def bound_dataframe(geodataframe, ax):
dy = geodataframe.bounds.maxy[0] - geodataframe.bounds.miny[0]
dx = geodataframe.bounds.maxx[0] - geodataframe.bounds.minx[0]
if dy > dx:
minx = geodataframe.bounds.minx[0] - (dy - dx) / 2
maxx = geodataframe.bounds.maxx[0] + (dy - dx) / 2
miny = geodataframe.bounds.miny[0]
maxy = geodataframe.bounds.maxy[0]
else:
minx = geodataframe.bounds.minx[0]
maxx = geodataframe.bounds.maxx[0]
miny = geodataframe.bounds.miny[0] - (dx - dy) / 2
maxy = geodataframe.bounds.maxy[0] + (dx - dy) / 2
pol = Polygon([(minx, miny), (minx, maxy),
(maxx, maxy), (maxx, miny),
(minx, miny)])
crs = {'init': 'epsg:3857'}
pol = gpd.GeoDataFrame(index=[0], crs=crs, geometry=[pol])
pol.plot(ax=ax, alpha=0.)
def update(frame):
global step, ax, episode, pre_agent_positions, pre_agent_targets, ax1, local_view, tt
t1 = time.time()
print(len(agent_pos), step, frame)
# sea
base_x = [x_lim[0], x_lim[1], x_lim[1], x_lim[0]]
base_y = [y_lim[1], y_lim[1], y_lim[0], y_lim[0]]
base_pol = Polygon(zip(base_x, base_y))
base_pol = gpd.GeoDataFrame(index=[0], crs=crs, geometry=[base_pol])
ax = base_pol.plot(ax=ax, color=Color.sea.value[0])
# ground
ax = gpd_map.plot(ax=ax, color=Color.ground.value[0])
# target
p = Point(target[episode][0], target[episode][1]).buffer(target_r)
target_point = gpd.GeoDataFrame(index=[0], crs=crs, geometry=[p])
if step == 0:
pre_agent_targets.append(p)
if episode > 1:
previous_points_gdf = gpd.GeoDataFrame(index=[i for i in range(len(pre_agent_targets) - 1)],
crs={'init': 'epsg:4326'}, geometry=pre_agent_targets[:-1])
ax = previous_points_gdf.plot(ax=ax, color=Color.sea.value[0], edgecolor=[211 / 255, 211 / 255, 211 / 255],
markersize=1)
ax = target_point.plot(ax=ax, color=Color.target.value[0])
p = Point(last_target[0], last_target[1]).buffer(target_r)
target_point = gpd.GeoDataFrame(index=[0], crs=crs, geometry=[p])
ax = target_point.plot(ax=ax, color=Color.last_target.value[0])
# static objects
static_points = []
for o in static_object:
r = o[0]
pos = o[1]
p = Point(pos[0], pos[1]).buffer(r * 3.0)
static_points.append(p)
static_points_gdf = gpd.GeoDataFrame(index=[i for i in range(len(static_points))], crs={'init': 'epsg:4326'},
geometry=static_points)
ax = static_points_gdf.plot(ax=ax, color="orange")
# dynamic objects
for o in dynamic_object:
if step > 0:
previous_points = [Point(pos[0], pos[1]).buffer(way_size) for pos in o[1][:step]]
previous_points_gdf = gpd.GeoDataFrame(index=[i for i in range(len(previous_points))],
crs={'init': 'epsg:4326'}, geometry=previous_points)
ax = previous_points_gdf.plot(ax=ax, color=Color.dynamic_object.value[0])
r = o[0]
pos = o[1][step]
last_point = Point(pos[0], pos[1]).buffer(r * 3.0)
last_point = gpd.GeoDataFrame(index=[0], crs=crs, geometry=[last_point])
ax = last_point.plot(ax=ax, color=Color.dynamic_object.value[0])
# ais objects
for o in ais_object:
if step > 0:
previous_points = [Point(pos[0], pos[1]).buffer(way_size) for pos in o[1][:step]]
previous_points_gdf = gpd.GeoDataFrame(index=[i for i in range(len(previous_points))],
crs={'init': 'epsg:4326'}, geometry=previous_points)
ax = previous_points_gdf.plot(ax=ax, color=Color.ais_object.value[0])
r = o[0]
pos = o[1][step]
last_point = Point(pos[0], pos[1]).buffer(r * 3.0)
last_point = gpd.GeoDataFrame(index=[0], crs=crs, geometry=[last_point])
ax = last_point.plot(ax=ax, color=Color.ais_object.value[0])
# agent
if step > 0 or episode > 0:
previous_points = [Point(pos[0], pos[1]).buffer(way_size) for pos in pre_agent_positions]
previous_points_gdf = gpd.GeoDataFrame(index=[i for i in range(len(pre_agent_positions))],
crs={'init': 'epsg:4326'}, geometry=previous_points)
ax = previous_points_gdf.plot(ax=ax, color=[1, 99 / 255, 71 / 255])
pos = agent_pos[step]
pre_agent_positions.append(pos)
last_point = Point(pos[0], pos[1]).buffer(agent_r*3)
last_point = gpd.GeoDataFrame(index=[0], crs=crs, geometry=[last_point])
ax = last_point.plot(ax=ax, color=[1, 99 / 255, 71 / 255])
# local view
if show_local_view:
ax1.cla()
ax1.set_xlim([0, 50])
ax1.set_ylim([0, 50])
local_view_all_x = [[i for _ in range(51)] for i in range(51)]
local_view_all_y = [[j for j in range(51)] for _ in range(51)]
local_view_ground_x = []
local_view_ground_y = []
local_view_obs_x = []
local_view_obs_y = []
local_view_target_x = []
local_view_target_y = []
for x in range(len(local_view[step])):
for y in range(len(local_view[step][0])):
if 0.49 < local_view[step][x][y] < 0.51:
local_view_ground_x.append(x)
local_view_ground_y.append(y)
if local_view[step][x][y] > 0.8:
local_view_target_x.append(x)
local_view_target_y.append(y)
if 0.29 < local_view[step][x][y] < 0.31:
local_view_obs_x.append(x)
local_view_obs_y.append(y)
ax1.plot(local_view_all_x, local_view_all_y, 'o', color='white', markersize=12)
ax1.plot(local_view_target_x, local_view_target_y, 'o', color='green', markersize=7)
ax1.plot(local_view_ground_x, local_view_ground_y, 'o', color='saddlebrown', markersize=7)
ax1.plot(local_view_obs_x, local_view_obs_y, 'o', color='orange', markersize=7)
ax1.plot([25], [25], 'o', color=Color.agent.value, markersize=8)
step += 1
tt.append(time.time() - t1)
return ln,
