Q_label[i],
color='black',
fontsize=m_fontsize)
R_label = [r'$r_{i-1}$', r'$r_{i}$', r'$r_{i+1}$']
for i in [0, 1, 2]:
ax.text(R[i, 0] + 0.,
R[i, 1] + 0.,
R[i, 2] - 0.7,
R_label[i],
color='0.1',
fontsize=m_fontsize)
d0_util_3d.find_pair_point_in_Traj_and_draw(R[0],
Q,
m_text='',
ax=ax,
fontsize=14,
color='0.1',
linestyle='--')
d0_util_3d.find_pair_point_in_Traj_and_draw(R[1],
Q,
m_text=r'$ BDS(r_{i})$',
ax=ax,
fontsize=14,
color='0.1',
linestyle='--')
ax.legend() # 显示图例
ax.set_xlabel('x/m', fontsize=m_fontsize)
ax.set_ylabel('y/m', fontsize=m_fontsize)
ax.set_zlabel('z/m', fontsize=m_fontsize)
def draw_a():
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
m_fontsize = 14
small_fontsize = 11
Q, R = get_data()
ax.plot(Q[:, 0],
Q[:, 1],
Q[:, 2],
label='Q',
linestyle='-',
linewidth=2,
color='black',
marker='H')
ax.plot(R[:, 0],
R[:, 1],
R[:, 2],
label='R',
linestyle='-',
linewidth=2,
color='0',
marker='H')
draw_line(ax, Q[0], R[0], color='0', linewidth=1.5)
draw_line(ax, Q[1], R[1], color='0', linewidth=1.5)
draw_line(ax, Q[1], R[2])
draw_line(ax, Q[2], R[3])
# m_label = [r'$q_{0}=DTW(r_0)$',r'$q_{1}=DTW(r_1)$', r'$q_{2}$']
m_label = [r'$q_{0}$', r'$q_{1}$', r'$q_{2}$']
for i in range(0, len(Q)):
ax.text(Q[i, 0] - 0.5,
Q[i, 1] + 1,
Q[i, 2],
m_label[i],
color='black',
fontsize=m_fontsize)
# ax.text(Q[2, 0]+1.5, Q[2, 1], Q[2, 2], m_label[2], color='black', fontsize=m_fontsize)
for i in range(len(R)):
ax.text(R[i, 0] - 0.5,
R[i, 1],
R[i, 2],
r'$r_{' + str(i) + '}$',
color='0.3',
fontsize=m_fontsize)
ax.text(Q[0, 0] + 5,
Q[0, 1],
Q[0, 2],
r'$DTW-DBS(r_0)$',
color='0.1',
fontsize=small_fontsize)
ax.text(Q[1, 0] + 5,
Q[1, 1],
Q[1, 2],
r'$DTW-DBS(r_1)$',
color='0.1',
fontsize=small_fontsize)
###################################################################################################################
# 寻找r2的对应点
###################################################################################################################
min_point = find_pair_point_in_Traj_and_draw(R[2], [Q[1], Q[2]],
color='0.1',
ax=ax)
ax.text(min_point[0] + 5,
min_point[1],
min_point[2],
r'$DTW-DBS(r_2)$',
color='0.1',
fontsize=small_fontsize)
ax.legend() # 显示图例
ax.set_xlabel('x/m', fontsize=m_fontsize)
ax.set_ylabel('y/m', fontsize=m_fontsize)
ax.set_zlabel('z/m', fontsize=m_fontsize)
# 设置坐标轴刻度
ax.set_xticks([])
ax.set_yticks([])
ax.set_zticks(np.arange(0, 7, 2))
plt.xlim(-1, 10)
# plt.ylim(0, 2)
ax.set_zlim(0, 7)
ax.view_init(elev=20, azim=100) # 调整视角
plt.show()
def draw_2(fig, ax):
Q, R = get_data()
ax.plot(Q[:, 0],
Q[:, 1],
Q[:, 2],
label='Q',
linestyle='-',
linewidth=2,
color='black',
marker='H')
ax.plot(R[:, 0],
R[:, 1],
R[:, 2],
label='R',
