-
Notifications
You must be signed in to change notification settings - Fork 331
/
mplot_thread.py
349 lines (301 loc) · 12.5 KB
/
mplot_thread.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
"""
* This file is part of PYSLAM
*
* Copyright (C) 2016-present Luigi Freda <luigi dot freda at gmail dot com>
*
* PYSLAM is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* PYSLAM is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with PYSLAM. If not, see <http://www.gnu.org/licenses/>.
"""
import time
import sys
import numpy as np
import platform
import matplotlib
#matplotlib.use('Agg') # running non-interactive mode
import matplotlib.pyplot as plt
from mpl_toolkits import mplot3d
import multiprocessing as mp
from multiprocessing import Process, Queue, RLock, Value
import ctypes
kPlotSleep = 0.04
kVerbose = False
kSetDaemon = True # from https://docs.python.org/3/library/threading.html#threading.Thread.daemon
# The entire Python program exits when no alive non-daemon threads are left.
kUseFigCanvasDrawIdle = True
kUsePlotPause = not kUseFigCanvasDrawIdle # this should be set True under macOS
if platform.system() == 'Darwin':
kUsePlotPause = True
# global lock for drawing with matplotlib
mp_lock = RLock()
if kUseFigCanvasDrawIdle and platform.system() != 'Darwin':
plt.ion()
# NOTE: Here we are using processes instead of threads.
# The file name `mplot_thread.py` is still here since the classes are used as parallel drawing threads.
# use mplotlib figure to draw in 2d dynamic data
class Mplot2d:
def __init__(self, xlabel='', ylabel='', title=''):
self.xlabel = xlabel
self.ylabel = ylabel
self.title = title
self.data = None
self.got_data = False
self.axis_computed = False
self.xlim = [float("inf"),float("-inf")]
self.ylim = [float("inf"),float("-inf")]
self.key = Value('i',0)
self.is_running = Value('i',1)
self.handle_map = {}
self.queue = Queue()
self.vp = Process(target=self.drawer_thread, args=(self.queue,mp_lock,self.key,self.is_running,))
self.vp.daemon = kSetDaemon
self.vp.start()
def quit(self):
self.is_running.value = 0
self.vp.join(timeout=5)
self.vp.terminate()
def drawer_thread(self, queue, lock, key, is_running):
self.init(lock)
#print('starting drawer_thread')
while is_running.value == 1:
#print('drawer_refresh step')
self.drawer_refresh(queue, lock)
if kUseFigCanvasDrawIdle:
time.sleep(kPlotSleep)
print(mp.current_process().name,'closing fig ', self.fig)
plt.close(self.fig)
def drawer_refresh(self, queue, lock):
while not queue.empty():
self.got_data = True
self.data = queue.get()
xy_signal, name, color, marker = self.data
#print(mp.current_process().name,"refreshing : signal ", name)
if name in self.handle_map:
handle = self.handle_map[name]
handle.set_xdata(np.append(handle.get_xdata(), xy_signal[0]))
handle.set_ydata(np.append(handle.get_ydata(), xy_signal[1]))
else:
handle, = self.ax.plot(xy_signal[0], xy_signal[1], c=color, marker=marker, label=name)
self.handle_map[name] = handle
#print(mp.current_process().name,"got data: ", self.got_data)
if self.got_data is True:
self.plot_refresh(lock)
def on_key_press(self, event):
#print(mp.current_process().name,"key event pressed...", self._key)
self.key.value = ord(event.key) # conver to int
def on_key_release(self, event):
#print(mp.current_process().name,"key event released...", self._key)
self.key.value = 0 # reset to no key symbol
def get_key(self):
return chr(self.key.value)
def init(self, lock):
lock.acquire()
if kVerbose:
print(mp.current_process().name,"initializing...")
