diff --git a/dryvr_plus_plus/plotter/plotter2D_new.py b/dryvr_plus_plus/plotter/plotter2D_new.py
index 6c699244217dab159705a490106c4cd851fca903..6a239ff774b6dae727925b5d0395c5e276c5a174 100644
--- a/dryvr_plus_plus/plotter/plotter2D_new.py
+++ b/dryvr_plus_plus/plotter/plotter2D_new.py
@@ -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':
diff --git a/dryvr_plus_plus/plotter/plotter_README.md b/dryvr_plus_plus/plotter/plotter_README.md
index d5cc7a84f3123f26bb28b44060b98b393476b29d..59eb5a686e46282ec4408ff589e67ba8545a1f24 100644
--- a/dryvr_plus_plus/plotter/plotter_README.md
+++ b/dryvr_plus_plus/plotter/plotter_README.md
@@ -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.