linestyle='-',
linewidth=2,
color='0.4',
marker='*')
# 获取DTW对应点
DTW_pair = get_pair_index_in_DTW(Q=R, R=Q)
print(DTW_pair)
for i in range(1, len(DTW_pair)):
pair = DTW_pair[i]
draw_line(ax, Q[pair[1]], R[pair[0]])
for i in range(0, len(Q) - 1):
ax.text(Q[i, 0] - 0.7,
Q[i, 1] + 1,
Q[i, 2] - 0.8,
r'$q_{' + str(i) + '}$',
color='black',
fontsize=m_fontsize)
ax.text(Q[-1, 0] + 0.2,
Q[-1, 1],
Q[-1, 2] + 0.2,
r'$q_{' + str(3) + '}$',
color='black',
fontsize=m_fontsize)
for i in range(len(R) - 1):
ax.text(R[i, 0] + 0.2,
R[i, 1],
R[i, 2] + 0.,
r'$r_{' + str(i) + '}$',
color='0.4',
fontsize=m_fontsize)
ax.text(R[-1, 0] + 0.2,
R[-1, 1],
R[-1, 2] + 0.,
r'$r_{' + str(5) + '}$',
color='0.4',
fontsize=m_fontsize)
###################################################################################################################
# 寻找r0的对应点
###################################################################################################################
min_point = find_pair_point_in_Traj_and_draw(R[0], [Q[0], Q[1]],
color='0.1',
ax=ax)
ax.text(min_point[0] - 2.6,
min_point[1] - 0.5,
min_point[2],
r'$DTW-BDS(r_0)$',
color='0.1',
fontsize=small_fontsize)
return "F:\\毕业设计大文件夹\\picture\\chapter\\Fig3-10\\2.jpg"
def draw_5(fig, ax):
Q, R = get_data()
ax.plot(Q[:, 0],
Q[:, 1],
Q[:, 2],
label='Q',
linestyle='-',
linewidth=2,
color='black',
marker='H')
ax.plot(R[:, 0],
R[:, 1],
R[:, 2],
label='R',
linestyle='-',
linewidth=2,
color='0.4',
marker='*')
# 获取DTW对应点
# DTW_pair = get_pair_index_in_DTW(Q=R, R=Q)
# print(DTW_pair)
# for i in range(1, len(DTW_pair)):
# pair = DTW_pair[i]
# draw_line(ax, Q[pair[1]], R[pair[0]])
for i in range(0, len(Q) - 1):
ax.text(Q[i, 0] - 0.7,
Q[i, 1] + 1,
Q[i, 2] - 0.8,
r'$q_{' + str(i) + '}$',
color='black',
fontsize=m_fontsize)
ax.text(Q[-1, 0] + 0.2,
Q[-1, 1],
Q[-1, 2] + 0.2,
r'$q_{' + str(3) + '}$',
color='black',
fontsize=m_fontsize)
for i in range(len(R) - 1):
ax.text(R[i, 0] + 0.2,
R[i, 1],
R[i, 2] + 0.,
r'$r_{' + str(i) + '}$',
color='0.4',
fontsize=m_fontsize)
ax.text(R[-1, 0] + 0.2,
R[-1, 1],
R[-1, 2] + 0.,
r'$r_{' + str(5) + '}$',
color='0.4',
fontsize=m_fontsize)
###################################################################################################################
# 优化r2的对应点
###################################################################################################################
b_x, b_y, b_z = -2.6, -0.5, 0
min_point = find_pair_point_in_Traj_and_draw(R[0], [Q[0], Q[1]],
color='0.1',
ax=ax)
ax.text(min_point[0] + b_x,
min_point[1] + b_y,
min_point[2],
r'',
color='0.1',
fontsize=small_fontsize)
min_point = find_pair_point_in_Traj_and_draw(R[1], [Q[0], Q[1]],
color='0.1',
ax=ax)
