def draw_correspondence_edges(ax: plt.Axes,
traj_1: trajectory.PosePath3D,
traj_2: trajectory.PosePath3D,
plot_mode: PlotMode,
style: str = '-',
color: str = "black",
alpha: float = 1.) -> None:
"""
Draw edges between corresponding poses of two trajectories.
Trajectories must be synced, i.e. having the same number of poses.
:param ax: plot axis
:param traj_{1,2}: trajectory.PosePath3D or trajectory.PoseTrajectory3D
:param plot_mode: PlotMode value
:param style: matplotlib line style
:param color: matplotlib color
:param alpha: alpha value for transparency
"""
if not traj_1.num_poses == traj_2.num_poses:
raise PlotException(
"trajectories must have same length to draw pose correspondences"
" - try to synchronize them first")
n = traj_1.num_poses
interweaved_positions = np.empty((n * 2, 3))
interweaved_positions[0::2, :] = traj_1.positions_xyz
interweaved_positions[1::2, :] = traj_2.positions_xyz
colors = np.array(n * [color])
markers = colored_line_collection(interweaved_positions,
colors,
plot_mode,
step=2,
alpha=alpha,
linestyles=style)
ax.add_collection(markers)
def _plot_on_axis(self, ax: plt.Axes, **collection_options: Any) -> mpl_collections.Collection:
# Step-1: Convert value_map to a list of polygons to plot.
polygon_list = self._get_polygon_units()
collection: mpl_collections.Collection = mcoll.PolyCollection(
[c.polygon for c in polygon_list], cmap=self._config['colormap'], **collection_options
)
collection.set_clim(self._config.get('vmin'), self._config.get('vmax'))
collection.set_array(np.array([c.value for c in polygon_list]))
# Step-2: Plot the polygons
ax.add_collection(collection)
collection.update_scalarmappable()
# Step-3: Write annotation texts
if self._config.get('annotation_map') or self._config.get('annotation_format'):
self._write_annotations([(c.center, c.annot) for c in polygon_list], collection, ax)
ax.set(xlabel='column', ylabel='row')
# Step-4: Draw colorbar if applicable
if self._config.get('plot_colorbar'):
self._plot_colorbar(collection, ax)
# Step-5: Set min/max limits of x/y axis on the plot.
rows = set([q.row for qubits in self._value_map.keys() for q in qubits])
cols = set([q.col for qubits in self._value_map.keys() for q in qubits])
min_row, max_row = min(rows), max(rows)
min_col, max_col = min(cols), max(cols)
min_xtick = np.floor(min_col)
max_xtick = np.ceil(max_col)
ax.set_xticks(np.arange(min_xtick, max_xtick + 1))
min_ytick = np.floor(min_row)
max_ytick = np.ceil(max_row)
ax.set_yticks(np.arange(min_ytick, max_ytick + 1))
ax.set_xlim((min_xtick - 0.6, max_xtick + 0.6))
ax.set_ylim((max_ytick + 0.6, min_ytick - 0.6))
# Step-6: Set title
if self._config.get("title"):
ax.set_title(self._config["title"], fontweight='bold')
return collection
def draw_edges(graph: Graph,
pos: dict,
edges_list: list = None,
edges_color: Union[str, list] = 'k',
axes: plt.Axes = None) -> None:
"""
Draw graph edges.
:param graph: graph
:param pos: node -> position (x,y) dictionary
:param edges_list: edges to draw
:param edges_color: nodes color, scalar or sequence (matplotlib compatible)
:param axes: axes to draw the graph at
"""
if axes is None:
axes = plt.gca()
edge_pos = np.asarray([(pos[e[0]], pos[e[1]])
for e in (edges_list or graph.edges)])
if isinstance(edges_color, str):
edges_color = (edges_color, )
edges_color = tuple([colorConverter.to_rgba(c) for c in edges_color])
edges_collection = LineCollection(edge_pos,
colors=edges_color,
transOffset=axes.transData)
edges_collection.set_zorder(1) # Edges go behind nodes.
