def draw_all(texture, erase_number=True):
if erase_number:
plt.tick_params(labelbottom=False,
labelleft=False,
labelright=False,
labeltop=False)
# ax.set_xlabel('$\\varphi_1 [{\\rm deg}]$')
# ax.set_ylabel('$\\phi [\\rm deg]$')
# ax.set_zlabel('$\\varphi_2 [\\rm deg]$')
ax.xaxis._axinfo['juggled'] = (2, 0, 1)
ax.yaxis._axinfo['juggled'] = (2, 1, 0)
ax.zaxis._axinfo['juggled'] = (2, 2, 2)
ax.set_xlim(0, 360)
ax.set_ylim(0, 180)
ax.invert_yaxis()
ax.set_zlim(0, 360)
ax.invert_zaxis()
aff = np.diag([1, 0.5, 1, 1]) # Positioning
aff[0][3] = 100 # x
aff[1][3] = 100 # y
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax), aff)
ax.plot(texture[:, 0],
texture[:, 1],
texture[:, 2],
"o",
color="blue",
ms=2,
mew=0.5)
plt.yticks(range(0, 180 + 1, 90))
plt.xticks(range(0, 360 + 1, 90))
ax.set_zticks(range(0, 360 + 1, 90))
def draw(texture, c, lab, erase_number=True):
if erase_number:
plt.tick_params(labelbottom=False,
labelleft=False,
labelright=False,
labeltop=False)
# ax.set_xlabel('$\\varphi_1 [{\\rm deg}]$')
# ax.set_ylabel('$\\phi [\\rm deg]$')
# ax.set_zlabel('$\\varphi_2 [\\rm deg]$')
ax.xaxis._axinfo['juggled'] = (2, 0, 1)
ax.yaxis._axinfo['juggled'] = (2, 1, 0)
ax.zaxis._axinfo['juggled'] = (2, 2, 2)
ax.set_xlim(0, 90)
ax.set_ylim(0, 90)
ax.invert_yaxis()
ax.set_zlim(0, 90)
ax.invert_zaxis()
aff = np.diag([1, 1, 1, 1]) # Positioning
aff[0][3] = -20
aff[1][3] = 0
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax), aff)
lim_tex = texture[np.where((texture[:, 0] < 90.) & (texture[:, 1] < 90.)
& (texture[:, 2] < 90.))]
ax.scatter(lim_tex[:, 0],
lim_tex[:, 1],
lim_tex[:, 2],
color=c,
marker='o',
label=lab)
plt.yticks(range(0, 90 + 1, 30))
plt.xticks(range(0, 90 + 1, 30))
ax.set_zticks(range(0, 90 + 1, 30))
ax.legend()
def static_surf(dfs):
"""
#surf creates the surface plot
"""
fig, ax = plt.subplots(subplot_kw=dict(projection='3d'), figsize=(12, 10))
for idx, df in enumerate(dfs):
df = df.set_index('Unnamed: 0')
x = range(len(df.index))
y = range(len(df.columns))
mx, my = np.meshgrid(x, y, indexing='ij')
z = df.round(decimals=2)
z = z.fillna(0)
z = z.astype(int)
surf = ax.plot_surface(mx,
my,
z,
cmap=cm.coolwarm,
linewidth=0,
alpha=(idx + 0.01) / 5)
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax),
np.diag([1.0, 1.0, 1.0, 1.0]))
ax.set_xticklabels(df.index)
ax.set_yticklabels(df.columns)
ax.set_xlabel('Medium components')
#ax.set_ylabel('Demand reactions')
#ax.set_zlabel('Metabolic Flux')
ax.view_init(60, 35)
fig.colorbar(surf, shrink=0.5, aspect=5)
fig.tight_layout()
fig.savefig('test.png')
def plot_3DElevFrames(DomainTS, SL, TMAX, DuneDomain):
from Barrier3D_Parameters import (BarrierLength, BermEl, DuneWidth)
for t in range(0, len(DomainTS)):
# Build beach elevation domain
BW = 6
Beach = np.zeros([BW, BarrierLength])
berm = math.ceil(BW * 0.65)
Beach[berm:BW + 1, :] = BermEl
add = (BermEl - SL) / berm
for i in range(berm):
Beach[i, :] = SL + add * i
# Construct frame
Dunes = [(DuneDomain[TMAX] + BermEl) * 10] * DuneWidth
Water = np.zeros([3, BarrierLength])
Domain = DomainTS[TMAX] * 10
Domain = np.vstack([Water, Beach, Dunes, Domain, Water])
Dlen = np.shape(Domain)[1]
Dwid = np.shape(Domain)[0]
fig = plt.figure(figsize=(12, 9))
ax = fig.add_subplot(111, projection='3d')
scale_x = 1
scale_y = Dwid / Dlen
scale_z = 4 / Dlen * 4
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax),
np.diag([scale_x, scale_y, scale_z, 1]))
X = np.arange(Dlen)
Y = np.arange(Dwid)
X, Y = np.meshgrid(X, Y)
Z = Domain
ax.plot_surface(X,
Y,
Z,
cmap='terrain',
alpha=1,
vmin=-1.1,
vmax=4.0,
linewidth=0,
shade=True)
ax.set_zlim(0, 4)
# Plot shrubs
# Shrubs = PercentCoverTS[t]
# Shrubs[Shrubs>0] = 1
# Shrubs = np.vstack([np.zeros([DuneWidth,BarrierLength]), Shrubs])
# Shrubs = Shrubs * Domain
# Shrubs[Shrubs>0] = Shrubs[Shrubs>0] + 0.1
# Shrubs[Shrubs<1] = None
# ax.scatter(X, Y+1, Shrubs, s=30, c='black')
timestr = 'Time = ' + str(t) + ' yrs'
ax.set_ylabel(timestr)
ax.view_init(20, 155)
plt.subplots_adjust(left=-1.2, right=1.3, top=2.2,
bottom=-0.3) #mostly centered
plt.show()
name = 'Output/SimFrames/3D_' + str(t)
fig.savefig(name, dpi=150)
def axLabel(ax):
ax.view_init(azim=-60, elev=40)
#ax.view_init(azim=-60, elev=-40)
stepsizex = 20
stepsizeyz = stepsizex / 2
startx, endx = ax.get_xlim()
xticks = np.arange(0, endx, stepsizex)
ax.xaxis.set_ticks(xticks)
ax.xaxis.set_ticklabels(['%d' % (x * 10 / scale) for x in xticks])
starty, endy = ax.get_ylim()
yticks = np.arange(0, endy, stepsizeyz)
ax.yaxis.set_ticks(yticks)
ax.yaxis.set_ticklabels(['%d' % (y * 10 / scale) for y in yticks])
startz, endz = ax.get_zlim()
zticks = np.arange(0, endz, stepsizeyz)
ax.zaxis.set_ticks(zticks)
ax.zaxis.set_ticklabels(['%d' % (z * 10 / scale) for z in zticks])
ax.get_proj = lambda: np.dot(
Axes3D.get_proj(ax),
np.diag([upscale * 0.75, upscale * 0.3, upscale * 0.5, 1]))
ax.set_xlabel('\n[µm]', linespacing=3.2)
def _init_axe(self, ax=None, dim=2):
assert 0 < dim <= 3
if self.fig is None:
self.fig = plt.figure(**self.figure_params)
if ax is None or (isinstance(ax, int) and ax >= len(self.axes)):
new_plot_pos = (1, len(self.axes) + 1, 1)
if dim <= 2:
ax = self.fig.add_subplot(*new_plot_pos)
else:
ax = self.fig.add_subplot(*new_plot_pos, projection='3d')
ax.get_proj = lambda: np.dot(
Axes3D.get_proj(ax), np.diag([self.axe3d_scale] * 3 + [1]))
ax.patch.set_edgecolor('black')
ax.patch.set_linewidth(1)
self.axes.append(ax)
plt.rc('grid', linestyle=':', color='black', alpha=0.6)
else:
if isinstance(ax, Axes):
self.axes.append(ax)
elif isinstance(ax, int):
ax = self.axes[ax]
else:
raise ValueError(
f'ax must be either number or Axes object, got {type(ax)}.'
