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draw_car_cross_flamingo.py
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import matplotlib.pyplot as plt
import numpy as np
import subprocess
import sys
import glob
import matplotlib.image as mpimg
import matplotlib.animation as animation
COTHERS = ["#E69F00", "#56B4E9", "#009E73", "#D55E00", "#CC79A7", "#8C79A7", "#AC79A7"]
CPOMDP = '#0072B2'
colors = COTHERS + [CPOMDP]
car_pos = []
car_vel = []
ped_pos = []
ped_id = []
ped_goal = []
obstacles = []
laser_range=10
car_colli=[]
car_acc=[]
rounds=[]
colli=[]
dis_trav=[]
def loadData(filename):
#car_pos = []
#car_vel = []
#ped_pos = []
#ped_id = []
#ped_goal = []
ped_pos_one_time = []
ped_id_one_time = []
ped_goal_one_time = []
ped_num = -1
#obstacles = []
#laser_range=10
file_handler = open(filename,'r')
content = file_handler.read().splitlines()
time_step = 0
num_ped_visited = 0
round_end=False
for line in content:
line_split = line.split(' ')
if "dist_trav" in line:
car_pos.append([float(line_split[7][1:-1]), float(line_split[8][0:-1])])
car_vel.append(float(line_split[12]))
if round_end==True:
dis_trav.append(float(line_split[10]))
round_end=False
elif "pedestrians" in line:
ped_pos_one_time = []
ped_id_one_time = []
ped_goal_one_time = []
num_ped_visited = 0
ped_num = int(line_split[0])
elif "dist2car" in line:
ped_pos_one_time.append([float(line_split[17][1:-1]), float(line_split[18][0:-1])])
ped_id_one_time.append(int(line_split[15]))
ped_goal_one_time.append(int(line_split[22]))
num_ped_visited = num_ped_visited + 1
elif "obstacle" in line:
obstacle = []
for i in range(1, len(line_split),2):
obstacle.append([float(line_split[i]), float(line_split[i+1])])
obstacles.append(obstacle)
elif "LASER_RANGE" in line:
laser_range = float(line_split[1])
elif "reward=" in line:
reward=float(line_split[1])
if (reward < -200):
car_colli.append(1)
else:
car_colli.append(0)
elif "collision=1:" in line:
colli.append(1)
elif "act=" in line:
if (float(line_split[1])==0):
car_acc.append(0)
elif (float(line_split[1])==1):
car_acc.append(1)
elif (float(line_split[1])==2):
car_acc.append(-1)
elif "final_state" in line:
rounds.append(1)
round_end=True
#num_rounds = num_rounds + 1;
else:
pass;
if (num_ped_visited == ped_num):
ped_num = -1
ped_pos.append(ped_pos_one_time)
ped_id.append(ped_id_one_time)
ped_goal.append(ped_goal_one_time)
return car_pos, car_vel, ped_pos, ped_id, ped_goal, obstacles, laser_range, dis_trav
#x = np.linspace(0, 2 * np.pi, 120)
#y = np.linspace(0, 2 * np.pi, 100).reshape(-1, 1)
#def f(x, y):
# return np.sin(x) + np.cos(y)
#im = plt.imshow(f(x, y), animated=True)
#def updatefig(*args):
# im=mpimg.imread('step'+'.png')
# return im
def drawFigures(car_pos, car_vel, ped_pos, ped_id, ped_goal, obstacles, laser_range):
time_length = len(car_vel)
#print ped_goal
#plt.savefig('step', bbox_inches='tight')
#ani = animation.FuncAnimation(fig, updatefig, interval=1000, blit=True)
#plt.show()
for time_step in range(0, time_length):
# draw vehicle
car_color='green'
if time_step<len(car_colli):
coll=car_colli[time_step]
#print coll
if coll==1 and time_step < time_length-1:
car_color='red'
rect1=plt.Rectangle((car_pos[time_step][0],car_pos[time_step][1]-0.6),2.2, 1.2,
fill=True, color=car_color)
circle1=plt.Circle((car_pos[time_step][0],car_pos[time_step][1]),laser_range,
fill=True, alpha=0.05, color='teal',ls='dashed')
circle2=plt.Circle((car_pos[time_step][0],car_pos[time_step][1]),0.1,
fill=True, color='grey')
ax = plt.gca()
ax.add_artist(rect1)
ax.add_artist(circle1)
ax.add_artist(circle2)
#print ped_goal
# draw pedestrians
# for ped in ped_pos[time_step]:
# circle1=plt.Circle((ped[0],ped[1]),0.3, fill=True, color='k')
# ax = plt.gca()
# ax.add_artist(circle1)
for i in range(0,len(ped_pos[time_step])):
circle1=plt.Circle((ped_pos[time_step][i][0],ped_pos[time_step][i][1]),0.3, fill=True, color=colors[ped_goal[time_step][i]])
ax = plt.gca()
ax.add_artist(circle1)
# draw obstacles
for obstacle in obstacles:
obstacle.append(obstacle[0]) #repeat the first point to create a 'closed loop'
xs, ys = zip(*obstacle) #create lists of x and y values
plt.plot(xs,ys)
plt.ylim([0,15])
plt.xlim([3,23])
#im = plt.imshow(frame, cmap=plt.cm.gray)