axes.add_collection(edges_collection)
def _draw_edges(ax: plt.Axes, pos: np.ndarray, g: np.ndarray, gcolor: str,
galpha: float, glinewidths: float) -> None:
lc = LineCollection(zip(pos[g.row], pos[g.col]),
linewidths=0.25,
zorder=0,
color=gcolor,
alpha=galpha)
ax.add_collection(lc)
def traj_colormap(ax: plt.Axes,
traj: trajectory.PosePath3D,
array: ListOrArray,
plot_mode: PlotMode,
min_map: float,
max_map: float,
title: str = "",
fig: typing.Optional[mpl.figure.Figure] = None) -> None:
"""
color map a path/trajectory in xyz coordinates according to
an array of values
:param ax: plot axis
:param traj: trajectory.PosePath3D or trajectory.PoseTrajectory3D object
:param array: Nx1 array of values used for color mapping
:param plot_mode: PlotMode
:param min_map: lower bound value for color mapping
:param max_map: upper bound value for color mapping
:param title: plot title
:param fig: plot figure. Obtained with plt.gcf() if none is specified
"""
pos = traj.positions_xyz
norm = mpl.colors.Normalize(vmin=min_map, vmax=max_map, clip=True)
mapper = cm.ScalarMappable(
norm=norm,
cmap=SETTINGS.plot_trajectory_cmap) # cm.*_r is reversed cmap
mapper.set_array(array)
colors = [mapper.to_rgba(a) for a in array]
line_collection = colored_line_collection(pos, colors, plot_mode)
ax.add_collection(line_collection)
ax.autoscale_view(True, True, True)
if plot_mode == PlotMode.xyz:
ax.set_zlim(np.amin(traj.positions_xyz[:, 2]),
np.amax(traj.positions_xyz[:, 2]))
if SETTINGS.plot_xyz_realistic:
set_aspect_equal_3d(ax)
if fig is None:
fig = plt.gcf()
cbar = fig.colorbar(
mapper, ticks=[min_map, (max_map - (max_map - min_map) / 2), max_map])
cbar.ax.set_yticklabels([
"{0:0.3f}".format(min_map),
"{0:0.3f}".format(max_map - (max_map - min_map) / 2),
"{0:0.3f}".format(max_map)
])
if title:
ax.legend(frameon=True)
ax.set_title(title)
def draw_graph_edges(figure: plt.Figure, axis: plt.Axes, graph: nx.Graph):
"""draws graph edges from node to node, colored by weight
Parameters
----------
figure: plt.Figure
a matplotlib Figure
axis: plt.Axes
a matplotlib Axes, part of Figure
graphs: nx.Graph
a networkx graph, assumed to have edges formed like
graph.add_edge((0, 1), (0, 2), weight=1.234)
Notes
-----
modifes figure and axis in-place
"""
weights = np.array([i["weight"] for i in graph.edges.values()])
# graph is (row, col), transpose to get (x, y)
segments = []
for edge in graph.edges:
segments.append([edge[0][::-1], edge[1][::-1]])
line_coll = LineCollection(segments,
linestyle='solid',
cmap="plasma",
linewidths=0.3)
line_coll.set_array(weights)
vals = np.concatenate(line_coll.get_segments())
mnvals = vals.min(axis=0)
mxvals = vals.max(axis=0)
ppvals = vals.ptp(axis=0)
buffx = 0.02 * ppvals[0]
buffy = 0.02 * ppvals[1]
line_coll.set_linewidth(0.3 * 512 / ppvals[0])
axis.add_collection(line_coll)
axis.set_xlim(mnvals[0] - buffx, mxvals[0] + buffx)
axis.set_ylim(mnvals[1] - buffy, mxvals[1] + buffy)
# invert yaxis for image-like orientation
axis.invert_yaxis()
axis.set_aspect("equal")
divider = make_axes_locatable(axis)
cax = divider.append_axes("right", size="5%", pad=0.05)
figure.colorbar(line_coll, ax=axis, cax=cax)
axis.set_title("PCC neighbor graph")
def hexplot(
ax: plt.Axes,
grid: np.ndarray,
data: np.ndarray,
hex_size: float=11.5,
cmap: str='viridis'
) -> plt.Axes:
"""
Plot grid and data on a hexagon grid. Useful for SOMs.