)
ax.clear()
ax.set_facecolor(self.ax_params['facecolor'])
ax.set_axisbelow(True)
return ax
def visualization(CoM_coord, eig_vec, new_coord):
fig = plt.figure(figsize=(8, 8))
ax = fig.add_subplot(111, projection='3d')
vlen = np.linalg.norm(eig_vec)
X, Y, Z = CoM_coord
U, V, W = eig_vec
ax.quiver(X,
Y,
Z,
U,
V,
W,
pivot='tail',
length=vlen,
arrow_length_ratio=0.2 / vlen)
ax.scatter(new_coord[:, 0],
new_coord[:, 1],
new_coord[:, 2],
color="r",
marker="o",
s=50)
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax),
np.diag([0.75, 0.75, 1, 1]))
ax.set_xlim([new_coord.min(), new_coord.max()])
ax.set_ylim([new_coord.min(), new_coord.max()])
ax.set_zlim([new_coord.min(), new_coord.max()])
ax.set_xlabel('x')
ax.set_ylabel('y')
ax.set_zlabel('z')
plt.show()
def visualization(CoM_coord, eig_vec, new_coord):
""" This function visualizes the moment of inertia as vectors and
molecule (using the shifted coordinates) as points.
========================
parameters:
CoM_coord: the coordinates of the center of mass
eig_vec: the eigen vectors
new_coord: the shifted coordinates of molecule
------------------------
ax.quiver method draws the 3D vectors, the 6 arguments in this
method are X,Y,Z for the starting point and U, V, W for the ending
point.
ax.scatter method draws the scatter points in 3D space.
"""
fig = plt.figure(figsize=(8,8))
ax = fig.add_subplot(111, projection='3d')
vlen = np.linalg.norm(eig_vec)
X, Y, Z = CoM_coord
U, V, W = eig_vec
ax.quiver(X, Y, Z, U, V, W, pivot='tail',
length=vlen, arrow_length_ratio=0.2/vlen)
ax.scatter(new_coord[:,0], new_coord[:,1], new_coord[:,2],
color="r", marker="o", s=50)
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax), np.diag([0.75, 0.75, 1, 1]))
ax.set_xlim([new_coord.min(),new_coord.max()])
ax.set_ylim([new_coord.min(),new_coord.max()])
ax.set_zlim([new_coord.min(),new_coord.max()])
ax.set_xlabel('x')
ax.set_ylabel('y')
ax.set_zlabel('z')
plt.show()
def plot_3DElevTMAX(TMAX, t, SL, DuneDomain, DomainTS):
if TMAX > t:
TMAX = t
# Build beach elevation domain
BW = 6
Beach = np.zeros([BW, BarrierLength])
berm = math.ceil(BW * 0.65)
Beach[berm:BW + 1, :] = BermEl
add = (BermEl - SL) / berm
for i in range(berm):
Beach[i, :] = SL + add * i
# Construct frame
Dunes = [(DuneDomain[TMAX] + BermEl) * 10] * DuneWidth
Water = np.zeros([3, BarrierLength])
Domain = DomainTS[TMAX] * 10
Domain[Domain < 0] = 0
Domain = np.vstack([Water, Beach, Dunes, Domain, Water])
Dlen = np.shape(Domain)[1]
Dwid = np.shape(Domain)[0]
fig = plt.figure(figsize=(12, 9))
# fig.set_size_inches(12,7)
ax = fig.add_subplot(111, projection="3d")
scale_x = 1
scale_y = Dwid / Dlen
scale_z = 4 / Dlen * 3
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax),
np.diag([scale_x, scale_y, scale_z, 1]))
X = np.arange(Dlen)
Y = np.arange(Dwid)
X, Y = np.meshgrid(X, Y)
Z = Domain
ax.plot_surface(X,
Y,
Z,
cmap="terrain",
alpha=1,
vmin=-1.1,
vmax=4.0,
linewidth=0,
shade=True)
ax.set_zlim(0, 4)
# Plot shrubs
# Shrubs = PercentCoverTS[TMAX]
# Shrubs[Shrubs>0] = 1
# Shrubs = np.vstack([np.zeros([DuneWidth,BarrierLength]), Shrubs])
# Shrubs = Shrubs * Domain
# Shrubs[Shrubs>0] = Shrubs[Shrubs>0] + 0.1
# Shrubs[Shrubs<1] = None
# ax.scatter(X, Y+1, Shrubs, s=30, c='black')
ax.view_init(10, 155)
plt.subplots_adjust(left=-1.2, right=1.3, top=2.2,
bottom=-0.3) # mostly centered
plt.show()
name = "Output/Domain3D"
fig.savefig(name, dpi=200)
def barplot3d(data, y_names, x_names, baseline):
fig = plt.figure(figsize=(10, 8))
ax = fig.gca(projection='3d')
x_len = len(x_names)
y_len = len(y_names)
x = np.arange(0, x_len, 1)
y = np.arange(0, y_len, 1)
x, y = np.meshgrid(x - 0.25, y - 0.5)
x = x.flatten()
y = y.flatten()
z = np.zeros(x_len * y_len)
rho = np.array(data).flatten()
dx = 0.5 * np.ones_like(z)
dy = dx.copy()
dz = rho.flatten()
# xx, yy = np.meshgrid(range(len(x_names)), range(len(y_names)))
# zz = copy(yy)
# zz.fill(baseline)
# ax.plot_surface(xx, yy, zz,alpha=0.5)
ax.w_xaxis.set_ticks([i for i in range(len(data[0]))])
ax.w_xaxis.set_ticklabels(x_names)
ax.w_yaxis.set_ticks([i for i in range(len(data))])
ax.w_yaxis.set_ticklabels(y_names)
# ax.set_title('models with the size based prior')
ax.set_zlabel('Predictive accuracy (%)')
ax.w_zaxis.set_tick_params(labelsize=12)
ax.get_proj = lambda: np.dot(
Axes3D.get_proj(ax), np.diag([1, len(data) / len(data[0]), 1, 1]))
nrm = mpl.colors.Normalize(0, 30)
c_range = (np.array(data) - 15).flatten()
# colors = cm.viridis(nrm(c_range))
# colors = cm.winter(nrm(c_range))
colors = cm.RdYlGn(nrm(c_range))
ax.bar3d(x, y, z, dx, dy, dz, colors)
plt.tight_layout()
# plt.show()
fig.savefig('./predictions/barplot3D.png', bbox_inches='tight')
fig.savefig('./predictions/barplot3D.pdf',
format='pdf',
transparent=True,
bbox_inches='tight')
fig.savefig('./predictions/barplot3D.eps',
format='eps',
transparent=True,
bbox_inches='tight')
fig.clear()
plt.clf()
def method_scale(self):
# Scaling
max_scale = max([self.x_scale, self.y_scale, self.z_scale])