ax.text(min_point[0] + b_x,
min_point[1] + b_y,
min_point[2],
r'',
color='0.1',
fontsize=small_fontsize)
min_point = find_pair_point_in_Traj_and_draw(R[2], [Q[1], Q[2]],
color='0.1',
ax=ax)
ax.text(min_point[0] + b_x,
min_point[1] + b_y,
min_point[2],
r'',
color='0.1',
fontsize=small_fontsize)
min_point = find_pair_point_in_Traj_and_draw(R[3], [Q[1], Q[2]],
color='0.1',
ax=ax)
ax.text(min_point[0] + b_x,
min_point[1] + b_y,
min_point[2],
r'',
color='0.1',
fontsize=small_fontsize)
min_point = find_pair_point_in_Traj_and_draw(R[4], [Q[1], Q[2]],
color='0.1',
ax=ax)
ax.text(min_point[0] + b_x + 0.1,
min_point[1] + b_y - 0.3,
min_point[2] - 0.7,
r'',
color='0.1',
fontsize=small_fontsize)
min_point = find_pair_point_in_Traj_and_draw(R[5], [Q[2], Q[3]],
color='0.1',
ax=ax)
ax.text(min_point[0] + b_x - 0.6,
min_point[1] + b_y,
min_point[2],
r'',
color='0.1',
fontsize=small_fontsize)
return "F:\\毕业设计大文件夹\\picture\\chapter\\Fig3-10\\5.jpg"
ax.plot([Q[1, 0], R[1, 0]], [Q[1, 1], R[1, 1]], [Q[1, 2], R[1, 2]], linestyle='--', linewidth=1, color='0.5')
# ax.plot([Q[0, 0], R[1, 0]], [Q[0, 1], R[1, 1]], [Q[0, 2], R[1, 2]], linestyle='--', linewidth=1, color='0.5')
ax.plot([Q[2, 0], R[2, 0]], [Q[2, 1], R[2, 1]], [Q[2, 2], R[2, 2]], linestyle='--', linewidth=1, color='0.5')
m_label = [r'$q_{0}=DTW(r_0)$',r'$q_{1}=DTW(r_1)$', r'$q_{2}$']
for i in range(0, len(Q)-1):
ax.text(Q[i, 0] + 6, Q[i, 1], Q[i, 2] , m_label[i], color='black', fontsize=m_fontsize)
ax.text(Q[2, 0]+1.5, Q[2, 1], Q[2, 2], m_label[2], color='black', fontsize=m_fontsize)
for i in range(len(R)):
ax.text(R[i, 0] + 0.2, R[i, 1], R[i, 2] + 1, r'$r_{'+str(i)+'}$', color='0.3', fontsize=m_fontsize)
###################################################################################################################
# 寻找r0的对应点
###################################################################################################################
min_point = find_pair_point_in_Traj_and_draw(R[0], [Q[0], Q[1]], color='0.1', ax=ax)
ax.text(min_point[0]+6, min_point[1]-1, min_point[2], r'$DTW-DBS(r_0)$', color='0.1', fontsize=m_fontsize)
###################################################################################################################
# 寻找r1的对应点
###################################################################################################################
min_point = find_pair_point_in_Traj_and_draw(R[1], [Q[0], Q[1]], color='0.1', ax=ax)
ax.text(min_point[0] + 6, min_point[1] + 1, min_point[2], r'$DTW-DBS(r_1)$', color='0.1', fontsize=m_fontsize)
ax.legend() # 显示图例
ax.set_xlabel('x/m', fontsize=m_fontsize)
ax.set_ylabel('y/m', fontsize=m_fontsize)
ax.set_zlabel('z/m', fontsize=m_fontsize)