Parameters
----------
ax : Axes to plot on.
grid : Array of (x, y) tuples.
data : Array of len(grid) with datapoint.
hex_size : Radius in points determining the hexagon size.
cmap : Colormap to use for colouring.
Returns
-------
ax : Axes with hexagon plot.
"""
# Create hexagons
collection = RegularPolyCollection(
numsides=6,
sizes=(2 * np.pi * hex_size ** 2,),
edgecolors=(0, 0, 0, 0),
transOffset=ax.transData,
offsets=grid,
array=data,
cmap=plt.get_cmap(cmap)
)
# Scale the plot properly
ax.add_collection(collection, autolim=True)
ax.set_xlim(grid[:, 0].min() - 0.75, grid[:, 0].max() + 0.75)
ax.set_ylim(grid[:, 1].min() - 0.75, grid[:, 1].max() + 0.75)
ax.axis('off')
return ax
def hexplot(
ax: plt.Axes,
grid: np.ndarray,
data: np.ndarray,
hex_size: float=11.5,
cmap: str='viridis'
) -> plt.Axes:
'''
Plot grid and data on a hexagon grid. Useful for SOMs.
Parameters
----------
ax : Axes to plot on.
grid : Array of (x, y) tuples.
data : Array of len(grid) with datapoint.
hex_size : Radius in points determining the hexagon size.
cmap : Colormap to use for colouring.
Returns
-------
ax : Axes with hexagon plot.
'''
# Create hexagons
collection = RegularPolyCollection(
numsides=6,
sizes=(2 * np.pi * hex_size ** 2,),
edgecolors=(0, 0, 0, 0),
transOffset=ax.transData,
offsets=grid,
array=data,
cmap=plt.get_cmap(cmap)
)
# Scale the plot properly
ax.add_collection(collection, autolim=True)
ax.set_xlim(grid[:, 0].min() - 0.75, grid[:, 0].max() + 0.75)
ax.set_ylim(grid[:, 1].min() - 0.75, grid[:, 1].max() + 0.75)
ax.axis('off')
return ax
def show(self, subplot: plt.Axes, data: np.ndarray, **kwargs):
# data shape should be (num_joints, 3)
# swap y and z for matplotlib
dc = data.copy()
dc[:, 2], dc[:, 1] = data[:, 1], data[:, 2]
data = dc
x = data[:, 0]
y = data[:, 1]
z = data[:, 2]
if self._scatter is None:
self._scatter = subplot.scatter(x, y, z)
else:
# Update 3D points
self._scatter.set_offsets(data[:, :2])
if hasattr(self._scatter, "_offsets3d"):
self._scatter._offsets3d = x, y, z
self._scatter.stale = True
else:
self._scatter.set_alpha(1.)
self._scatter.set_3d_properties(z, "z")
if self.graph is not None:
# plot lines between scatter plot dots
edges = np.asarray(self.graph.edges)
p = data[edges[:, 0]]
q = data[edges[:, 1]]
ls = np.hstack([p, q])
ls = ls.reshape((-1, 2, 3))
if self._lines is None or self._lines not in subplot.collections:
self._lines = Line3DCollection(ls,
linewidths=2,
colors="dimgray")
subplot.add_collection(self._lines)
else:
self._lines.set_segments(ls)
set_3d_aspect_ratio_equal(subplot)
def plot_triv(fig: plt.Figure,
ax: plt.Axes,
A: Triangle,
B: Triangle,
dist: bool = True):
_A, _B = get_triv(A, B)
_A.plot(fig, ax, "black")
_B.plot(fig, ax, "blue")
ax.scatter([0, 1], [0, 0], c="black")
ax.annotate("$(0, 0)$", [-0.01, -0.02])
ax.annotate("$(1, 0)$", [1, -0.02])
_A.plot(fig, ax, color="black")
_A_offsets = np.array([
[0.07, 0.02],
[-0.05, 0.03],
[-0.02, -0.04],
])
_B.plot(fig, ax, color="blue")
_B_offsets = np.array([
[0.05, 0.0125],
[-0.03, 0.01],
[-0.02, -0.04],
])
ax.annotate("$t$", _A.points[2] + np.array([-0.03, -0.005]))
ax.annotate("$t^\prime$", _B.points[2] + np.array([-0.025, 0.01]))
for i in range(3):
ax.annotate(f"$\\alpha_{i}$", _A.points[i] + _A_offsets[i])
ax.annotate(f"$\\beta_{i}$",
_B.points[i] + _B_offsets[i],
color="blue")
if dist:
ax.add_collection(
LineCollection([[_A.points[2], _B.points[2]]],
color="black",