x_scale = self.x_scale / max_scale
y_scale = self.y_scale / max_scale
z_scale = self.z_scale / max_scale
# Reference:
# https://stackoverflow.com/questions/30223161/matplotlib-mplot3d-how-to-increase-the-size-of-an-axis-stretch-in-a-3d-plo
self.ax.get_proj = lambda: np.dot(
Axes3D.get_proj(self.ax), np.diag([x_scale, y_scale, z_scale, 1]))
def fix_view(self, scalefactor=1.5):
# preserves constant lengths of cube edges but contains a bug
bbox = np.array([getattr(self.ax, 'get_{}lim'.format(dim))() for dim in 'xyz'])
bbox_center = np.mean(bbox, axis=1)
bbox_dim = np.max(bbox, axis=1) - np.min(bbox, axis=1)
scaling_factors = scalefactor * bbox_dim / np.max(bbox_dim)
tr1, tr2, tr3 = bbox_center
s1, s2, s3 = scaling_factors
A = np.array([[1, 0, 0, -tr1], [0, 1, 0, -tr2], [0, 0, 1, -tr3], [0, 0, 0, 1]])
T = np.array([[s1, 0, 0, 0], [0, s2, 0, 0], [0, 0, s3, 0], [0, 0, 0, 1]]) #replace s3 with 2*s3 sometimes
B = np.array([[1, 0, 0, tr1], [0, 1, 0, tr2], [0, 0, 1, tr3], [0, 0, 0, 1]])
self.ax.get_proj = lambda: np.dot(np.dot(np.dot(Axes3D.get_proj(self.ax), B), T), A)
def __init_axe(self, ax=None, dim=2):
if self.fig is None:
self.fig = plt.figure(**self.figure_params)
if not self.pausing:
new_plot_pos = (1, len(self.axes) + 1, 1)
if dim <= 2:
ax = self.fig.add_subplot(*new_plot_pos)
elif dim == 3:
ax = self.fig.add_subplot(*new_plot_pos, projection='3d')
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax), np.diag([self.axe3d_scale] * 3 + [1]))
plt.rc('grid', linestyle="dotted", color='black', alpha=0.6)
else:
ax.clear()
ax.grid(self.grid)
return ax
def _fix_view(scalefactor=1.5, ax=None):
bbox = np.array(
[getattr(ax, 'get_{}lim'.format(dim))() for dim in 'xyz'])
bbox_center = np.mean(bbox, axis=1)
bbox_dim = np.max(bbox, axis=1) - np.min(bbox, axis=1)
scaling_factors = scalefactor * bbox_dim / np.max(bbox_dim)
tr1, tr2, tr3 = bbox_center
s1, s2, s3 = scaling_factors
A = np.array([[1, 0, 0, -tr1], [0, 1, 0, -tr2], [0, 0, 1, -tr3],
[0, 0, 0, 1]])
T = np.array([[s1, 0, 0, 0], [0, s2, 0, 0], [0, 0, s3, 0],
[0, 0, 0, 1]]) #replace s3 with 2*s3 sometimes
B = np.array([[1, 0, 0, tr1], [0, 1, 0, tr2], [0, 0, 1, tr3],
[0, 0, 0, 1]])
ax.get_proj = lambda: np.dot(np.dot(np.dot(Axes3D.get_proj(ax), B), T),
A)
def plot_q(value, path=None):
plt.clf()
ax = plt.axes(projection='3d')
dealer = np.arange(1, 11, 1)
player = np.arange(1, 22, 1)
plt.xlabel("Dealer Showing", fontsize=10)
plt.ylabel("Player Total", fontsize=10)
plt.xticks(np.arange(1, 11, step=9))
plt.yticks(np.arange(1, 22, step=20))
ax.set_zticks([-1, 1])
ax.set_zlim(-1, 1)
ax.set_ylim(1, 21)
ax.set_xlim(1, 10)
x_scale = 10
y_scale = 21
z_scale = 4
dealer, player = np.meshgrid(dealer, player)
ax.plot_surface(dealer,
player,
value,
cmap="Greens",
antialiased=True,
rstride=1,
cstride=1,
lw=0.25,
edgecolors="black")
scale = np.diag([x_scale, y_scale, z_scale, 1.0])
scale = scale * (1.0 / np.max(scale))
scale[3, 3] = 0.65
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax), scale)
if path:
plt.savefig(path)
else:
plt.show()
def wireplot(ax, Z):
w = Z.shape[0]
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax), np.diag([1, 1, .5, 1]))
x = y = np.arange(w)
X, Y = np.meshgrid(x, y)
ax.plot_wireframe(X, Y, Z[X,Y], lw=1, rstride=1, cstride=1, color='k')
# make the panes transparent
ax.xaxis.set_pane_color((1.0, 1.0, 1.0, 0.0))
ax.yaxis.set_pane_color((1.0, 1.0, 1.0, 0.0))
ax.zaxis.set_pane_color((1.0, 1.0, 1.0, 0.0))
# make the grid lines transparent
ax.xaxis._axinfo["grid"]['color'] = (1,1,1,0)
ax.yaxis._axinfo["grid"]['color'] = (1,1,1,0)
ax.zaxis._axinfo["grid"]['color'] = (1,1,1,0)
ax.set_xlim((0, w-1))
ax.set_ylim((0, w-1))
ax.set_zlim((-1, 1))
ax.set_xticks([])
ax.set_yticks([])
ax.set_zticks([])
def draw_voxels(voxel_data, use_alpha=False, erase_number=True):
if erase_number:
# plt.axis('off')
ax.grid(False)
plt.tick_params(labelbottom=False,
labelleft=False,
labelright=False,
labeltop=False)
ax.set_xlim(0, 32)
ax.set_ylim(0, 16)
ax.set_zlim(0, 32)
ax.xaxis._axinfo['juggled'] = (2, 0, 1)
ax.yaxis._axinfo['juggled'] = (2, 1, 0)
ax.zaxis._axinfo['juggled'] = (2, 2, 2)
# ax.invert_yaxis()
# ax.invert_zaxis()
aff = np.diag([0.5, 0.25, 1, 1]) # Positioning
aff[0][3] = 0 # x
aff[1][3] = 10 # y
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax), aff)
voxels = np.ceil(voxel_data[:, :, :, 0]).astype(np.bool)
colors = np.empty((32, 16, 32, 4), dtype=np.float32)
vmax = np.max(voxel_data[:, :, :, 0])
print(vmax)
# vmax = 0.225
if use_alpha:
colors[:, :, :, 0] = 0.
colors[:, :, :, 1] = 0.
colors[:, :, :, 2] = 0.
colors[:, :, :, 3] = voxel_data[:, :, :, 0]
else:
colors[:, :, :, :] = cm.jet(voxel_data[:, :, :, 0] / vmax)
ax_cb = fig.add_axes([0.9, 0.2, 0.025, 0.5])
norm = Normalize(vmin=0., vmax=vmax)
cmap = cm.get_cmap('binary' if use_alpha else 'jet')
cbar = ColorbarBase(ax_cb, cmap=cmap, norm=norm, orientation='vertical')
# cbar.set_ticks(np.arange(0, vmax + 0.075, 0.075))
cbar.set_clim(vmin=0., vmax=1.)
