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doc_plots.py
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doc_plots.py
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import matplotlib.pyplot as plt
import numpy as np
import io
import imageio.v3 as iio
import scipy.interpolate as interpolate
import matplotlib.animation as animation
from matplotlib import collections as mc
from polyicp.polylines import polyline
from polyicp.icp import icp
class ImageIOWriter(animation.AbstractMovieWriter):
@classmethod
def isAvailable(cls):
return True
def setup(self, fig, outfile, dpi=None):
super().setup(fig, outfile, dpi=dpi)
self._frames = []
def grab_frame(self, **savefig_kwargs):
buf = io.BytesIO()
self.fig.savefig(buf, **{**savefig_kwargs, "format": "rgba", "dpi": self.dpi})
self._frames.append(
np.frombuffer(buf.getbuffer(), dtype=np.uint8).reshape(
(self.frame_size[1], self.frame_size[0], 4)
)
)
def finish(self):
dur = int(1 / self.fps) * 1000
lag = 2000
duration = [dur] * (len(self._frames) - 1) + [lag]
iio.imwrite(self.outfile, self._frames, duration=duration, loop=4)
def plot_closest_on_polyline():
x = np.array([0.0, 1.2, 1.9, 3.2, 4.0, 6.5])
y = np.array([0.0, 2.3, 3.0, 4.3, 2.9, 3.1])
t, c, k = interpolate.splrep(x, y, s=0, k=4)
spline = interpolate.BSpline(t, c, k, extrapolate=False)
xx = np.linspace(x.min(), x.max(), 100)
xy = np.stack((xx, spline(xx)), -1)
pc = polyline(xy, ptype="open")
fig, ax = plt.subplots()
ax.set_axisbelow(True)
ax.grid()
ax.set_xlim(-0.3, 6.8)
ax.set_ylim(-2.4, 4.6)
ax.autoscale(False)
ax.plot(xy[:, 0], xy[:, 1], c="k", label="polyline")
# ax.scatter(xy[:, 0], xy[:, 1], c="k", s=6, label="polyline-points")
# second spline
xmin2, xmax2 = x.min() + 0.5, x.max() - 1.8
shiftx, shifty = 1.0, -0.7
xx = np.linspace(xmin2, xmax2, 60)
xy = np.stack((xx + shiftx, spline(xx) + shifty), -1)
ax.plot(xy[:, 0], xy[:, 1], c="magenta", linewidth=1, linestyle="dashed")
anim_p = ax.scatter([], [], c="magenta", s=20, label="query", zorder=10)
anim_q = ax.scatter([], [], c="k", s=20, label="closest", zorder=10)
anim_pq = ax.plot([], [], c="k", zorder=5, linewidth=1)[0]
anim_l = mc.LineCollection([], cmap="jet", zorder=8)
ax.add_collection(anim_l)
nframes = 150
ax.legend(loc="lower left", ncols=2)
ps = [] # (N,2)
qs = [] # (N,2)
def init():
ps.clear()
qs.clear()
anim_pq.set_data([], [])
anim_p.set_offsets(np.empty((0, 2)))
anim_p.set_offsets(np.empty((0, 2)))
anim_l.set_segments([])
return (
anim_p,
anim_pq,
anim_pq,
anim_l,
)
def animate(i):
t = i / nframes
xp = xmin2 + (xmax2 - xmin2) * t
p = np.array([xp + shiftx, spline(xp) + shifty])
q = pc.project(p)
anim_p.set_offsets(p)
anim_q.set_offsets(q)
ret = [anim_p, anim_q]
if (i + 1) % 5 == 0:
ps.append(p)
qs.append(q)
qp = np.stack((qs, ps), 1)
anim_l.set_segments(qp)
anim_l.set_array(np.arange(len(qp)))
anim_l.set_clim(0, nframes / 5 - 1)
ret.append(anim_l)
ret.append(anim_pq)
anim_pq.set_data([[], []])
else:
anim_pq.set_data([p[0], q[0]], [p[1], q[1]])
ret.append(anim_pq)
return ret
ani = animation.FuncAnimation(