linestyles="--"))
ax.scatter(*_A.points[2], c="black")
ax.scatter(*_B.points[2], c="black")
def drawRects(ax: plt.Axes,
data,
facecolor=None,
alpha: float = None,
edgecolor=None,
linewidth: float = None,
profile: dict = None,
autolim=True) -> None:
"""
Draw multiple rectangles
Args:
ax: the plot axes
data: either a 2D array of shape (num. rectangles, 4), or a list of tuples
(x0, y0, x1, y1), where each row is a rectangle
color: the face color
edgecolor: the color of the edges
alpha: alpha value for the rectangle (both facecolor and edgecolor)
label: if given, a label is plotted at the center of the rectangle
profile: the profile used, or None for default
autolim: autoscale view
"""
facecolor = _fallbackColor(facecolor, profile, key='facecolor')
edgecolor = _fallbackColor(edgecolor, profile, key='edgecolor')
linewidth = _fallback(linewidth, profile, 'linewidth')
rects = []
for coords in data:
x0, y0, x1, y1 = coords
rect = Rectangle((x0, y0), x1 - x0, y1 - y0)
rects.append(rect)
coll = PatchCollection(rects,
linewidth=linewidth,
alpha=alpha,
edgecolor=edgecolor,
facecolor=facecolor)
ax.add_collection(coll, autolim=True)
if autolim:
ax.autoscale_view()
def draw_path(self, ax: plt.Axes, path, properties: Properties, z: int):
pattern = self.pattern(properties)
lineweight = self.lineweight(properties)
color = properties.color
if len(pattern) < 2:
vertices, codes = _get_path_patch_data(path)
patch = PathPatch(Path(vertices, codes),
linewidth=lineweight,
color=color,
fill=False,
zorder=z)
ax.add_patch(patch)
else:
renderer = EzdxfLineTypeRenderer(pattern)
segments = renderer.line_segments(
path.flattening(self._max_distance, segments=16))
lines = LineCollection([((s.x, s.y), (e.x, e.y))
for s, e in segments],
linewidths=lineweight,
color=color,
zorder=z)
lines.set_capstyle('butt')
ax.add_collection(lines)
def plot(self, ax: plt.Axes, fd):
for i1, c1 in enumerate(fd.cities):
for i2, c2 in enumerate(fd.cities):
if c1 is c2:
continue
p1 = np.array([c1.x, c1.y])
p2 = np.array([c2.x, c2.y])
norm = p2 - p1
norm[0], norm[1] = -norm[1], norm[0]
norm /= np.linalg.norm(norm)
p1 += norm * 1
p2 += norm * 1
npts = 100
x = np.linspace(p1[0], p2[0], npts)
y = np.linspace(p1[1], p2[1], npts)
g = np.linspace(0, 1, npts)
points = np.array([x, y]).T.reshape(-1, 1, 2)
segments = np.concatenate([points[:-1], points[1:]], axis=1)
nc = plt.Normalize(g.min(), g.max())
lc = LineCollection(segments, cmap='copper', norm=nc)
lc.set_array(g)
lc.set_linewidth(self.get_amount(c1, c2) * 10)
lc.set_zorder(0)
ax.add_collection(lc)
def draw_line(self, ax: plt.Axes, start: Vector, end: Vector,
properties: Properties, z: int):
pattern = self.pattern(properties)
lineweight = self.lineweight(properties)
color = properties.color
if len(pattern) < 2:
ax.add_line(
Line2D(
(start.x, end.x),
(start.y, end.y),
linewidth=lineweight,
color=color,
zorder=z,
))
else:
renderer = EzdxfLineTypeRenderer(pattern)
lines = LineCollection(
[((s.x, s.y), (e.x, e.y))
for s, e in renderer.line_segment(start, end)],
linewidths=lineweight,
color=color,
zorder=z)
lines.set_capstyle('butt')
ax.add_collection(lines)
def show_image(im: Union[np.ndarray, Tensor],
axis: plt.Axes = None,
fig: plt.Figure = None,
title: Optional[str] = None,
color_map: str = "inferno",
stack_depth: int = 0) -> Optional[plt.Figure]:
"""Plots a given image onto an axis. The repeated invocation of this function will cause figure plot overlap.
