Python平时小代码
1，矩阵相关
矩阵求逆和求行列式的值
需求是需要验证视觉给到我的是否和我预期的姿态大致一样
假设视觉给我的姿态是
-0.999986 0.00530258 0
0.00530258 0.999986 0
-0 0 -1
而我预期的姿态是
-1 0 0
0 1 0
0 0 -1
import numpy as np mVis = np.array([ [-0.999986,0.0053,0], [0.00530,0.999986,0], [0,0,-1], ]) mExpected= np.array([ [-1,0,0], [0,1,0], [0,0,-1], ]) mRes = np.sum(np.abs(mExpected - mVis)) if mRes < 0.03: # 这里的阈值0.03视情况调节 print("视觉给的姿态可以使用") else: print("视觉给的姿态和预期的偏差太大了")
其他矩阵操作：
矩阵相乘 np.matmul(A,B)
矩阵求逆 np.linalg.inv(A)
矩阵的行列式的值 np.linalg.det(A)
2，可视化
2.1 三维散点图
import matplotlib.pyplot as plt import numpy as np from mpl_toolkits.mplot3d import Axes3D # 读取文件1 f = open("res_exh.txt","r") box_l = [] box_w = [] box_cnt = [] run_time=[] while 1: line = f.readline() if not line: break args = line.split(",") box_l.append(float(args[2])) box_w.append(float(args[3])) box_cnt.append(float(args[4])) run_time.append(float(args[5])*1000000) # 读取文件2 f2 = open("res_g2_l.txt","r") box_l2 = [] box_w2 = [] box_cnt2 = [] run_time2=[] box_l3 = [] box_w3 = [] box_cnt3 = [] run_time3=[] flag = 0 while 1: line = f2.readline() if not line: break args = line.split(",") if flag % 2 ==0: box_l2.append(float(args[2])) box_w2.append(float(args[3])) box_cnt2.append(float(args[4])) run_time2.append(float(args[5])*1000000) else: box_l3.append(float(args[2])) box_w3.append(float(args[3])) box_cnt3.append(float(args[4])) run_time3.append(float(args[5])*1000000) flag+=1 print(run_time) print(run_time2) print(run_time3) fig1=plt.figure() ax=Axes3D(fig1) ax.scatter(box_l,box_w,box_cnt,c='r',label="1.0穷举法") ax.scatter(box_l2,box_w2,box_cnt2,c='g',label="G5 Algo") ax.scatter(box_l3,box_w3,box_cnt3,c='b',label="L Algo") ax.set_xlabel('box l',color='r') ax.set_ylabel('box w',color='g') ax.set_zlabel('box count',color='b') ax.legend(loc='best') fig2=plt.figure() ax2=Axes3D(fig2) #ax2.scatter(box_l,box_w,run_time,c='r',label="1.0穷举法") ax2.scatter(box_l2,box_w2,run_time2,c='g',label="G5 Algo") #ax2.scatter(box_l3,box_w3,run_time3,c='b',label="L Algo") ax2.set_xlabel('box l',color='r') ax2.set_ylabel('box w',color='g') ax2.set_zlabel('time(us)',color='b') plt.rcParams['font.sans-serif']=['SimHei'] plt.show()
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