def draw(probs,
xmin,
xmax,
ymin,
ymax,
xstart,
ystart,
agent,
landmark,
output_fname=None,
title=None):
figure = mpl.figure()
axes = figure.gca()
axes.imshow(probs,
origin="lower",
extent=(xmin, xmax, ymin, ymax),
cmap=mpl.cm.jet)
drawUtils.drawGrounding(axes, agent)
drawUtils.drawGrounding(axes, landmark)
if title:
figure.suptitle(title)
axes.axis([xmin, xmax, ymin, ymax])
figure.canvas.draw()
if output_fname is not None:
mpl.savefig(output_fname)
def draw(self):
self.axes.clear()
artists = []
annotation = self.annotationModel.selectedAnnotation()
for groundings in annotation.groundings:
for g in groundings:
artists.extend(
drawGrounding(self.axes, g, plotArgs={"color": "black"}))
esdc = self.esdcModel.selectedEsdc()
if esdc != None:
for grounding in annotation.getGroundings(esdc):
print "esdc grounding", repr(grounding.points_pts)
print "path", hasattr(grounding, "path")
if hasattr(grounding, "path"):
print "path", grounding.path.points_xy
print "path len", len(grounding.path.points_xy)
artists.extend(
drawGrounding(self.axes,
grounding,
plotArgs={
"color": "yellow",
"zorder": 100,
}))
self.restoreLimits()
self.figure.canvas.draw()
def draw(self):
self.axes.clear()
#self.axes.set_xticks([])
#self.axes.set_yticks([])
if self.costImage:
self.axes.imshow(
self.costImage.costs,
origin="lower",
extent=(self.costImage.xmin, self.costImage.xmax,
self.costImage.ymin, self.costImage.ymax),
# cmap=mpl.cm.gray)
cmap=mpl.cm.jet)
#norm=matplotlib.colors.Normalize(vmin=0.0, vmax=1.0))
for grounding in self.groundingsModel.selectedGroundings():
drawGrounding(self.axes,
grounding,
shouldDrawIcon=self.shouldDrawIcons,
shouldDrawText=self.shouldDrawText,
plotArgs=dict(color="black", lw=4))
if self.shouldDrawAgent:
for candidate in self.candidateModel.selectedEntries():
if candidate.ggg.context != None:
agent = candidate.ggg.context.agent
if agent != None:
ax, ay, az, ath = agent.path.locationAtT(0)
drawRobot(self.axes, ax, ay, ath)
drawObject(self.axes, agent, shouldDrawPath=True)
self.restoreLimits()
self.figure.canvas.draw()
def describe(self, thing):
drawGrounding(self.axes, thing, plotArgs={"color": "red"})
self.describer.describe(thing)
factor_to_cost = []
for c in self.describer.cf.factor_to_cost.values():
factor_to_cost.extend(c)
self.crfFeatureWeights.load(self.describer.cf.lccrf, factor_to_cost)
def drawContext(self):
artists = []
for grounding in self.contextModel.selectedGroundings():
artists.extend(drawGrounding(self.axes, grounding,
plotArgs={"color":"purple"}))
return artists
def drawGrounding(self):
artists = []
esdc = self.esdcModel.selectedEsdc()
if esdc != None:
annotation = self.annotationModel.selectedAnnotation()
for grounding in annotation.getGroundings(esdc):
artists.extend(drawGrounding(self.axes, grounding,
plotArgs={"color":"yellow"}))
#sgrounding = self.groundingsModel.selectedGrounding()
sgrounding = None
if sgrounding != None:
artists.extend(drawGrounding(self.axes, sgrounding,
plotArgs={"color":"red"}))
return artists
def drawState(self):
artists = []
if self.state != None:
for obj in self.state.get_objects():
self.artists.extend(drawGrounding(self.axes, obj,
plotArgs=dict(color="blue")))
return artists
def draw(self):
self.axes.clear()
for grounding in self.gsModel.selectedGroundings():
drawGrounding(self.axes,
grounding,
plotArgs=dict(color="purple", lw=4))
for grounding in self.ggg.context.groundings:
drawGrounding(self.axes, grounding, plotArgs=dict(color="green"))
selected_nodes = self.nodeForFactorModel.selectedNodes()
for e in self.nodeForFactorModel.entries:
if e.node.is_gamma and e.ggg.is_grounded(e.node):
evidences = self.ggg.evidence_for_node(e.node)
for g in evidences:
if e.node in selected_nodes:
plotArgs = dict(color="yellow", lw="4")
else:
plotArgs = dict(color="black")
drawGrounding(self.axes, g, plotArgs=plotArgs)
self.restoreLimits()
self.figure.canvas.draw()
def draw(self):
self.axes.clear()
for g in self.describer.groundings:
drawGrounding(self.axes, g)
def drawPathSegments(self):
artists = []
for path in self.pathSegmentsModel.selectedGroundings():
artists.extend(drawGrounding(self.axes, path,
plotArgs=dict(color="orange", lw=2)))
return artists