cbar.solids.set(alpha=1)
ax.voxels(voxels, facecolors=colors)
def draw(self):
self.index += 1064 * 3 #跳过前3帧，后3帧才是杂波
port_dor = []
for i in range(4):
port_dor.append([])
for j in range(128):
shift = self.index + 36 + 256 * i + 2 * j
the_hex = self.data_bytes[shift:shift + 2]
port_dor[i].append(
int.from_bytes(the_hex, byteorder='little', signed=False))
self.index += 1064
for i in range(4, 8):
port_dor.append([])
for j in range(128):
shift = self.index + 36 + 256 * (i - 4) + 2 * j
the_hex = self.data_bytes[shift:shift + 2]
port_dor[i].append(
int.from_bytes(the_hex, byteorder='little', signed=False))
self.index += 1064
for i in range(8, 12):
port_dor.append([])
for j in range(128):
shift = self.index + 36 + 256 * (i - 8) + 2 * j
the_hex = self.data_bytes[shift:shift + 2]
port_dor[i].append(
int.from_bytes(the_hex, byteorder='little', signed=False))
self.index += 1064
#self.index+=1064*3#跳过后3帧
#开始画图
ax = plt.gca()
ax.xaxis.set_major_locator(plt.MultipleLocator(1))
ax.yaxis.set_major_locator(plt.MultipleLocator(20))
def reshape_data(data):
x = []
y = []
z = []
for i in range(12):
for j in range(128):
x.append(i)
y.append(j)
z.append(data[i][j])
return np.array(x), np.array(y), np.array(z)
fig = plt.figure(figsize=(12, 8))
ax = Axes3D(fig)
ax.set_zlim3d([0, 1300])
ax.set_xlim([0, 12])
ax.set_ylim([0, 140])
x, y, z = reshape_data(port_dor)
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax),
np.diag([0.5, 1, 0.7, 0.7]))
ax.plot_trisurf(x, y, z)
ax.view_init(33, -26)
#plt.show()
self.pic_index += 1
pic_path = "E:/学习/论文/else/自己处理后的数据/杂波图/外协/杂波图{:0>6}.png".format(
self.pic_index)
plt.savefig(pic_path)
plt.clf()
plt.close()
return
fig, ax = plt.subplots()
N = 50
plot = ax.contourf(UhubMagMesh, N, extend='both')
cb = fig.colorbar(plot, drawedges=False)
# Remove colorbar outline
cb.outline.set_linewidth(0)
plt.tight_layout()
plt.savefig('2dplot.png', dpi=1000, transparent=True, bbox_inches='tight')
from mpl_toolkits.mplot3d import Axes3D
from matplotlib import colors as mcolors
fig = plt.figure()
ax2 = fig.gca(projection='3d')
alpha = 0.5
ax2.get_proj = lambda: np.dot(Axes3D.get_proj(ax2),
np.diag([0.65, 0.65, 1.3, 1]))
plot = ax2.contourf(xv, yv, UgroundMagMesh, N, zdir='z', offset=5, alpha=1)
ax2.contourf(xv, yv, UhubMagMesh, N, zdir='z', offset=90, alpha=1)
ax2.contourf(xv, yv, U3MagMesh, N, zdir='z', offset=215, alpha=1)
# Adjust the limits, ticks and view angle
ax2.set_zlim(5, 215)
# ax2.set_zticks(np.linspace(0,0.2,5))
ax2.set_xticks(np.arange(0, 3001, 1000))
ax2.set_yticks(np.arange(0, 3001, 1000))
ax2.view_init(35, -120)
cbaxes = fig.add_axes([0.8, 0.1, 0.02, 0.8])
cb = plt.colorbar(plot, cax=cbaxes, drawedges=False, extend='both')
# Remove colorbar outline
def short_proj():
return np.dot(Axes3D.get_proj(self.axe), scale)
def plot(self, item, itemHistory=None, **kwargs):
useDate = False
for key in kwargs:
if key == "useDate":
useDate = kwargs[key]
if item == "coe":
# PLOTTING CLASSICAL ORBITAL ELEMENTS
titles = ["a", "e", "i", "$\omega$", "$\Omega$", "$\\nu$"]
ylabels = ["[km]", "", "[°]", "[°]", "[°]", "[°]"]
timeAxis = self.history.datetime if useDate else self.history.t / 60 / 60 / 24
fig, axes = plt.subplots(3, 2, figsize=(10, 8), sharex=True)
for i in range(0, 6):
for j in range(0, len(self.history.maneuverIdxs) - 1):
maneuverSlice = slice(self.history.maneuverIdxs[j],
self.history.maneuverIdxs[j + 1])
if i in [2, 3, 4, 5]:
axes[int((i - i % 2) / 2), i % 2].plot(
timeAxis[maneuverSlice],
self.history.coe[maneuverSlice, i] * 180 / np.pi)
else:
if i == 0:
axes[int((i - i % 2) / 2), i % 2].plot(
timeAxis[maneuverSlice],
self.history.coe[maneuverSlice, i] / 1000)
else:
axes[int((i - i % 2) / 2), i % 2].plot(
timeAxis[maneuverSlice],
self.history.coe[maneuverSlice, i])
axes[int((i - i % 2) / 2),
i % 2].set_title(titles[i] + " " + ylabels[i])
if useDate:
fig.autofmt_xdate()
axes[int((i - i % 2) / 2),
i % 2].xaxis.set_major_formatter(
mdates.DateFormatter('%Y-%m-%d'))
else:
if i in [4, 5]:
axes[int((i - i % 2) / 2),
i % 2].set_xlabel("Tiempo [días]")
axes[int((i - i % 2) / 2),
i % 2].yaxis.get_major_formatter().set_scientific(False)
axes[int((i - i % 2) / 2),
i % 2].yaxis.get_major_formatter().set_useOffset(False)
axes[int((i - i % 2) / 2), i % 2].grid(b=True)
if i in [0, 1]:
axes[int((i - i % 2) / 2), i %
2].yaxis.get_major_formatter().set_scientific(True)
axes[int((i - i % 2) / 2),
i % 2].yaxis.get_major_formatter().set_useOffset(True)
if item == "secularCoe":
# PLOTTING CLASSICAL ORBITAL ELEMENTS
titles = ["a", "e", "i", "$\omega$", "$\Omega$", "$\\nu$"]
ylabels = ["[km]", "", "[°]", "[°]", "[°]", "[°]"]
timeAxis = self.history.datetime if useDate else self.history.tSecular / 60 / 60 / 24
fig, axes = plt.subplots(3, 2, figsize=(10, 8), sharex=True)
for i in range(0, 5):
if i in [2, 3, 4]:
axes[int((i - i % 2) / 2), i % 2].plot(
timeAxis, self.history.secularCoe[:, i] * 180 / np.pi)
else:
if i == 0:
axes[int((i - i % 2) / 2),
i % 2].plot(timeAxis,
self.history.secularCoe[:, i] / 1e3)
else:
axes[int((i - i % 2) / 2),
i % 2].plot(timeAxis, self.history.secularCoe[:,
i])
axes[int((i - i % 2) / 2),
i % 2].set_title(titles[i] + " " + ylabels[i])
if (useDate):
fig.autofmt_xdate()
axes[int((i - i % 2) / 2),
i % 2].xaxis.set_major_formatter(
mdates.DateFormatter('%Y-%m-%d'))
axes[int((i - i % 2) / 2),
i % 2].yaxis.get_major_formatter().set_scientific(False)
axes[int((i - i % 2) / 2),
i % 2].yaxis.get_major_formatter().set_useOffset(False)
axes[int((i - i % 2) / 2), i % 2].grid(b=True)
if item == "3d-trajectory":
for key in kwargs:
if key == "ax":
axExtern = kwargs["ax"]
#Plot 3D Trajectory
if 'axExtern' not in locals():
fig = plt.figure(figsize=(10, 10))
ax = fig.add_subplot(111, projection='3d')
else:
ax = axExtern
markers = np.zeros([len(self.history.maneuverIdxs) - 1, 3])
for i in range(0, len(self.history.maneuverIdxs) - 1):
maneuverSlice = slice(self.history.maneuverIdxs[i],
self.history.maneuverIdxs[i + 1])
ax.plot3D(self.history.r[maneuverSlice, 0] / 1000,
self.history.r[maneuverSlice, 1] / 1000,
self.history.r[maneuverSlice, 2] / 1000,
linewidth=1)
markers[i, :] = self.history.r[
self.history.maneuverIdxs[i], :] / 1000
ax.plot3D(markers[:, 0], markers[:, 1], markers[:, 2], "k.")
