无法使用 python 在 3D matplotlib 中绘制极点

Question

我有一个连续的 int 极点数组，我想以 3D 形式绘制它。我听说过 mplot3d 和点云本地化，但我不知道如何在我的代码中使用/实现它。

"[3085, 3084, 3075, 3068, 3069, 3051, 3049, 3042, 3037, 3039, 3028, 3024, 3016, 3014, 3004, 3002, 2991, 2989, 2983, 2976, 2974, 2972, 2967, 2956, 2956, 2955, 2945, 2942, 2943, 2932, 2934, 2925, 2924, 2916, 2911, 2909, 2905, 2895, 2894, 2895, 2888, 2888, 2881, 2878, 2877, 2870, 2871, 2866, 2870, 2862, 2854, 2853, 2854, 2851, 2844, 2840, 2839, 2843, 2837, 2831, 2831, 2832, 2829, 2827, 2821, 2819, 2824, 2822, 2816, 2819, 2815, 2812, 2807, 2812, 2812, 2811, 2800, 2804, 2803, 2801, 2802, 2798, 2796, 2793, 2799, 2793, 2795, 2796, 2792, 2792, 2786, 2787, 2790, 2787, 2783, 2788, 2790, 2789, 2781, 2788, 2782, 2784, 2785, 2787, 2780, 2790, 2789, 2784, 2793, 2789, 2787, 2789, 2787, 2791, 2790, 2791, 2794, 2793, 2790, 2799, 2799, 2795, 2802, 2797, 2797, 2801, 2806, 2801, 2804, 2808, 2807, 2806, 2809, 2815, 2813, 2817, 2815, 2819, 2821, 2820, 2826, 2826, 2829, 2833, 2835, 2839, 2836, 2839, 2842, 2844, 2844, 2852, 2852, 2850, 2860, 2861, 2867, 2871, 2871, 2877, 2875, 2877, 2883, 2890, 2893, 2889, 2899, 2901, 2907, 2909, 2912, 2918, 2926, 2925, 2935, 2931, 2940, 2936, 2939, 2954, 2954, 2965, 2963, 2971, 2979, 2982, 2979, 2944, 2907, 2882, 2844, 2815, 2783, 2757, 2730, 2700, 2670, 2654, 2621, 2594, 2580, 2548, 2516, 2499, 2485, 2460, 2426, 2414, 2392, 2373, 2356, 2330, 2312, 2293, 2272, 2259, 2235, 2220, 2207, 2183, 2171, 2152, 2129, 2117, 2104, 2085, 2077, 2055, 2038, 2033, 2007, 1999, 1989, 1971, 1953, 1943]"
"[3086, 3077, 3079, 3067, 3066, 3056, 3050, 3044, 3044, 3034, 3029, 3027, 3014, 3015, 3004, 3004, 2996, 2994, 2987, 2981, 2976, 2972, 2968, 2960, 2960, 2958, 2957, 2947, 2940, 2932, 2933, 2929, 2920, 2918, 2913, 2911, 2907, 2906, 2901, 2894, 2892, 2891, 2881, 2883, 2879, 2874, 2874, 2869, 2866, 2862, 2858, 2860, 2854, 2850, 2843, 2850, 2841, 2842, 2838, 2835, 2831, 2831, 2829, 2825, 2823, 2827, 2822, 2822, 2814, 2814, 2813, 2810, 2808, 2814, 2810, 2807, 2808, 2804, 2801, 2800, 2805, 2801, 2796, 2800, 2796, 2791, 2792, 2791, 2794, 2792, 2791, 2794, 2790, 2785, 2791, 2791, 2788, 2783, 2780, 2786, 2782, 2784, 2790, 2784, 2787, 2784, 2786, 2786, 2789, 2788, 2780, 2791, 2791, 2793, 2790, 2792, 2791, 2795, 2795, 2795, 2797, 2797, 2800, 2800, 2797, 2799, 2802, 2800, 2800, 2804, 2809, 2806, 2806, 2814, 2811, 2819, 2813, 2818, 2823, 2819, 2825, 2829, 2825, 2827, 2839, 2837, 2831, 2839, 2837, 2846, 2846, 2848, 2846, 2858, 2861, 2860, 2865, 2866, 2869, 2873, 2874, 2884, 2883, 2887, 2887, 2888, 2891, 2900, 2906, 2911, 2910, 2914, 2923, 2923, 2926, 2925, 2932, 2939, 2943, 2951, 2956, 2951, 2958, 2964, 2974, 2977, 2983, 2977, 2933, 2906, 2869, 2840, 2813, 2776, 2750, 2718, 2693, 2664, 2636, 2614, 2595, 2560, 2549, 2520, 2492, 2461, 2458, 2427, 2405, 2379, 2360, 2340, 2320, 2307, 2285, 2270, 2247, 2228, 2214, 2196, 2180, 2164, 2151, 2129, 2110, 2091, 2077, 2062, 2054, 2027, 2018, 2011, 1994, 1977, 1962, 1948, 1941]"