fig, animate, init_func=init, repeat=False, frames=nframes, interval=30
)
ani.save(
"closest_on_polyline.gif",
dpi=150,
writer=ImageIOWriter(fps=30),
)
plt.show()
def plot_icp():
np.random.seed(456)
x = np.array([0.0, 1.2, 1.9, 3.2, 4.0, 6.5])
y = np.array([0.0, 2.3, 3.0, 4.3, 2.9, 3.1])
t, c, k = interpolate.splrep(x, y, s=0, k=4)
spline = interpolate.BSpline(t, c, k, extrapolate=False)
xx = np.linspace(x.min(), x.max(), 60)
y = np.stack((xx, spline(xx)), -1) # Target
idx = np.random.choice(len(y), 30, replace=False)
idx = np.sort(idx)
y = y[idx]
py = polyline(y, ptype="open")
xmin2, xmax2 = x.min() + 0.5, x.max() - 1.8
shiftx, shifty = 1.0, -0.5
xx = np.linspace(xmin2, xmax2, 16)
x = np.stack((xx + shiftx, spline(xx) + shifty), -1) # Source
r_point = icp(
x,
y,
max_iter=100,
pairing_fn="point",
weighting_fn="constant",
)
r_line = icp(
x,
y,
max_iter=100,
pairing_fn="polyline",
weighting_fn="constant",
)
fig, axs = plt.subplots(1, 2, figsize=(10, 4))
def setup_ax(ax):
ax.set_axisbelow(True)
ax.grid()
ax.set_xlim(-0.3, 6.8)
ax.set_ylim(-2.4, 4.6)
ax.autoscale(False)
ax.plot(y[:, 0], y[:, 1], c="k", label="reference")
ax.scatter(y[:, 0], y[:, 1], c="k", s=6)
ax.spines["right"].set_visible(False)
ax.spines["left"].set_visible(False)
ax.spines["top"].set_visible(False)
ax.yaxis.set_ticks_position("left")
ax.xaxis.set_ticks_position("bottom")
setup_ax(axs[0])
setup_ax(axs[1])
axs[0].set_title("point-to-point")
axs[1].set_title("point-to-polyline")
# ax.scatter(xy[:, 0], xy[:, 1], c="k", s=6, label="polyline-points")
anim_x0 = axs[0].plot(
x[:, 0],
x[:, 1],
c="magenta",
linewidth=1.5,
linestyle="dashed",
zorder=10,
label="source",
)[0]
anim_x1 = axs[1].plot(
x[:, 0],
x[:, 1],
c="magenta",
linewidth=1.5,
linestyle="dashed",
zorder=10,
label="source",
)[0]
anim_l0 = mc.LineCollection([], color="yellow", zorder=8, label="matches")
anim_l1 = mc.LineCollection([], color="yellow", zorder=8, label="matches")
axs[0].add_collection(anim_l0)
axs[1].add_collection(anim_l1)
axs[0].legend(loc="lower left", ncols=2)
axs[1].legend(loc="lower left", ncols=2)
nframes = max(len(r_point.history), len(r_line.history))
def init():
anim_x0.set_data(x[:, 0], x[:, 1])
anim_x1.set_data(x[:, 0], x[:, 1])
return (anim_x0, anim_x1)
def animate(i):
updates = []
if i < len(r_point.history):
s, R, t = r_point.history[i]
xhat = s * (x @ R.T) + t
anim_x0.set_data(xhat[:, 0], xhat[:, 1])
d2 = np.square(xhat[:, None] - y[None, :]).sum(-1)
amin = np.argmin(d2, axis=1)
qp = np.stack((xhat[::5], y[amin][::5]), 1)
anim_l0.set_segments(qp)
updates.append(anim_x0)
updates.append(anim_l0)
if i < len(r_line.history):
s, R, t = r_line.history[i]
xhat = s * (x @ R.T) + t
anim_x1.set_data(xhat[:, 0], xhat[:, 1])
qp = np.stack((xhat[::5], py.project(xhat)[::5]), 1)
anim_l1.set_segments(qp)
updates.append(anim_x1)
updates.append(anim_l1)
return updates
ani = animation.FuncAnimation(
fig, animate, init_func=init, repeat=False, frames=nframes, interval=150
)
ani.save(
"icp.gif",
dpi=150,
writer=ImageIOWriter(fps=6),
)
plt.show()
if __name__ == "__main__":
plot_closest_on_polyline()
plot_icp()