if 'axExtern' not in locals():
auxiliary.set_axes_equal(ax)
ax.set_aspect("equal")
scale_x = 1.2
scale_y = 1.2
scale_z = 1.2
ax.get_proj = lambda: np.dot(
Axes3D.get_proj(ax), np.diag(
[scale_x, scale_y, scale_z, 1]))
figXLim = ax.get_xlim()
figYLim = ax.get_ylim()
figZLim = ax.get_zlim()
xx, yy = np.meshgrid(figXLim, figYLim)
z = np.array([[0, 0], [0, 0]])
ax.plot_surface(xx, yy, z, alpha=0.3, color="lightgray")
ax.set_title("Satellite Trajectory [km]")
ax.set_xlabel("X [km]")
ax.set_ylabel("Y [km]")
ax.set_zlabel("Z [km]")
return ax
if item == "orbitalEnergy":
fig, ax = plt.subplots(figsize=(10, 4))
moonDistances = np.array([])
for num, date in enumerate(self.history.datetime):
moonVector = models.lunarPositionAlmanac2013(date)
moonDistances = np.append(
moonDistances,
np.linalg.norm(moonVector - self.history.r[num]))
earthEnergy = np.linalg.norm(
self.history.v, axis=1
)**2 / 2 - constants.mu_E / np.linalg.norm(self.history.r, axis=1)
moonEnergy = np.linalg.norm(
self.history.v, axis=1)**2 / 2 - constants.mu_M / moonDistances
ax.plot(self.history.datetime, earthEnergy, label="Earth Energy")
ax.plot(self.history.datetime, moonEnergy, label="Moon Energy")
fig.legend()
fig.autofmt_xdate()
ax.xaxis.set_major_formatter(mdates.DateFormatter('%Y-%m-%d'))
plt.grid()
#fig, ax = plt.subplots(figsize=(10,4))
#ax.plot(self.history.datetime,moonDistances);
if item == "energyUsage":
timeAxis = self.history.datetime if useDate else self.history.t / 60 / 60 / 24
fig, ax = plt.subplots(figsize=(10, 4))
PSolarPanels = np.diff(
self.history.energy["solar panels"]) / np.diff(self.history.t)
PThruster = np.diff(self.history.energy["thruster"]) / np.diff(
self.history.t)
POtherDevices = np.ones((len(self.history.t))) * (
self.spacecraft.solarPanels.nominalPower) * 0.6
EBattery = self.history.energy["battery"] / 60 / 60
ax.plot(timeAxis[:-1],
PSolarPanels,
linewidth=1,
label="Potencia Paneles Solares")
ax.plot(timeAxis[:-1],
PThruster,
linewidth=1,
label="Potencia Propulsor")
ax.plot(timeAxis,
POtherDevices,
linewidth=1,
label="Potencia Otros Dispositivos")
ax.set_ylabel("Potencia [W]")
#ax.set_ylim([-1,2])
if useDate:
fig.autofmt_xdate()
ax.xaxis.set_major_formatter(mdates.DateFormatter('%Y-%m-%d'))
else:
ax.set_xlabel("Tiempo [días]")
ax.yaxis.set_major_formatter(mticker.ScalarFormatter())
ax.yaxis.get_major_formatter().set_scientific(False)
ax.yaxis.get_major_formatter().set_useOffset(False)
ax2 = ax.twinx()
ax2.plot(timeAxis,
EBattery,
linewidth=1,
label="Energía Baterías",
color="purple")
ax2.set_ylabel("Energía [Wh]")
h1, l1 = ax.get_legend_handles_labels()
h2, l2 = ax2.get_legend_handles_labels()
ax2.legend(h1 + h2, l1 + l2)
ax2.set_ylim([-2, self.spacecraft.battery.energy + 2])
ax2.grid()
#ax2.set_ylim([-.5,.5])
if item == "singleItem":
timeAxis = self.history.datetime if useDate else self.history.t / 60 / 60 / 24
if np.isscalar(itemHistory) and itemHistory == None:
raise Exception("History Data not specified.")
else:
fig, ax = plt.subplots(figsize=(10, 4))
for i in range(0, len(self.history.maneuverIdxs) - 1):
maneuverSlice = slice(self.history.maneuverIdxs[i],
self.history.maneuverIdxs[i + 1])
ax.plot(timeAxis[maneuverSlice],
itemHistory[maneuverSlice],
linewidth=1)
if useDate:
fig.autofmt_xdate()
ax.xaxis.set_major_formatter(
mdates.DateFormatter('%Y-%m-%d'))
ax.yaxis.set_major_formatter(mticker.ScalarFormatter())
ax.yaxis.get_major_formatter().set_scientific(False)
ax.yaxis.get_major_formatter().set_useOffset(False)
else:
ax.set_xlabel("Time [days]")
plt.grid()
mplcursors.cursor(hover=True)
def modified_proj(): return np.dot(Axes3D.get_proj(gl.ax1), scale)
def varMesh3Arrays(crossDict, refAnt, timeStep=0.4, pltLen=10,
numFrames=200, pltStart=1):
"""
Plots mesh between phase of three dict items with real distance
between them.
Parameters
----------
crossDict : dictionary
Must include distance items.
refAnt : int
Which antenna is being used as a reference.
timeStep: float (default: 0.4)
Seconds between data points.
plotLen : int (default: 10)
Length of plot (number of samples/frame).
numFrames : int (default: 200)
Length of the animation in frames.
pltStart : int (default 1)
Which index in the array to start plotting at.
"""
global fignum
ans = 'n' # default save to file
if numFrames < 10:
ans = input("Save to file [n] or show live plot [y]: ")
if ans == 'n':
filepath = './for-animation/'
os.makedirs(os.path.dirname(filepath), exist_ok=True)
print('Will save files to {}'.format(filepath))
elif ans != 'n' and ans != 'y':
print('Please enter a valid option (y/n) next time.')
print('Terminating.')
return
plotDict = {}
for key in crossDict:
if str(refAnt) in key:
plotDict[key] = crossDict[key]
plotDictSortedKeys = sorted(plotDict)
xValues = np.repeat(0, pltLen) # Reference distance
for key in plotDictSortedKeys:
if key[0] is 'd' and key[1] is not 'T':
xValues = np.append(xValues, np.repeat(plotDict[key], pltLen))
for i in range(numFrames):
zValues = np.repeat(0, pltLen) # Reference phase
for key in plotDictSortedKeys:
if key[0] != 'd':
zValues = np.append(zValues, np.angle(
plotDict[key][pltStart:pltStart+pltLen])*180/np.pi)
t = np.linspace(pltStart, pltStart+pltLen, pltLen)*timeStep
yValues = np.hstack((t, t, t, t))
plt.rcParams.update({'font.size': 18})
fig = plt.figure(fignum, figsize=(21,5))
ax = fig.add_subplot(111, projection='3d')
# In np.diag, 4 args are x_aspect, y_aspect, z_aspect
# All are normalized from 0-1
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax),
np.diag([0.4, 1, 0.95, 1]))
surf = ax.plot_trisurf(xValues, yValues, zValues, cmap=cm.inferno,
linewidth=0)
fig.colorbar(surf,
fraction=0.046,
pad=0.04,
label='(deg)',
orientation='horizontal')
surf.set_clim(vmin=-180, vmax=180)
ax.set_xlabel('\nDistance from A{}[m]'.format(refAnt), linespacing=3.2)
ax.set_zlabel('\nPhase from A{}[deg]'.format(refAnt), linespacing=3.2)
ax.set_ylabel('\nTime[s]', linespacing=3.2)
ax.set_zlim(-180, 180)
ax.set_zticks([-100, 0, 100])
ax.set_xticks([0, 20, 40, 60])
ax.view_init(azim=-35, elev=35)
fig.tight_layout()
fig.subplots_adjust(left=0, right=1, top=1, bottom=0.12)
if ans == 'n':
plt.savefig('./for-animation/animationframe{}.png'.format(i),bbox_inches='tight', pad_inches=0)