If `im` is 2D and the length of second dimension are 4 or 5, it will be viewed as bounding box data (x0, y0, w, h,
<label>).
```python
boxes = np.array([[0, 0, 10, 20, "apple"],
[10, 20, 30, 50, "dog"],
[40, 70, 200, 200, "cat"],
[0, 0, 0, 0, "not_shown"],
[0, 0, -10, -20, "not_shown2"]])
img = np.zeros((150, 150))
fig, axis = plt.subplots(1, 1)
fe.util.show_image(img, fig=fig, axis=axis) # need to plot image first
fe.util.show_image(boxes, fig=fig, axis=axis)
```
Users can also directly plot text
```python
fig, axis = plt.subplots(1, 1)
fe.util.show_image("apple", fig=fig, axis=axis)
```
Args:
axis: The matplotlib axis to plot on, or None for a new plot.
fig: A reference to the figure to plot on, or None if new plot.
im: The image (width X height) / bounding box / text to display.
title: A title for the image.
color_map: Which colormap to use for greyscale images.
stack_depth: Multiple images can be drawn onto the same axis. When stack depth is greater than zero, the `im`
will be alpha blended on top of a given axis.
Returns:
plotted figure. It will be the same object as user have provided in the argument.
"""
if axis is None:
fig, axis = plt.subplots(1, 1)
axis.axis('off')
# Compute width of axis for text font size
bbox = axis.get_window_extent().transformed(fig.dpi_scale_trans.inverted())
width, height = bbox.width * fig.dpi, bbox.height * fig.dpi
space = min(width, height)
if not hasattr(im, 'shape') or len(im.shape) < 2:
# text data
im = to_number(im)
if hasattr(im, 'shape') and len(im.shape) == 1:
im = im[0]
im = im.item()
if isinstance(im, bytes):
im = im.decode('utf8')
text = "{}".format(im)
axis.text(0.5,
0.5,
im,
ha='center',
transform=axis.transAxes,
va='center',
wrap=False,
family='monospace',
fontsize=min(45, space // len(text)))
elif len(im.shape) == 2 and (im.shape[1] == 4 or im.shape[1] == 5):
# Bounding Box Data. Should be (x0, y0, w, h, <label>)
boxes = []
im = to_number(im)
color = ["m", "r", "c", "g", "y", "b"][stack_depth % 6]
for box in im:
# Unpack the box, which may or may not have a label
x0 = float(box[0])
y0 = float(box[1])
width = float(box[2])
height = float(box[3])
label = None if len(box) < 5 else str(box[4])
# Don't draw empty boxes, or invalid box
if width <= 0 or height <= 0:
continue
r = Rectangle((x0, y0),
width=width,
height=height,
fill=False,
edgecolor=color,
linewidth=3)
boxes.append(r)
if label:
axis.text(r.get_x() + 3,
r.get_y() + 3,
label,
ha='left',
va='top',
color=color,
fontsize=max(8, min(14, width // len(label))),
fontweight='bold',
family='monospace')
pc = PatchCollection(boxes, match_original=True)
axis.add_collection(pc)
else:
if isinstance(im, torch.Tensor) and len(im.shape) > 2:
# Move channel first to channel last
channels = list(range(len(im.shape)))
channels.append(channels.pop(0))
im = im.permute(*channels)
# image data
im = to_number(im)
im_max = np.max(im)
im_min = np.min(im)
if np.issubdtype(im.dtype, np.integer):
# im is already in int format
im = im.astype(np.uint8)
elif 0 <= im_min <= im_max <= 1: # im is [0,1]
im = (im * 255).astype(np.uint8)
elif -0.5 <= im_min < 0 < im_max <= 0.5: # im is [-0.5, 0.5]
im = ((im + 0.5) * 255).astype(np.uint8)
elif -1 <= im_min < 0 < im_max <= 1: # im is [-1, 1]
