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Commit a4b3be93 authored by keyis2's avatar keyis2
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general Cont.

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dryvr_plus_plus/plotter/plotter2D_new.py
+ 83
− 70
View file @ a4b3be93
......@@ -21,7 +21,21 @@ from collections import OrderedDict
from torch import layout
from dryvr_plus_plus.scene_verifier.analysis.analysis_tree_node import AnalysisTreeNode
colors = ['red', 'green', 'blue', 'yellow', 'black']
colors = [['#CC0000', '#FF0000', '#FF3333', '#FF6666', '#FF9999'],
['#CC6600', '#FF8000', '#FF9933', '#FFB266', '#FFCC99'],
['#CCCC00', '#FFFF00', '#FFFF33', '#FFFF66', '#FFFF99'],
['#66CC00', '#80FF00', '#99FF33', '#B2FF66', '#CCFF99'],
['#00CC00', '#00FF00', '#33FF33', '#66FF66', '#99FF99'],
['#00CC66', '#00FF80', '#33FF99', '#66FFB2', '#99FFCC'],
['#00CCCC', '#00FFFF', '#33FFFF', '#66FFFF', '#99FFFF'],
['#0066CC', '#0080FF', '#3399FF', '#66B2FF', '#99CCFF'],
['#0000CC', '#0000FF', '#3333FF', '#6666FF', '#9999FF'],
['#6600CC', '#7F00FF', '#9933FF', '#B266FF', '#CC99FF'],
['#CC00CC', '#FF00FF', '#FF33FF', '#FF66FF', '#FF99FF'],
['#CC0066', '#FF007F', '#FF3399', '#FF66B2', '#FF99CC']
]
scheme_dict = {'red': 0, 'orange': 1, 'yellow': 2, 'yellowgreen': 3, 'lime': 4,
'springgreen': 5, 'cyan': 6, 'cyanblue': 7, 'blue': 8, 'purple': 9, 'magenta': 10, 'pink': 11}
bg_color = ['rgba(31,119,180,1)', 'rgba(255,127,14,0.2)', 'rgba(44,160,44,0.2)', 'rgba(214,39,40,0.2)', 'rgba(148,103,189,0.2)',
'rgba(140,86,75,0.2)', 'rgba(227,119,194,0.2)', 'rgba(127,127,127,0.2)', 'rgba(188,189,34,0.2)', 'rgba(23,190,207,0.2)']
color_cnt = 0
......@@ -577,15 +591,14 @@ def draw_simulation_tree(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_
return fig
def draw_simulation_tree_single(root: AnalysisTreeNode, agent_id, fig: go.Figure() = go.Figure(), x_dim: int = 1, y_dim: int = 2, color_id=None, map_type='lines'):
global color_cnt, bg_color
fig = draw_map(map=map, fig=fig, fill_type=map_type)
if color_id is None:
color_id = color_cnt
fg_color = ['rgb(31,119,180)', 'rgb(255,127,14)', 'rgb(44,160,44)', 'rgb(214,39,40)', 'rgb(148,103,189)',
'rgb(140,86,75)', 'rgb(227,119,194)', 'rgb(127,127,127)', 'rgb(188,189,34)', 'rgb(23,190,207)']
def draw_simulation_tree_single(root: AnalysisTreeNode, agent_id, fig: go.Figure() = go.Figure(), x_dim: int = 1, y_dim: int = 2, color=None, map_type='lines'):
global color_cnt
# fig = draw_map(map=map, fig=fig, fill_type=map_type)
queue = [root]
color_id = 0
if color == None:
color = list(scheme_dict.keys())[color_cnt]
color_cnt = (color_cnt+1) % 12
while queue != []:
node = queue.pop(0)
traces = node.trace
......@@ -609,13 +622,13 @@ def draw_simulation_tree_single(root: AnalysisTreeNode, agent_id, fig: go.Figure
# showlegend=False))
fig.add_trace(go.Scatter(x=trace[:, x_dim], y=trace[:, y_dim],
mode='lines',
line_color=fg_color[color_id],
line_color=colors[scheme_dict[color]
][color_id],
text=[('{:.2f}'.format(trace[i, x_dim]), '{:.2f}'.format(
trace[i, y_dim])) for i in range(len(trace))],
name='lines'))
color_id = (color_id+1) % 10
color_id = (color_id+1) % 5
queue += node.child
color_cnt = color_id
return fig
......@@ -1141,15 +1154,15 @@ def general_simu_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_ty
trace_x = trace[:, x_dim].tolist()
# theta = [i/pi*180 for i in trace[:, 3]]
i = agent_list.index(agent_id)
color = colors[i % 5]
fig.add_trace(go.Scatter(x=trace[:, x_dim], y=trace[:, y_dim],
mode='lines',
line_color=color,
text=[('{:.2f}'.format(trace_x[i]), '{:.2f}'.format(
trace_y[i])) for i in range(len(trace_x))],
showlegend=False)
# name='lines')
)
# color = colors[i % 5]
# fig.add_trace(go.Scatter(x=trace[:, x_dim], y=trace[:, y_dim],
# mode='lines',
# line_color=color,
# text=[('{:.2f}'.format(trace_x[i]), '{:.2f}'.format(
# trace_y[i])) for i in range(len(trace_x))],
# showlegend=False)
# # name='lines')
# )
if previous_mode[agent_id] != node.mode[agent_id]:
veh_mode = node.mode[agent_id][0]
if veh_mode == 'Normal':
......@@ -1415,56 +1428,56 @@ def test_simu_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type=
previous_mode[agent_id] = []
agent_list.append(agent_id)
text_pos = 'middle center'