print('Fignum: {}'.format(fignum))
fignum += 1
plt.clf()
elif ans == 'y':
plt.show(block=False)
print('Fignum: {}'.format(fignum))
fignum += 1
pltStart += 1
def visualize_voxels_original(image, voxels, transform, save=False):
fig = plt.figure(figsize=(8, 8))
fig.subplots_adjust(top=1, bottom=0, left=0, right=1)
ax = fig.add_subplot(111, projection='3d')
###### Scaling Section #######
x_scale = 4.0
y_scale = 1.0
z_scale = 4.0
scale = np.diag([x_scale, y_scale, z_scale, 1.0])
scale = scale * (1.0 / scale.max())
scale[3, 3] = 1.0
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax), scale)
##############################
Ainv = np.linalg.inv(transform['A'])
b = transform['b']
xs, ys, zs, colors = [], [], [], []
for x in range(0, 192, STRIDE):
for y in range(0, 192, STRIDE):
for z in np.argwhere(voxels[x][y] == 1).T[0]:
inv_coords = Ainv.dot(np.subtract(np.array([x, y, z]), b.T)[0])
xt, yt = int(inv_coords[0]), int(inv_coords[1])
color = np.array(list(image.getpixel((xt, yt)))) / 255.0
xs.append(xt)
ys.append(image.size[1] - yt)
zs.append(z)
colors.append(color)
# Shift z-coordinates of voxels to have 0 mean
avg_z = sum(zs) / float(len(zs))
# Clip negative z-coordinates to 0
zs = [max(z - avg_z, 0) for z in zs]
# Add base layer using original image
for x in range(0, image.size[0], STRIDE):
for y in range(0, image.size[1], STRIDE):
color = np.array(list(image.getpixel((x, y)))) / 255.0
xs.insert(0, x)
ys.insert(0, image.size[1] - y)
zs.insert(0, 0)
colors.insert(0, color)
ax.scatter(xs=xs, ys=zs, zs=ys, color=colors, s=5)
ax.set_ylim(0, 100)
plt.axis('off')
if save:
# Used to crop whitespace
bbox = fig.bbox_inches.from_bounds(0, 1, 5, 7)
bbox_front = fig.bbox_inches.from_bounds(0, 0, 8, 8)
# ax.view_init(elev=0, azim=90)
# plt.savefig("voxels_front.jpg")
ax.view_init(elev=20, azim=40)
plt.savefig("voxels_corner.jpg", bbox_inches=bbox)
ax.view_init(elev=0, azim=0)
plt.savefig("voxels_side.jpg", bbox_inches=bbox)
# ax.view_init(elev=0, azim=40)
# plt.savefig("voxels_side_front.jpg", bbox_inches=bbox)
else:
ax.view_init(elev=20, azim=40)
plt.show()
# %% 3D PSD
# load data
var = 'p'
xval = np.loadtxt(pathSL + 'FWPSD_x.dat', delimiter=' ')
freq = np.loadtxt(pathSL + 'FWPSD_freq.dat', delimiter=' ')
FPSD = np.loadtxt(pathSL + var + '_FWPSD_psd.dat', delimiter=' ')
freq = freq[1:]
FPSD = FPSD[1:, :]
newx = [-10.0, 2.0, 3.0, 5.0, 9.0, 10.0]
fig = plt.figure(figsize=(7.0, 4.0))
plt.rcParams['grid.color'] = 'gray'
plt.rcParams['grid.linestyle'] = 'dotted'
plt.tick_params(labelsize=numsize)
ax = fig.add_subplot(111, projection='3d')
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax), np.diag([0.8, 1.2, 1.0, 1.0])
)
for i in range(np.size(newx)):
ind = np.where(xval[:] == newx[i])[0][0]
xloc = newx[i] * np.ones(np.shape(freq))
ax.plot(freq, xloc, FPSD[:, ind], zdir='z', linewidth=1.5)
ax.ticklabel_format(axis="z", style="sci", scilimits=(-2, 2))
ax.zaxis.offsetText.set_fontsize(numsize)
# ax.w_xaxis.set_xscale('log')
ax.set_xscale('symlog')
# ax.set_xticks([-2, -1, 0, 0.3])
ax.set_xlabel(r'$f$', fontsize=textsize)
ax.set_ylabel(r'$x/\delta_0$', fontsize=textsize)
ax.set_zlabel(r'$\mathcal{P}$', fontsize=textsize)
#ax.xaxis._axinfo['label']['space_factor'] = 0.1
def func_draw(_, dargs, aw, ax):
eye = dargs['eye']
r = dargs['r']
uv_lines = dargs['uv_lines']
CONTEXT = dargs['CONTEXT']
BIRD = dargs['BIRD']
WM_LINES_MAP = dargs['WM_LINES_MAP']
MAP_SIZE = dargs['MAP_SIZE']
LINE_WIDTH = dargs['LINE_WIDTH']
FIGSIZE = dargs['FIGSIZE']
FIGPOS = dargs['FIGPOS']
AFS = dargs['AFS']
WM_LINES_MAP = dargs['WM_LINES_MAP']
EYE_Y = dargs['EYE_Y']
IS_TV = dargs['IS_TV']
SHOWN_MAP = dargs['SHOWN_MAP']
SHOWN_IMG = dargs['SHOWN_IMG']
IS_REAR = dargs['IS_REAR']
D_EYE_CAM_F = dargs['D_EYE_CAM_F']
D_EYE_CAM_R = dargs['D_EYE_CAM_R']
r_f = r
r_r = r @ theta2r(np.array([0, pi, 0]))
eye_f = eye + r_f @ np.array([0, 0, D_EYE_CAM_F])
eye_r = eye + r_r @ np.array([0, 0, D_EYE_CAM_R])
eye, r = (eye_f, r_f) if not IS_REAR else (eye_r, r_r)
uv_lines = wm_lines2uv_lines(WM_LINES_MAP, eye, r, CONTEXT) # camera view
# additional draw line
#append_lines = np.array([
#np.array([[0, 0],[640, 480]]),
#])
#uv_lines = np.append(uv_lines, append_lines, axis=0)
tv = uv_lines2tvs_fixed(uv_lines, EYE_Y, BIRD, CONTEXT)
uv_lines_img = tv if SHOWN_IMG == 'TV' else uv_lines
img = uv_lines2img(uv_lines_img, CONTEXT, LINE_WIDTH)
aw.tick_params(labelbottom=False,
labelleft=False,
labelright=False,
labeltop=False)
aw.cla()
ax.cla()
aw.set_position(FIGPOS[0])
ax.set_position(FIGPOS[1])
aw.imshow(img, cmap='gray', vmin=0, vmax=255, interpolation='none')
ax.set_axis_off()
# plot map
if SHOWN_MAP == 'TV':
EYE_ZERO = np.array([0, BIRD[1], 0])
R_ZERO = theta2r(np.array([pi / 2, 0, 0]))
wm_lines = uv_lines2wm_lines(tv, EYE_ZERO, R_ZERO, CONTEXT)
if len(wm_lines) != 0:
wm_lines = wm_lines + np.array([BIRD[0], 0, BIRD[2]])
elif SHOWN_MAP == 'CAMERA':
wm_lines = uv_lines2wm_lines_fixed(uv_lines, EYE_Y, CONTEXT)
else:
wm_lines = WM_LINES_MAP
if len(wm_lines) == 0:
lines = np.array([])
else:
if SHOWN_MAP in ['CAMERA', 'TV']:
for i in range(len(wm_lines)):
wm_lines[i] = np.array([
np.dot(r, wm_lines[i][0]),
np.dot(r, wm_lines[i][1]),
])
wm_lines = wm_lines + np.array([eye[0], 0, eye[2]])
lines = np.array((
wm_lines[:, 0, 0],
wm_lines[:, 1, 0], # x
[0] * len(wm_lines),
[0] * len(wm_lines), # y
wm_lines[:, 0, 2],
wm_lines[:, 1, 2], # z
)).T.reshape(len(wm_lines), 3, 2)
for line in lines:
ax.plot(*line, "-", c='red', linewidth=0.5)
# plot axis
lims = (np.array(
(MAP_SIZE[0], min(MAP_SIZE) / 2, MAP_SIZE[1]))).astype(int)
plot_axis(ax, lims)
# plot eye, axis of c
ax.plot(*zip(eye), "o")
ax.plot([eye[0]], [0], [eye[2]], "o")
l = min(MAP_SIZE) / 10
ax.plot(*list(zip(eye, c2w(np.array([l, 0, 0]), eye, r))), '-', c='green')
ax.plot(*list(zip(eye, c2w(np.array([0, l, 0]), eye, r))), '-', c='green')
ax.plot(*list(zip(eye, c2w(np.array([0, 0, l]), eye, r))), '-', c='green')
# UV_VS
UV_VS = get_UV_VS(CONTEXT)
# plot rectangle of F
wf_vs = [] # 4 verticies of focused surface (4, 3)
for uv in UV_VS:
cf_v = uv2cf(uv, CONTEXT)
wf_v = c2w(cf_v, eye, r)
wf_vs.append(wf_v)
plot_rectangle(ax, wf_vs)