im = ((im + 1) * 127.5).astype(np.uint8)
else: # im is in some arbitrary range, probably due to the Normalize Op
ma = abs(
np.max(im,
axis=tuple([i for i in range(len(im.shape) - 1)])
if len(im.shape) > 2 else None))
mi = abs(
np.min(im,
axis=tuple([i for i in range(len(im.shape) - 1)])
if len(im.shape) > 2 else None))
im = (((im + mi) / (ma + mi)) * 255).astype(np.uint8)
# matplotlib doesn't support (x,y,1) images, so convert them to (x,y)
if len(im.shape) == 3 and im.shape[2] == 1:
im = np.reshape(im, (im.shape[0], im.shape[1]))
alpha = 1 if stack_depth == 0 else 0.3
if len(im.shape) == 2:
axis.imshow(im, cmap=plt.get_cmap(name=color_map), alpha=alpha)
else:
axis.imshow(im, alpha=alpha)
if title is not None:
axis.set_title(title,
fontsize=min(20, 1 + width // len(title)),
family='monospace')
return fig
def cancellation_progression(cnclp: CnclProg, model_output: int = None,
*, color_cycle: Sequence = None,
ax: plt.Axes = None, figsize=(8.0, 6.0), title: str = None,
xlabel="Estimated cancellation", ylabel="True cancellation", legend=True):
if model_output is None:
test_array = next(iter(next(iter(cnclp.values())).values()))
if test_array.ndim != 2:
n_model_outputs = test_array.shape[2]
if n_model_outputs != 1:
raise ValueError("When plotting cancellation progressions, the model_output argument can only be "
"omitted when there is only one model output in the progression. However, this "
f"progression stores {n_model_outputs} model outputs. So, please supply model_output.")
else:
model_output = 0
# Create figure if necessary.
if ax is None:
ax = plt.figure(figsize=figsize).gca()
# Set title, xlabel, and ylabel if applicable.
if title is not None:
ax.set_title(title)
if xlabel is not None:
ax.set_xlabel(xlabel)
if ylabel is not None:
ax.set_ylabel(ylabel)
if color_cycle is None:
color_cycle = _DEFAULT_COLOR_CYCLE
for (om, om_cnclp), base_color in zip(cnclp.items(), cycle(color_cycle)):
color_hue = rgb_to_hsv(to_rgb(base_color))[0]
for (frag, frag_cnclp), color_value in zip(om_cnclp.items(), np.linspace(1, 0.7, len(om_cnclp))):
if model_output is not None:
frag_cnclp = frag_cnclp[model_output]
if not np.all(np.isnan(frag_cnclp[:, 1])):
third_col_max = int(frag_cnclp[0, 2])
max_sat_color = hsv_to_rgb([color_hue, 1.0, color_value])
min_sat_color = hsv_to_rgb([color_hue, 0.2, color_value])
# Use linspace in the wrong order and then reverse the result, such that when
# 'third_col_max' is 1, the cmap contains the max saturation and not the
# min saturation color as its only color.
cmap = ListedColormap(np.linspace(max_sat_color, min_sat_color, third_col_max)[::-1])
segments = list(zip(frag_cnclp[:-1, :2], frag_cnclp[1:, :2]))
lc = LineCollection(segments, cmap=cmap, norm=plt.Normalize(1, third_col_max),
label=f"{type(om).__name__[0]}~{frag}", color=max_sat_color, zorder=1)
lc.set_array(frag_cnclp[1:, 2])
ax.add_collection(lc)
# Necessary because 'ax.add_collection()' doesn't adjust xlim and ylim automatically.
ax.autoscale_view()
# Draw the diagonal dotted line.
diag = [max(ax.get_xlim()[0], ax.get_ylim()[0]),
min(ax.get_xlim()[1], ax.get_ylim()[1])]
ax.plot(diag, diag, ls="dotted", color="gray", zorder=0)
if legend:
ax.legend(loc="upper left", bbox_to_anchor=(1.01, 0, 1, 1))
