From 592e0bb99bc37da671fbffb2fc87bdd0b6ca361a Mon Sep 17 00:00:00 2001
From: varnashova88 <daravarnasova@gmail.com>
Date: Sun, 19 Apr 2026 17:11:59 +0000
Subject: [PATCH] =?UTF-8?q?=D0=9E=D0=B1=D0=BD=D0=BE=D0=B2=D0=B8=D1=82?=
 =?UTF-8?q?=D1=8C=20processing/visualization.py?=
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---
 processing/visualization.py | 104 ++++++++++++++++++++++++++++++++++++
 1 file changed, 104 insertions(+)

diff --git a/processing/visualization.py b/processing/visualization.py
index e69de29..3f24961 100644
--- a/processing/visualization.py
+++ b/processing/visualization.py
@@ -0,0 +1,104 @@
+import open3d as o3d
+import numpy as np
+import pandas as pd
+import matplotlib.pyplot as plt
+import os
+from datetime import datetime
+
+# СОЗДАНИЕ УНИКАЛЬНОЙ ПАПКИ
+
+timestamp = datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
+output_dir = f"results/run_{timestamp}"
+frames_dir = os.path.join(output_dir, "frames")
+
+os.makedirs(frames_dir, exist_ok=True)
+
+# ЗАГРУЗКА ДАННЫХ
+
+traj = pd.read_csv("trajectory.csv")
+lidar = pd.read_csv("lidar_points.csv")
+
+trajectory = traj[['x', 'y', 'z']].values
+angles = traj[['roll', 'pitch', 'yaw']].values
+lidar_points = lidar[['x', 'y', 'z']].values
+
+# СОХРАНЕНИЕ 2D ГРАФИКОВ
+
+plt.figure()
+plt.plot(trajectory[:,0], trajectory[:,1])
+plt.title("Trajectory (X-Y)")
+plt.xlabel("X")
+plt.ylabel("Y")
+plt.grid()
+plt.savefig(os.path.join(output_dir, "trajectory_plot.png"))
+plt.close()
+
+# OPEN3D
+
+pcd = o3d.geometry.PointCloud()
+pcd.points = o3d.utility.Vector3dVector(lidar_points)
+
+lines = [[i, i+1] for i in range(len(trajectory)-1)]
+line_set = o3d.geometry.LineSet()
+line_set.points = o3d.utility.Vector3dVector(trajectory)
+line_set.lines = o3d.utility.Vector2iVector(lines)
+
+vis = o3d.visualization.Visualizer()
+vis.create_window(visible=False)  # важно для сохранения кадров
+
+vis.add_geometry(pcd)
+vis.add_geometry(line_set)
+
+# ПОВОРОТ
+
+def get_rotation_matrix(roll, pitch, yaw):
+    Rx = np.array([
+        [1, 0, 0],
+        [0, np.cos(roll), -np.sin(roll)],
+        [0, np.sin(roll), np.cos(roll)]
+    ])
+    Ry = np.array([
+        [np.cos(pitch), 0, np.sin(pitch)],
+        [0, 1, 0],
+        [-np.sin(pitch), 0, np.cos(pitch)]
+    ])
+    Rz = np.array([
+        [np.cos(yaw), -np.sin(yaw), 0],
+        [np.sin(yaw), np.cos(yaw), 0],
+        [0, 0, 1]
+    ])
+    return Rz @ Ry @ Rx
+
+# СОХРАНЕНИЕ КАДРОВ
+
+for i in range(len(trajectory)):
+
+    frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.2)
+
+    pos = trajectory[i]
+    roll, pitch, yaw = angles[i]
+
+    R = get_rotation_matrix(roll, pitch, yaw)
+
+    frame.rotate(R, center=(0,0,0))
+    frame.translate(pos)
+
+    vis.clear_geometries()
+    vis.add_geometry(pcd)
+    vis.add_geometry(line_set)
+    vis.add_geometry(frame)
+
+    vis.poll_events()
+    vis.update_renderer()
+
+    # сохраняем изображение
+    img_path = os.path.join(frames_dir, f"frame_{i:04d}.png")
+    vis.capture_screen_image(img_path)
+
+# СОХРАНЕНИЕ ФИНАЛЬНОГО ВИДА
+
+vis.capture_screen_image(os.path.join(output_dir, "3d_view.png"))
+
+vis.destroy_window()
+
+print(f"Результаты сохранены в: {output_dir}")