def render(self, ax, args, environment_memory, plan, highest_iou, count_step,
count_brick, datetime, iou_min=None, iou_average=None, iter_times=10):
ax.clear()
plan=self.plan[self.HALF_WINDOW_SIZE:self.HALF_WINDOW_SIZE+self.plan_height,\
self.HALF_WINDOW_SIZE:self.HALF_WINDOW_SIZE+self.plan_width]
env_memory=self.environment_memory[self.HALF_WINDOW_SIZE:self.HALF_WINDOW_SIZE+self.plan_height,\
self.HALF_WINDOW_SIZE:self.HALF_WINDOW_SIZE+self.plan_width]
background=np.zeros((self.plan_height,self.plan_width))
img=np.stack((env_memory,plan,background),axis=2)
plt.imshow(img)
plt.plot(self.position_memory[-1][1] - self.HALF_WINDOW_SIZE,
self.position_memory[-1][0] - self.HALF_WINDOW_SIZE, "*")
IOU = self._iou()
# Add the patch to the Axes
if iou_min == None:
iou_min = IOU
if iou_average == None:
iou_average = IOU
# axe.add_patch(rect)
ax.title.set_text('step=%d,used_paint=%d,IOU=%.3f'%(self.count_step, self.count_brick, IOU))
plt.text(0,21.5,'Iou_min_iter_%d = %.3f'%(iter_times,iou_min),color = 'red', fontsize=12)
plt.text(0, 20.5, 'Iou_average_iter_%d = %.3f' % (iter_times, iou_average), color='blue', fontsize=12)
ax.axis('off')
save_plot(args, datetime)
plt.draw()
def render(self,
ax,
args,
environment_memory,
plan,
highest_iou,
count_step,
count_brick,
datetime,
iou_min=None,
iou_average=None,
iter_times=10):
x = np.arange(30)
ax.set_xlim((-1, 30))
ax.set_ylim((0, 50))
ax.plot(x, plan)
print("\tENV STATE: ", environment_memory)
ax.title.set_text('step=%d,used_paint=%d,IOU=%.3f' %
(count_step, count_brick, highest_iou))
ax.plot(x, plan, color='b')
ax.bar(x, environment_memory, color='r')
ax.bar(x, environment_memory - 1, color='r')
plt.text(12,
46,
'Iou_min_iter_%d = %.3f' % (iter_times, iou_min),
color='red',
fontsize=10)
plt.text(12,
48,
'Iou_average_iter_%d = %.3f' % (iter_times, iou_average),
color='blue',
fontsize=10)
save_plot(args, datetime)
# plt.show()
plt.close()
def render(self, ax, ax2, args, environment_memory, plan, highest_iou, count_step,
count_brick, datetime, iou_min=None, iou_average=None, iter_times=10):
ax.clear()
ax2.clear()
ax.set_xlim(0, self.plan_width)
ax.set_ylim(0, self.plan_height)
ax.set_zlim(0, self.plan_length)
ax2.set_xlabel('X-axis')
ax2.set_xlim(-1, self.plan_width)
ax2.set_ylabel('Y-axis')
ax2.set_ylim(-1, self.plan_height)
plan = self.plan[self.HALF_WINDOW_SIZE:self.HALF_WINDOW_SIZE + self.plan_height,
self.HALF_WINDOW_SIZE:self.HALF_WINDOW_SIZE + self.plan_width]
plan_2d = np.zeros((self.plan_height, self.plan_width))
IOU = self._iou()
# if best_env.any():
# env_memory = best_env[self.HALF_WINDOW_SIZE:self.HALF_WINDOW_SIZE + self.plan_height, \
# self.HALF_WINDOW_SIZE:self.HALF_WINDOW_SIZE + self.plan_width]
# IOU = best_iou
# step = best_step
# brick = best_brick
# best_posi = position_memo
# else:
env_memory = self.environment_memory[self.HALF_WINDOW_SIZE:self.HALF_WINDOW_SIZE + self.plan_height, \
self.HALF_WINDOW_SIZE:self.HALF_WINDOW_SIZE + self.plan_width]
step = self.count_step
brick = self.count_brick
best_posi = self.position_memory[-1]
env_memory_2d = np.zeros((self.plan_height, self.plan_width))
for i in range(self.plan_height):
for j in range(self.plan_width):
if plan[i][j] > 0:
plan_2d[i][j] = 1
if env_memory[i][j] > 0:
env_memory_2d[i][j] = 1
background = np.zeros((self.plan_height, self.plan_width))
img = np.stack((env_memory_2d, plan_2d, background), axis=2)
# plot_plan_surface
X, Y, Z = self.plot_3d(plan, Env=False)
ax.scatter(X, Y, Z, marker='s', s=40, color='r', edgecolor="k",alpha=1)
x1, y1, z1 = self.plot_3d(env_memory, Env=True)
width = depth = 1
height = np.zeros_like(z1)
if x1:
ax.bar3d(x1, y1, height, width, depth, z1, color='b', shade=True,alpha=0.15, edgecolor="k")
ax.scatter(best_posi[1] - self.HALF_WINDOW_SIZE + 0.5,
best_posi[0] - self.HALF_WINDOW_SIZE + 0.5, zs=0, marker="*", color='b', s=50)
if iou_min is None:
iou_min = IOU
if iou_average is None:
iou_average = IOU
ax.title.set_text('step=%d,used_paint=%d,IOU=%.3f' % (step, brick, IOU))
ax2.text(0, 20, 'Iou_min_iter_%d = %.3f' % (iter_times, iou_min), color='r', fontsize=12)
ax2.text(0, 21.2, 'Iou_average_iter_%d = %.3f' % (iter_times, iou_average), color='b', fontsize=12)
ax2.axis('off')
plt.imshow(img)
ax2.plot(best_posi[1] - self.HALF_WINDOW_SIZE,
best_posi[0] - self.HALF_WINDOW_SIZE, '*', color='b')
save_plot(args, datetime)
plt.draw()
def render(self,
ax,
args,
environment_memory,
plan,
highest_iou,
count_step,
count_brick,
datetime,
iou_min=None,
iou_average=None,
iter_times=10):
ax.clear()
ax.set_xlabel('X-axis')
ax.set_xlim(-1, 30)
ax.set_ylabel('Y-axis')
ax.set_ylim(0, 50)
x = np.arange(self.plan_width)
IOU = self._iou()
plan = self.plan
# print(environment_memory.shape)
# env_memory = environment_memory[self.HALF_WINDOW_SIZE:self.plan_width + self.HALF_WINDOW_SIZE]
IOU = highest_iou
step = count_step
brick = count_brick
# else:
# env_memory = self.environment_memory[0][self.HALF_WINDOW_SIZE:self.plan_width + self.HALF_WINDOW_SIZE]
# step = self.count_step
# brick = self.count_brick
ax.title.set_text('step=%d,used_paint=%d,IOU=%.3f' %
(step, brick, IOU))
ax.plot(x, plan, color='b')
# print(x.shape, env_memory.shape)
ax.bar(x, environment_memory, color='r')
if iou_min == None:
iou_min = IOU
if iou_average == None:
iou_average = IOU
plt.text(0,
48,
'a=%d,b=%d,c=%.2f' %
(self.one_hot[0], self.one_hot[1], self.one_hot[2]),
color='g',
fontsize=10)
plt.text(12,
46,
'Iou_min_iter_%d = %.3f' % (iter_times, iou_min),
color='red',
fontsize=10)
plt.text(12,
48,
'Iou_average_iter_%d = %.3f' % (iter_times, iou_average),
color='blue',
fontsize=10)
save_plot(args, datetime)
plt.draw()