#fig.canvas.draw()
#fig.clf()
#plt.savefig('step', bbox_inches='tight')
#im=mpimg.imread('step'+'.png')
plt.savefig('step%d'%(time_step), bbox_inches='tight')
plt.close()
#img=mpimg.imread('step%d'%(time_step)+'.png')
#im = plt.imshow(img, animated=True)
#plt.close()
fig = plt.figure()
ax = plt.gca()
plt.ylim([0,15])
plt.xlim([3,23])
#plt.ylim([35,50])
#plt.xlim([30, 50])
#time_text = plt.axes().text(0.02, 0.95, '', transform=plt.axes().transAxes)
def init():
ax.clear()
return []
def drawFigures1(time_step):
time_length = len(car_vel)
#print ped_goal
#plt.savefig('step', bbox_inches='tight')
#ani = animation.FuncAnimation(fig, updatefig, interval=1000, blit=True)
#plt.show()
ax.clear()
if time_step < time_length:
# draw vehicle
#print coll
car_color='green'
bar_color='orange'
if time_step<len(car_colli):
coll=car_colli[time_step]
if coll==1 and time_step < time_length-1:
car_color='red'
if time_step>=0 and time_step<time_length and time_step< len(car_vel)-1 and time_step<len(car_acc):
if car_acc[time_step]==-1 and car_vel[time_step]==car_vel[time_step+1] and car_vel[time_step]!=0:
bar_color='maroon'
patches = []
rect1=plt.Rectangle((car_pos[time_step][0],car_pos[time_step][1]-0.6),2.2, 1.2,
fill=True, color=car_color)
#rect1=plt.Rectangle((car_pos[time_step][0]-0.6,car_pos[time_step][1]-2.2),1.2, 2.2,
# fill=True, color=car_color)
circle1=plt.Circle((car_pos[time_step][0],car_pos[time_step][1]),laser_range,
fill=True, alpha=0.2, color='teal',ls='dashed')
circle2=plt.Circle((car_pos[time_step][0],car_pos[time_step][1]),0.1,
fill=True, color='grey')
patches.append(ax.add_patch(rect1))
patches.append(ax.add_patch(circle1))
patches.append(ax.add_patch(circle2))
for i in range(0,len(ped_pos[time_step])):
circle1=plt.Circle((ped_pos[time_step][i][0],ped_pos[time_step][i][1]),0.3, fill=True, color=colors[ped_goal[time_step][i]])
patches.append(ax.add_patch(circle1))
speed_rect=plt.Rectangle((5.2,1.1),1, car_vel[time_step], fill=True, alpha=0.5, color='red')
patches.append(ax.add_patch(speed_rect))
acc_rect=plt.Rectangle((4,1.1),1, 0+car_acc[min(time_step,len(car_acc)-1)],
fill=True, alpha=0.5, color=bar_color)
patches.append(ax.add_patch(acc_rect))
#time_text.set_text('Car vel='+str(float(car_vel[time_step][0])))
#time_text.set_text('Car vel=')
return patches
def printStatistics():
print "colli_len=%d, acc_len=%d, vel_len=%d, num_rounds=%d" % (len(colli),len(car_acc),len(car_vel), len(rounds))
colli_count = len(colli) #np.count_nonzero(car_colli==1)
acc_count = (car_acc).count(1) #np.count_nonzero(car_acc==1)
dec_count = (car_acc).count(-1) #np.count_nonzero(car_acc==-1)
num_steps = len(car_acc)
print "dist_len=%f, total_dist=%f" % (len(dis_trav),sum(dis_trav))
ave_dist= sum(dis_trav) / float(len(dis_trav))
smoothness= float(sum(dis_trav))/float(acc_count+dec_count)
colliRate = float(colli_count)/float(sum(dis_trav))
print "colli_count=%d, acc_count=%d, dec_count=%d, num_rounds=%d" % (colli_count,acc_count,dec_count,len(rounds))
print "Collision rate = %.5f" % colliRate
print "Smoothness = %.5f" % (smoothness)
print "Average distance = %.5f" % ave_dist
Writer = animation.writers['ffmpeg']
writer = Writer(fps=15, metadata=dict(artist='Me'), bitrate=1800)
if __name__ == '__main__' :
file_name = 'trial'
if len(sys.argv) > 1:
file_name = sys.argv[1]
print 'Loading data...'
car_pos, car_vel, ped_pos, ped_id, ped_goal, obstacles, laser_range, dis_trav = loadData(file_name)
printStatistics()
show_anim=True
if show_anim==True:
#drawFigures(car_pos, car_vel, ped_pos, ped_id, ped_goal, obstacles, laser_range)
print 'Generating animation...'
anim = animation.FuncAnimation(fig, drawFigures1, init_func=init, frames=len(car_vel),
interval=30, blit=True, repeat=False)
plt.show()
print 'Saving '+'output.avi with '+str(len(car_vel))+' frames...'
anim.save('output.avi', writer=writer)
#subprocess.call(['ffmpeg', '-i', 'step%d.png', 'output.avi'])
print 'Converting to '+file_name+'.avi'+'...'
#subprocess.call(['ffmpeg', '-i', 'output.avi', '-vf', 'setpts=8.333*PTS', file_name+'.avi'])
subprocess.call(['ffmpeg', '-i', 'output.avi', '-vf', 'setpts=5.0*PTS', file_name+'.avi'])
subprocess.call(['rm', 'output.avi'])
#for fl in glob.glob("step*.png"):
# subprocess.call(['rm', fl])