# while queue != []:
# node = queue.pop(0)
# traces = node.trace
# # print(node.mode)
# # [[time,x,y,theta,v]...]
# i = 0
# for agent_id in traces:
# trace = np.array(traces[agent_id])
# # print(trace)
# trace_y = trace[:, y_dim].tolist()
# trace_x = trace[:, x_dim].tolist()
# # theta = [i/pi*180 for i in trace[:, 3]]
# i = agent_list.index(agent_id)
# color = colors[i % 5]
# fig.add_trace(go.Scatter(x=trace[:, x_dim], y=trace[:, y_dim],
# mode='lines',
# line_color=color,
# text=[('{:.2f}'.format(trace_x[i]), '{:.2f}'.format(
# trace_y[i])) for i in range(len(trace_x))],
# showlegend=False)
# # name='lines')
# )
# if previous_mode[agent_id] != node.mode[agent_id]:
# veh_mode = node.mode[agent_id][0]
# if veh_mode == 'Normal':
# text_pos = 'middle center'
# elif veh_mode == 'Brake':
# text_pos = 'middle left'
# elif veh_mode == 'Accelerate':
# text_pos = 'middle right'
# elif veh_mode == 'SwitchLeft':
# text_pos = 'top center'
# elif veh_mode == 'SwitchRight':
# text_pos = 'bottom center'
while queue != []:
node = queue.pop(0)
traces = node.trace
# print(node.mode)
# [[time,x,y,theta,v]...]
i = 0
for agent_id in traces:
trace = np.array(traces[agent_id])
# print(trace)
trace_y = trace[:, y_dim].tolist()
trace_x = trace[:, x_dim].tolist()
# theta = [i/pi*180 for i in trace[:, 3]]
i = agent_list.index(agent_id)
# color = colors[i % 5]
# fig.add_trace(go.Scatter(x=trace[:, x_dim], y=trace[:, y_dim],
# mode='lines',
# line_color=color,
# text=[('{:.2f}'.format(trace_x[i]), '{:.2f}'.format(
# trace_y[i])) for i in range(len(trace_x))],
# showlegend=False)
# # name='lines')
# )
if previous_mode[agent_id] != node.mode[agent_id]:
veh_mode = node.mode[agent_id][0]
if veh_mode == 'Normal':
text_pos = 'middle center'
elif veh_mode == 'Brake':
text_pos = 'middle left'
elif veh_mode == 'Accelerate':
text_pos = 'middle right'
elif veh_mode == 'SwitchLeft':
text_pos = 'top center'
elif veh_mode == 'SwitchRight':
text_pos = 'bottom center'
# fig.add_trace(go.Scatter(x=[trace[0, x_dim]], y=[trace[0, y_dim]],
# mode='markers+text',
# line_color='rgba(255,255,255,0.3)',
# text=str(agent_id)+': ' +
# str(node.mode[agent_id][0]),
# textposition=text_pos,
# textfont=dict(
# # family="sans serif",
# size=10,
# color="grey"),
# showlegend=False,
# ))
# # i += 1
# previous_mode[agent_id] = node.mode[agent_id]
# queue += node.child
fig.add_trace(go.Scatter(x=[trace[0, x_dim]], y=[trace[0, y_dim]],
mode='markers+text',
line_color='rgba(255,255,255,0.3)',
text=str(agent_id)+': ' +
str(node.mode[agent_id][0]),
textposition=text_pos,
textfont=dict(
# family="sans serif",
size=10,
color="grey"),
showlegend=False,
))
# i += 1
previous_mode[agent_id] = node.mode[agent_id]
queue += node.child
fig.update_traces(showlegend=False)
scale_factor = 0.5
if scale_type == 'trace':
......
dryvr_plus_plus/plotter/plotter_README.md
+ 2
− 2
View file @ a4b3be93
......@@ -5,8 +5,8 @@ Now the latest version is placed in plotter2D_new.py. All functions in the plott
## Current work & Todo
- **Animation with trails** supported in test_simu_anime() and will be tested further.
- **Modified accelerating mode** modified, will be tested
- **new quadrotor agent**
- **different color for segments of trace** ongoing. Color choice ?
- **new quadrotor agent** next
- **different color for segments of trace** done.
## Functions
Belows are the functions currently used. Some of the functions in the file are deprecated.
......
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