# plot rectangle of map, lines from eye to rectangle of map
# 4 verticies of projected region on map
wm_vs = np.array([uv2wm(uv, eye, r, CONTEXT) for uv in UV_VS])
if w2c(wm_vs[3], eye, r)[2] >= 0: # top edge of view is on map
plot_rectangle(ax, wm_vs)
for wm_v in wm_vs:
ax.plot(*list(zip(eye, wm_v)), '--', c='000000')
else: # top edge of view is at infinity (behind of camera)
# convert wm_vs[2'], wm_vs[3'] -> wm_vs[2], wm_vs[3]
# 2'______________________________ 3' |
# \ / |
# \ / |
# \ / |
# \ camera / |
# \ /\ / |
# \ / \ / |
# \ / \ / |
# \/____________\/ |
# - 0 1 - |
# - || - |
# - \||/ - |
# - \/ - |
# 3 - front - 2 |
# |
wm_vs = get_wm_vs_infinity(eye, r, CONTEXT, max(MAP_SIZE))
ax.plot(*list(zip(wm_vs[0], wm_vs[1])), '-', c='000000')
ax.plot(*list(zip(wm_vs[1], wm_vs[2])), '-', c='000000')
ax.plot(*list(zip(wm_vs[3], wm_vs[0])), '-', c='000000')
ax.plot(*list(zip(eye, wm_vs[0])), '--', c='000000')
ax.plot(*list(zip(eye, wm_vs[1])), '--', c='000000')
ax.plot(*list(zip(eye, wf_vs[2])), '--', c='000000')
ax.plot(*list(zip(eye, wf_vs[3])), '--', c='000000')
# plot eye_b
# todo
eye_b, r_b = eye_r2eye_r_b(eye, r, BIRD)
ax.plot(*zip(eye_b), "o")
ax.plot([eye_b[0]], [0], [eye_b[2]], "o")
#ax.plot([eye_b[0], wm_vs[0][0]], [0, 0], [eye_b[2], wm_vs[0][2]])
# plot rectangle of bird (4 verticies of bird (4, 3))
wm_bvs = np.array([uv2wm(uv, eye_b, r_b, CONTEXT) for uv in UV_VS])
plot_rectangle(ax, wm_bvs)
# plot lines from eye_b to rectangle of bird
for wm_bv in wm_bvs:
ax.plot(*list(zip(eye_b, wm_bv)), '--', c='000000')
l = min(MAP_SIZE) / 5
c = 'green'
ax.plot(*list(zip(eye_b, c2w(np.array([l, 0, 0]), eye_b, r_b))), '-', c=c)
ax.plot(*list(zip(eye_b, c2w(np.array([0, l, 0]), eye_b, r_b))), '-', c=c)
ax.plot(*list(zip(eye_b, c2w(np.array([0, 0, l]), eye_b, r_b))), '-', c=c)
# affine
AF = reduce(lambda res, x: np.dot(res, x), AFS, np.eye(4))
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax), AF)
def main():
dataset_path = "./data/data_3d_h36m.npz" # 加载数据
from common.h36m_dataset import Human36mDataset
dataset = Human36mDataset(dataset_path)
dataset = read_3d_data(dataset)
cudnn.benchmark = True
device = torch.device("cpu")
from models.sem_gcn import SemGCN
from common.graph_utils import adj_mx_from_skeleton
p_dropout = None
adj = adj_mx_from_skeleton(dataset.skeleton())
model_pos = SemGCN(adj, 128, num_layers=4, p_dropout=p_dropout,
nodes_group=dataset.skeleton().joints_group()).to(device)
ckpt_path = "./checkpoint/pretrained/ckpt_semgcn_nonlocal_sh.pth.tar"
ckpt = torch.load(ckpt_path, map_location='cpu')
model_pos.load_state_dict(ckpt['state_dict'], False)
model_pos.eval()
# ============ 新增代码 ==============
# 从项目处理2d数据的代码中输出的一个人体数据
inputs_2d = [[483.0, 450], [503, 450], [503, 539], [496, 622], [469, 450], [462, 546], [469, 622], [483, 347],
[483, 326], [489, 264], [448, 347], [448, 408], [441, 463], [517, 347], [524, 408], [538, 463]]
# # openpose的测试样例识别结果
# inputs_2d = [[86.0, 137], [99, 128], [94, 127], [97, 110], [89, 105], [102, 129], [116, 116], [99, 110],
# [105, 93], [117, 69], [147, 63], [104, 93], [89, 69], [82, 38], [89, 139], [94, 140]]
inputs_2d = np.array(inputs_2d)
# inputs_2d[:, 1] = np.max(inputs_2d[:, 1]) - inputs_2d[:, 1] # 变成正的人体姿态，原始数据为倒立的
cam = dataset.cameras()['S1'][0] # 获取相机参数
inputs_2d[..., :2] = normalize_screen_coordinates(inputs_2d[..., :2], w=cam['res_w'], h=cam['res_h']) # 2d坐标处理
# 画出归一化屏幕坐标并且标记序号的二维关键点图像
print(inputs_2d) # 打印归一化后2d关键点坐标
d_x = inputs_2d[:, 0]
d_y = inputs_2d[:, 1]
plt.figure()
plt.scatter(d_x, d_y)
for i, txt in enumerate(np.arange(inputs_2d.shape[0])):
plt.annotate(txt, (d_x[i], d_y[i])) # 标号
# plt.show() # 显示2d关键点归一化后的图像
# 获取3d结果
inputs_2d = torch.tensor(inputs_2d, dtype=torch.float32) # 转换为张量
outputs_3d = model_pos(inputs_2d).cpu() # 加载模型
outputs_3d[:, :, :] -= outputs_3d[:, :1, :] # Remove global offset / 移除全球偏移
predictions = [outputs_3d.detach().numpy()] # 预测结果
prediction = np.concatenate(predictions)[0] # 累加取第一个
# Invert camera transformation / 反相机的转换
prediction = camera_to_world(prediction, R=cam['orientation'], t=0) # R和t的参数设置影响不大，有多种写法和选取的相机参数有关，有些S没有t等等问题
prediction[:, 2] -= np.min(prediction[:, 2]) # 向上偏移min(prediction[:, 2]),作用是把坐标变为正数
print('prediction')
print(prediction) # 打印画图的3d坐标
plt.figure()
ax = plt.subplot(111, projection='3d') # 创建一个三维的绘图工程
o_x = prediction[:, 0]
o_y = prediction[:, 1]
o_z = prediction[:, 2]
print(o_x)
print(o_y)
print(o_z)
ax.scatter(o_x, o_y, o_z)
temp = o_x
x = [temp[9], temp[8], temp[7], temp[10], temp[11], temp[12]]
temp = o_y
y = [temp[9], temp[8], temp[7], temp[10], temp[11], temp[12]]
temp = o_z
z = [temp[9], temp[8], temp[7], temp[10], temp[11], temp[12]]
ax.plot(x, y, z)
temp = o_x
x = [temp[7], temp[0], temp[4], temp[5], temp[6]]
temp = o_y
y = [temp[7], temp[0], temp[4], temp[5], temp[6]]
temp = o_z
z = [temp[7], temp[0], temp[4], temp[5], temp[6]]
ax.plot(x, y, z)
temp = o_x
x = [temp[0], temp[1], temp[2], temp[3]]
temp = o_y
y = [temp[0], temp[1], temp[2], temp[3]]
temp = o_z
z = [temp[0], temp[1], temp[2], temp[3]]
ax.plot(x, y, z)
temp = o_x
x = [temp[7], temp[13], temp[14], temp[15]]
temp = o_y
y = [temp[7], temp[13], temp[14], temp[15]]
temp = o_z
z = [temp[7], temp[13], temp[14], temp[15]]
ax.plot(x, y, z)
# temp = o_x
# x = [temp[0], temp[14]]
# temp = o_y
# y = [temp[0], temp[14]]
# temp = o_z
# z = [temp[0], temp[14]]
# ax.plot(y, x, z)
#
# temp = o_x
# x = [temp[0], temp[15]]
# temp = o_y
# y = [temp[0], temp[15]]
# temp = o_z
# z = [temp[0], temp[15]]
# ax.plot(y, x, z)
# 改变坐标比例的代码，该代码的效果是z坐标轴是其他坐标的两倍
from matplotlib.pyplot import MultipleLocatort
major_locator = MultipleLocator(0.5)
ax.xaxis.set_major_locator(major_locator)
ax.yaxis.set_major_locator(major_locator)
ax.zaxis.set_major_locator(major_locator)
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax), np.diag([0.5, 0.5, 1, 1]))
plt.show()
def result_plots(plot_opts: dict, w_veh_opt: float, w_veh_real: float,
refline: np.ndarray, bound1: np.ndarray, bound2: np.ndarray,
trajectory: np.ndarray) -> None:
"""
Created by:
Alexander Heilmeier
Documentation:
This function plots several figures containing relevant trajectory information after trajectory optimization.