这是我得到的连续输出。以前我以十六进制格式接收数据。所以我把它转换成整数格式。我的设备的范围是 55 度到 125 度（即 70 度）。它应该绘制一个 3D 图表，其中 x 轴从 0 到 5000mm，y 轴从 -500mm 到 500mm。 我的传感器固定在一点。将固定点视为原点。 我该怎么办？

编辑的代码如下评论中建议

from __future__ import print_function
import socket
import sys
from time import sleep
import time
from mpl_toolkits.mplot3d import Axes3D
import csv
import matplotlib.pyplot as plt
import numpy as np
start = time.time()
def update_plot(data, a, ax, fig):
    ax.cla()  # removes previous plot
    # ax.plot(x, y, zs=0, zdir='z', label='curve in (x,y)')
    ax.scatter(np.cos(a) * data, np.sin(a) * data, zs=0, zdir='y',
               label='points in (x,z)')  # converst polar to XYZ for 3d
    ax.legend()
    ax.set_xlim(-1000, 1000)
    ax.set_ylim(-1000, 1000)
    ax.set_zlim(-200, 1000)
    ax.set_xlabel('X')
    ax.set_ylabel('Y')
    ax.set_zlabel('Z')
    ax.view_init(elev=20., azim=-35)
    plt.draw()
    plt.show()
    fig.canvas.flush_events()
    pass
def comm_dists(ip, port):
    sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    server_address = (ip, port)
    print(sys.stderr, 'connecting to %s port %s' % server_address)
    sock.connect(server_address)
    print("Connected")
    try:
        message = b'\x02\x02\x02\x02\x00\x00\x00\x10sMI 0 3 F4724744 '
        sock.sendall(message)
        print(sys.stderr, 'sending "%s"' % message)
        print('sent "%s"' % message)
        data = sock.recv(5000)
        print(sys.stderr, 'received "%s"' % data)
        sleep(0.05)
        while True:
            data = sock.recv(5000)
            data = data.decode("utf-8", errors='ignore')
            data = data.split()
            data = [int.from_bytes(bytes.fromhex(item), 'big') for item in data[:-8]]
            fig = plt.figure()
            print('received "%s"' % data)
            ax = fig.gca(projection='3d')
            a = np.arange(11 * np.pi / 36, 24.65 * np.pi / 36, 0.05 * np.pi / 36)
            update_plot(data, a, ax, fig)
            time.sleep(0.05)
    finally:
        print(sys.stderr, 'closing socket')
i = 0
dados_csv = []

while i < int(1):
    data = comm_dists('192.168.0.1', 2111)
    i = i + 1

编辑 注意：传感器是固定的，物体在传送带上移动。表示物体正在穿过传感器反射的光线）。因为传感器位置被认为是在原点并且是固定的。所以 phi 的值是恒定的。所以，我认为第三个参数为零。我得到的输出是 r （传感器和物体之间的距离）。而 theta 介于 55 度到 125 度（70 度）之间。角度分辨率为 0.25 度。切片采样号。接收值中的点数。例如。第一个角度 = 55 度。第二个角度= 55.25 ...........第n个角度= 70度。

