def __init__(self, widget, sim, bg=(1, 1, 1, 0)):
super().__init__(widget)
self.t = time.time()
self.sim = sim
self.view.camera.set_range((0, self.sim.arena.size),
(0, self.sim.arena.size))
self.view.camera.aspect = 1
self.cm = color.Colormap([
self.sim.robot.SO.COLOURS[self.sim.robot.SO.SENSES["ORANGE"]],
self.sim.robot.SO.COLOURS[self.sim.robot.SO.SENSES["PURPLE"]],
self.sim.robot.SO.COLOURS[self.sim.robot.SO.SENSES["BLACK"]],
],
# (0.0,0.33,0.50,0.66,1.0),
)
self.robot_marker = scene.Markers(
pos=self.sim.robot.bonus_pos + 0.5,
face_color=self.sim.robot.SO.COLOURS[3],
symbol="square",
parent=self.view.scene,
)
self.robot2_marker = scene.Markers(
pos=self.sim.robot2.bonus_pos + 0.5,
face_color="r",
symbol="square",
parent=self.view.scene,
)
self.grid = scene.visuals.Image(
self.sim.arena.grid.T,
interpolation="nearest",
cmap=self.cm,
parent=self.view.scene,
method="subdivide",
)
def plot(mesh, show_k=False, show_v=False, show_f=False):
points = mesh.points
springs = mesh.springs
canvas = scene.SceneCanvas(keys='interactive', show=True)
view = canvas.central_widget.add_view()
view.camera = 'panzoom'
view.camera.aspect = 1
edges = springs[['p0', 'p1']].view(('i8', 2))
lines = scene.Line(pos=points,
connect=edges,
antialias=False,
method='gl',
color='green',
parent=view.scene)
markers = scene.Markers(pos=points,
face_color='blue',
symbol='o',
parent=view.scene,
size=0.5,
scaling=True)
view.camera.set_range()
app.run()
def __init__(self, model, fn):
self.model = model
self.fn = fn
self.roadcolors = np.empty((model.graph.roads * 2, 4),
dtype=np.float32)
for i in range(model.graph.roads):
self.roadcolors[2 * i:2 * i + 2] = np.array([0, 1, 0, 0.4])
self.roadrots = np.zeros((model.graph.roads, 2, 2))
roadlines = np.concatenate(model.graph.locs)
self.canvas = scene.SceneCanvas(show=True, size=(2500, 2500))
view = self.canvas.central_widget.add_view()
view.camera = 'panzoom'
view.camera.aspect = 1
self.lines = scene.Line(pos=roadlines,
connect='segments',
method='gl',
parent=view.scene,
color=self.roadcolors)
view.camera.set_range()
self.markers = scene.Markers(parent=view.scene)
for i in range(model.graph.roads):
cos = model.graph.locs[i, 1, 0] - model.graph.locs[i, 0, 0]
sin = model.graph.locs[i, 1, 1] - model.graph.locs[i, 0, 1]
self.roadrots[i] = np.array([[cos, sin], [-sin, cos]
]) / model.graph.len
def __init__(self, geometries_number, generated_data, generated_data_faces,
window_range_xmin, window_range_xmax, window_range_ymin,
window_range_ymax, window_range_zmin, window_range_zmax):
scene.SceneCanvas.__init__(
self,
keys='interactive',
size=(800, 550),
show=True,
title='Visualization of the generated model(s)')
self.unfreeze()
self.view = self.central_widget.add_view()
self.view.camera = 'turntable'
self.view.camera.set_range((window_range_xmin, window_range_xmax),
(window_range_ymin, window_range_ymax),
(window_range_zmin, window_range_zmax))
self.selected_point = None
scene.visuals.GridLines(parent=self.view.scene)
for k in range(geometries_number):
if generated_data_faces[k] is not None:
mdata = MeshData(vertices=generated_data[k],
faces=generated_data_faces[k])
rng = np.random.RandomState(0)
nf = mdata.n_faces
fcolor = np.ones((nf, 4), dtype=np.float32)
someColors = [
Color('green').RGBA,
Color('yellow').RGBA,
Color('blue').RGBA,
Color('red').RGBA,
Color('white').RGBA,
Color('fuchsia').RGBA
]
for l in range(0, nf):
k_ind = k
if k >= len(someColors):
k_ind -= len(someColors)
fcolor[l] = someColors[k_ind]
mdata.set_face_colors(fcolor)