Inputs:
plot_opts: dict containing the information which figures to plot
w_veh_opt: vehicle width used during optimization
w_veh_real: real vehicle width
refline: contains the reference line coordinates [x_m, y_m]
bound1: first track boundary (mostly right) [x_m, y_m]
bound2: second track boundary (mostly left) [x_m, y_m]
trajectory: trajectory data [s_m, x_m, y_m, psi_rad, kappa_radpm, vx_mps, ax_mps2]
"""
if plot_opts["raceline"]:
# calculate vehicle boundary points (including safety margin in vehicle width)
normvec_normalized_opt = trajectory_planning_helpers.calc_normal_vectors.\
calc_normal_vectors(trajectory[:, 3])
veh_bound1_virt = trajectory[:, 1:
3] + normvec_normalized_opt * w_veh_opt / 2
veh_bound2_virt = trajectory[:, 1:
3] - normvec_normalized_opt * w_veh_opt / 2
veh_bound1_real = trajectory[:, 1:
3] + normvec_normalized_opt * w_veh_real / 2
veh_bound2_real = trajectory[:, 1:
3] - normvec_normalized_opt * w_veh_real / 2
point1_arrow = refline[0]
point2_arrow = refline[3]
vec_arrow = point2_arrow - point1_arrow
# plot track including optimized path
plt.figure()
plt.plot(refline[:, 0], refline[:, 1], "k--", linewidth=0.7)
plt.plot(veh_bound1_virt[:, 0],
veh_bound1_virt[:, 1],
"b",
linewidth=0.5)
plt.plot(veh_bound2_virt[:, 0],
veh_bound2_virt[:, 1],
"b",
linewidth=0.5)
plt.plot(veh_bound1_real[:, 0],
veh_bound1_real[:, 1],
"c",
linewidth=0.5)
plt.plot(veh_bound2_real[:, 0],
veh_bound2_real[:, 1],
"c",
linewidth=0.5)
plt.plot(bound1[:, 0], bound1[:, 1], "k-", linewidth=0.7)
plt.plot(bound2[:, 0], bound2[:, 1], "k-", linewidth=0.7)
plt.plot(trajectory[:, 1], trajectory[:, 2], "r-", linewidth=0.7)
plt.grid()
ax = plt.gca()
ax.arrow(point1_arrow[0],
point1_arrow[1],
vec_arrow[0],
vec_arrow[1],
head_width=7.0,
head_length=7.0,
fc='g',
ec='g')
ax.set_aspect("equal", "datalim")
plt.xlabel("east in m")
plt.ylabel("north in m")
plt.show()
if plot_opts["raceline_curv"]:
# plot curvature profile
plt.figure()
plt.plot(trajectory[:, 0], trajectory[:, 4])
plt.grid()
plt.xlabel("distance in m")
plt.ylabel("curvature in rad/m")
plt.show()
if plot_opts["racetraj_vel_3d"]:
scale_x = 1.0
scale_y = 1.0
scale_z = 0.3 # scale z axis such that it does not appear stretched
# create 3d plot
fig = plt.figure()
ax = fig.gca(projection='3d')
# recast get_proj function to use scaling factors for the axes
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax),
np.diag([scale_x, scale_y, scale_z, 1.0]))
# plot raceline and boundaries
ax.plot(refline[:, 0], refline[:, 1], "k--", linewidth=0.7)
ax.plot(bound1[:, 0], bound1[:, 1], 0.0, "k-", linewidth=0.7)
ax.plot(bound2[:, 0], bound2[:, 1], 0.0, "k-", linewidth=0.7)
ax.plot(trajectory[:, 1], trajectory[:, 2], "r-", linewidth=0.7)
ax.grid()
ax.set_aspect("equal")
ax.set_xlabel("east in m")
ax.set_ylabel("north in m")
# plot velocity profile in 3D
ax.plot(trajectory[:, 1],
trajectory[:, 2],
trajectory[:, 5],
color="k")
ax.set_zlabel("velocity in m/s")
# plot vertical lines visualizing acceleration and deceleration zones
ind_stepsize = int(
np.round(plot_opts["racetraj_vel_3d_stepsize"] / trajectory[1, 0] -
trajectory[0, 0]))
if ind_stepsize < 1:
ind_stepsize = 1
cur_ind = 0
no_points_traj_vdc = np.shape(trajectory)[0]
while cur_ind < no_points_traj_vdc - 1:
x_tmp = [trajectory[cur_ind, 1], trajectory[cur_ind, 1]]
y_tmp = [trajectory[cur_ind, 2], trajectory[cur_ind, 2]]
z_tmp = [0.0, trajectory[cur_ind, 5]
] # plot line with height depending on velocity
# get proper color for line depending on acceleration
if trajectory[cur_ind, 6] > 0.0:
col = "g"
elif trajectory[cur_ind, 6] < 0.0:
col = "r"
else:
col = "gray"
# plot line
ax.plot(x_tmp, y_tmp, z_tmp, color=col)
# increment index
cur_ind += ind_stepsize
plt.show()
if plot_opts["spline_normals"]:
# plot normals
plt.figure()
for i in range(bound1.shape[0]):
temp = np.vstack((bound1[i], bound2[i]))
plt.plot(temp[:, 0], temp[:, 1], "k-", linewidth=0.7)
plt.grid()
ax = plt.gca()
ax.set_aspect("equal", "datalim")
plt.xlabel("east in m")
plt.ylabel("north in m")
plt.show()
def short_proj():
return np.dot(Axes3D.get_proj(ax), scale)
import sys
from typing import Iterator, List, Tuple, Union
import matplotlib.pyplot as plt # type: ignore
import numpy as np # type: ignore
from matplotlib import animation # type: ignore
from matplotlib import cm
from mpl_toolkits.mplot3d import Axes3D # type: ignore
CARDS = np.array([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 10, 10])
fig = plt.figure()
ace_ax = fig.add_subplot(1, 2, 2, projection="3d")
ace_ax.get_proj = lambda: np.dot(Axes3D.get_proj(ace_ax),
np.diag([1.2, 1.3, 0.2, 1]))
ax = fig.add_subplot(1, 2, 1, projection="3d")
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax), np.diag([1.3, 1.3, 0.2, 1]))
def hand_value(cards: np.ndarray) -> Tuple[int, bool, bool]:
"""return the hand value, blackjack boolean, usable ace boolean"""
if 1 in cards:
if len(cards) == 2 and 10 in cards:
return 21, False, True # 21 and blackjack
if cards.sum() - 1 > 10:
return cards.sum(), False, False
if cards.sum() + 10 == 21:
return 21, False, True # non blackjack 21, usable ace