As Shown in the Figure

编辑注释 2：

但是，通过将输出值一一放入下面的代码中，我可以获得正确的二维图形。我需要帮助来获取 3D 图形。 代码：

import matplotlib.pyplot as plt
import numpy as np

lidar_bins = np.arange(55, 125, 0.25)
lidar_field = [[3088, 3081, 3078, 3068, 3066, 3058, 3051, 3046, 3036, 3032, 3028, 3018, 3018, 3006, 3007, 2999, 3001, 2994, 2986, 2984, 2977, 2974, 2967, 2960, 2960, 2954, 2947, 2944, 2940, 2931, 2930, 2925, 2920, 2918, 2915, 2909, 2907, 2904, 2899, 2896, 2891, 2885, 2881, 2884, 2876, 2874, 2874, 2862, 2866, 2862, 2860, 2854, 2851, 2846, 2851, 2844, 2839, 2841, 2835, 2841, 2829, 2827, 2823, 2831, 2829, 2815, 2821, 2825, 2821, 2816, 2810, 2815, 2812, 2807, 2810, 2807, 2810, 2805, 2802, 2796, 2797, 2798, 2802, 2795, 2792, 2792, 2795, 2790, 2787, 2794, 2787, 2793, 2789, 2785, 2787, 2788, 2790, 2782, 2782, 2789, 2786, 2780, 2784, 2790, 2783, 2788, 2781, 2784, 2789, 2791, 2788, 2787, 2793, 2793, 2790, 2793, 2793, 2793, 2793, 2795, 2791, 2791, 2799, 2800, 2795, 2800, 2806, 2802, 2799, 2807, 2809, 2815, 2814, 2811, 2817, 2808, 2817, 2816, 2827, 2825, 2820, 2831, 2836, 2834, 2834, 2838, 2835, 2840, 2854, 2851, 2847, 2854, 2856, 2857, 2857, 2863, 2863, 2867, 2873, 2873, 2882, 2877, 2882, 2891, 2887, 2895, 2902, 2897, 2908, 2911, 2913, 2920, 2919, 2929, 2929, 2931, 2939, 2941, 2947, 2956, 2961, 2962, 2967, 2971, 2978, 2981, 2978, 2935, 2906, 2858, 2838, 2798, 2775, 2744, 2713, 2692, 2670, 2645, 2615, 2580, 2560, 2539, 2502, 2494, 2473, 2447, 2428, 2407, 2387, 2371, 2348, 2326, 2298, 2285, 2259, 2247, 2227, 2218, 2187, 2173, 2164, 2138, 2125, 2106, 2098, 2082, 2071, 2047, 2031, 2018, 2003, 1990, 1974, 1960, 1950, 1939]]
ax = plt.subplot(111, projection='polar')
ax.set_rmax(5000)
ax.plot(np.deg2rad(lidar_bins), lidar_field)
plt.show()

我希望自动获取我的值并且需要在 3D 图中绘制。如何做到这一点？ Output Graph

新编辑 3： 我想根据从 TCP 端口接收到的数据绘制散点图。正如下面评论中所建议的，我已经相应地编辑了上面的代码。但它并没有为我绘制更新的图表。如上所示，我之前收到的输出值也停止了更新。

Answer 1

首先，您需要确保收到的值始终具有相同的长度/所有值都已收到。它们都应该在同一个维度中。

import time
import numpy as np
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D

def test():
    plt.ion() #IMPORTANT
    fig = plt.figure()
    ax = fig.add_subplot(111,projection='3d')
    data = [[1,2,1],[2,1,7],[1,7,0]] #Now instead of using a for loop. simply call update plot when you have your received data
    theta = [np.pi,np.pi/2,0]#Define this in your original code
    for i in data:
        update_plot(data,theta,ax,fig)
        time.sleep(1)
def update_plot(data,theta,ax,fig):
    ax.cla()# removes previous plot
    ax.plot(data*np.cos(theta),data*np.sin(theta),0) #converst polar to XYZ for 3d
    plt.draw()
    fig.canvas.flush_events() #force plt to output the plot