

Classes

DrawLine()

DrawPlane(d3p)

MTLFILE(filename)

NEWMTL([Kd, Ka, Ks, Ke, Ns, illum])

draw_points_3d(img[, top_layer_z])