edge_v_index = mdata.get_edges()
mesh = scene.visuals.Mesh(meshdata=mdata)
mesh.set_gl_state('additive', depth_test=False)
mlines = scene.visuals.Line(pos=generated_data[k],
color='red',
connect=edge_v_index)
self.view.add(mesh)
self.view.add(mlines)
s = scene.Markers(pos=generated_data[k])
self.view.add(s)
self.freeze()
def add_event_xyz(self, data_xyz, event_id): if event_id == self._current_event.event_id: return if self._current_event.node_data is not None: self._remove_event(self._current_event.node_data) scatter = scene.Markers() scatter.set_data(data_xyz, edge_color=(0.0, 0.0, 0.0, .5), face_color=(1, 1, 1, 0.0), size=1) self.view.add(scatter) self._current_event = CurrentEvent(event_id, scatter)
def run(mesh,
show_k=False,
show_v=False,
show_f=False,
run=None,
verbose=False):
points = mesh.points
springs = mesh.springs
canvas = scene.SceneCanvas(keys='interactive', show=True)
view = canvas.central_widget.add_view()
view.camera = 'panzoom'
view.camera.aspect = 1
edges = springs[['p0', 'p1']].view(('i8', 2))
lines = scene.Line(pos=points,
connect=edges,
antialias=False,
method='gl',
color='green',
parent=view.scene)
markers = scene.Markers(pos=points,
face_color='blue',
symbol='o',
parent=view.scene,
size=0.5,
scaling=True)
view.camera.set_range()
def update(ev):
t0 = time.time()
run(mesh)
t1 = time.time()
if verbose:
print("run: %s" % (t1 - t0, ))
if mesh.points.min() == numpy.nan or mesh.points.max() == numpy.nan:
return False
t0 = time.time()
markers.set_data(pos=mesh.points, size=0.5, scaling=True)
lines.set_data(pos=mesh.points)
t1 = time.time()
if verbose:
print("set_data: %s" % (t1 - t0, ))
if run is not None:
timer = app.Timer(interval=0, connect=update, start=True)
app.run()
def __init__(self, nx, ny, widget):
ratio = nx / ny
self._canvas = scene.SceneCanvas(show=True,
size=widget.GetSize(),
keys='interactive',
parent=widget)
grid = self._canvas.central_widget.add_grid()
self._view = grid.add_view(row=0, col=0, camera='panzoom')
self._view.camera.rect = (0., -0.5, ratio, 1.)
for p in np.linspace(0., ratio, num=5 * nx + 1):
scene.InfiniteLine(pos=p,
color=(0.3, 0.3, 0.3, 1.),
vertical=True,
parent=self._view.scene)
for p in np.linspace(-0.5, 0.5, num=5 * ny + 1):
if p == 0.:
scene.InfiniteLine(pos=p,
color=(0.5, 0.5, 0.5, 1.),
vertical=False,
parent=self._view.scene)
else:
scene.InfiniteLine(pos=p,
color=(0.3, 0.3, 0.3, 1.),
vertical=False,
parent=self._view.scene)
c_x = np.linspace(0., ratio, num=nx + 1)
c_y = np.linspace(-0.5, 0.5, num=ny + 1)
grid = np.array(np.meshgrid(c_x, c_y, indexing='ij')).T
grid = grid.reshape((nx + 1) * (ny + 1), 2)
scene.Markers(pos=grid,
symbol='square',
size=4,
face_color=(0.6, 0.6, 0.6, 1.),
parent=self._view.scene)
colors[:] = typ_colors[types]
# Add some RGB noise and clip
colors *= 1.1 ** np.random.normal(size=colors.shape)
colors = np.clip(colors, 0, 1)
# Display the data
canvas = scene.SceneCanvas(keys='interactive', show=True)
view = canvas.central_widget.add_view()
view.camera = 'arcball'
view.camera.aspect = 1
lines = scene.Line(pos=pos, connect=edges, antialias=False, method='gl',
color=(1, 1, 1, 0.2), parent=view.scene)
markers = scene.Markers(pos=pos, face_color=colors, symbol='o',
parent=view.scene)
view.camera.set_range()
i = 1
def update(ev):
global pos, edges, lines, markers, view, force, dist, i
dx = np.empty((npts, npts, 2), dtype='float32')
dx[:] = pos[:, np.newaxis, :]
dx -= pos[np.newaxis, :, :]
dist = (dx**2).sum(axis=2)**0.5
dist[dist == 0] = 1.
def __init__(self, data, vid, *args, **kwargs) -> None:
# init
scene.SceneCanvas.__init__(self, *args, keys="interactive", **kwargs)
self.unfreeze()
self.grid = self.central_widget.add_grid(margin=10)
cn = CONFIG["col_names"]
# normalize data
data_vals = data[[cn["x"], cn["y"], cn["z"]]].values
dmax = data_vals.max()
dmin = data_vals.min()
data[[cn["x"], cn["y"], cn["z"]]] = (data_vals - dmin) / (dmax - dmin)
# color data
col_cls = CONFIG["col_names"]["class"]
col_cmap = CONFIG["col_names"].get("color", None)
cmaps = CONFIG.get("cmap", None)
if col_cmap is not None and cmaps is not None:
data["cweak"] = 0
data["cstrong"] = 0
if type(cmaps) is str:
pass
else:
for lab, cmap in cmaps.items():
try:
cm = ScalarMappable(cmap=cmap)
data.loc[data[col_cls] == lab, "cweak"] = [
to_hex(c)
for c in cm.to_rgba(data.loc[data[col_cls] == lab,
col_cmap])
]
data.loc[data[col_cls] == lab, "cstrong"] = [
to_hex(c)
for c in cm.to_rgba(data.loc[data[col_cls] == lab,
col_cmap])
]
except ValueError:
data.loc[data[col_cls] == lab, "cweak"] = cmap
data.loc[data[col_cls] == lab, "cstrong"] = cmap
else:
data["cweak"] = data[col_cls].map({
k: v
for k, v in zip(data[col_cls].unique(),
cycle(Category20_20[0::2]))
})
data["cstrong"] = data[col_cls].map({
k: v
for k, v in zip(data[col_cls].unique(),
cycle(Category20_20[1::2]))
})
# scatter plot
sct_title = scene.Label("State Space", color="white")
sct_title.height_max = 30
self.grid.add_widget(sct_title, row=0, col=0)
self.sct_view = self.grid.add_view(row=1, col=0, border_color="white")
self.sct_data = data
self.mks = scene.Markers(
parent=self.sct_view.scene,
pos=self.sct_data[[cn["x"], cn["y"], cn["z"]]].values,
face_color=ColorArray(list(self.sct_data["cweak"].values)),
size=4,
edge_width=0,
)
self.mks.attach(Alpha(0.6))
self.cur_mks = scene.Markers(
parent=self.sct_view.scene,
pos=np.expand_dims(
self.sct_data.iloc[0, :][[cn["x"], cn["y"], cn["z"]]].values,
axis=0),
face_color=self.sct_data.iloc[0, :]["cstrong"],
size=8,
edge_color="white",
)
self.cur_mks.set_gl_state(depth_test=False)
self.axes = scene.XYZAxis(parent=self.sct_view.scene, width=100)
self.sct_view.camera = "arcball"
# behav cam
im_title = scene.Label("Behavior Image", color="white")
im_title.height_max = 30
self.grid.add_widget(im_title, row=0, col=1)
self.im_view = self.grid.add_view(row=1, col=1, border_color="white")
self.im_data = vid
fm0 = vid[int(self.sct_data.loc[0, CONFIG["col_names"]["frame"]])]
self.im = scene.Image(parent=self.im_view.scene, data=fm0)
self.im_view.camera = "panzoom"
self.im_view.camera.flip = (False, True, False)
self.im_view.camera.rect = (0, 0, fm0.shape[1], fm0.shape[0])
self.im_view.camera.aspect = 1