self.fig = plt.figure()
if kUseFigCanvasDrawIdle:
self.fig.canvas.draw_idle()
self.fig.canvas.mpl_connect('key_press_event', self.on_key_press)
self.fig.canvas.mpl_connect('key_release_event', self.on_key_release)
#self.ax = self.fig.gca(projection='3d')
#self.ax = self.fig.gca()
self.ax = self.fig.add_subplot(111)
if self.title != '':
self.ax.set_title(self.title)
self.ax.set_xlabel(self.xlabel)
self.ax.set_ylabel(self.ylabel)
self.ax.grid()
#Autoscale on unknown axis and known lims on the other
self.ax.set_autoscaley_on(True)
#self.refresh()
lock.release()
def setAxis(self):
self.ax.legend()
self.ax.relim()
self.ax.autoscale_view()
#We need to draw *and* flush
if not kUseFigCanvasDrawIdle:
self.fig.canvas.draw()
self.fig.canvas.flush_events()
def draw(self, xy_signal, name, color='r', marker='.'):
if self.queue is None:
return
if kVerbose:
print(mp.current_process().name,"draw ", self.title)
self.queue.put((xy_signal, name, color, marker))
def updateMinMax(self, np_signal):
xmax,ymax = np.amax(np_signal,axis=0)
xmin,ymin = np.amin(np_signal,axis=0)
cx = 0.5*(xmax+xmin)
cy = 0.5*(ymax+ymin)
if False:
# update maxs
if xmax > self.xlim[1]:
self.xlim[1] = xmax
if ymax > self.ylim[1]:
self.ylim[1] = ymax
# update minsS
if xmin < self.xlim[0]:
self.xlim[0] = xmin
if ymin < self.ylim[0]:
self.ylim[0] = ymin
# make axis actually squared
if True:
smin = min(xmin,ymin)
smax = max(xmax,ymax)
delta = 0.5*(smax - smin)
self.xlim = [cx-delta,cx+delta]
self.ylim = [cy-delta,cy+delta]
self.axis_computed = True
def plot_refresh(self, lock):
if kVerbose:
print(mp.current_process().name,"refreshing ", self.title)
lock.acquire()
self.setAxis()
#if not kUseFigCanvasDrawIdle:
if kUsePlotPause:
plt.pause(kPlotSleep)
lock.release()
# fake
def refresh(self):
pass
# use mplotlib figure to draw in 3D trajectories
class Mplot3d:
def __init__(self, title=''):
self.title = title
self.data = None
self.got_data = False
self.axis_computed = False
self.xlim = [float("inf"),float("-inf")]
self.ylim = [float("inf"),float("-inf")]
self.zlim = [float("inf"),float("-inf")]
self.handle_map = {}
self.key = Value('i',0)
self.is_running = Value('i',1)
self.queue = Queue()
self.vp = Process(target=self.drawer_thread, args=(self.queue, mp_lock, self.key, self.is_running,))
self.vp.daemon = kSetDaemon
self.vp.start()
def quit(self):
self.is_running.value = 0
self.vp.join(timeout=5)
self.vp.terminate()
def drawer_thread(self, queue, lock, key, is_running):
self.init(lock)
while is_running.value == 1:
self.drawer_refresh(queue, lock)
if kUseFigCanvasDrawIdle:
time.sleep(kPlotSleep)
print(mp.current_process().name,'closing fig ', self.fig)
plt.close(self.fig)
def drawer_refresh(self, queue, lock):
while not queue.empty():
self.got_data = True
self.data = queue.get()
traj, name, color, marker = self.data
np_traj = np.asarray(traj)
does_label_exist = False
if name in self.handle_map:
handle = self.handle_map[name]
does_label_exist = True
self.updateMinMax(np_traj)
handle = self.ax.scatter3D(np_traj[:, 0], np_traj[:, 1], np_traj[:, 2], c=color, marker=marker)
if not does_label_exist:
handle.set_label(name)
self.handle_map[name] = handle
if self.got_data is True:
self.plot_refresh(lock)
def on_key_press(self, event):
#print(mp.current_process().name,"key event pressed...", self._key)
self.key.value = ord(event.key) # conver to int
def on_key_release(self, event):
#print(mp.current_process().name,"key event released...", self._key)
self.key.value = 0 # reset to no key symbol
def get_key(self):
return chr(self.key.value)
def init(self, lock):
lock.acquire()
if kVerbose:
print(mp.current_process().name, "initializing...")
self.fig = plt.figure()
if kUseFigCanvasDrawIdle:
self.fig.canvas.draw_idle()
self.fig.canvas.mpl_connect('key_press_event', self.on_key_press)
self.fig.canvas.mpl_connect('key_release_event', self.on_key_release)
self.ax = self.fig.add_subplot(111, projection='3d') # Adjusted line
#self.ax = self.fig.gca(projection='3d')
if self.title != '':
self.ax.set_title(self.title)
self.ax.set_xlabel('X axis')
self.ax.set_ylabel('Y axis')
self.ax.set_zlabel('Z axis')
self.setAxis()
lock.release()
def setAxis(self):
#self.ax.axis('equal') # this does not work with the new matplotlib 3
if self.axis_computed:
self.ax.set_xlim(self.xlim)
self.ax.set_ylim(self.ylim)
self.ax.set_zlim(self.zlim)
self.ax.legend()
#We need to draw *and* flush
if not kUseFigCanvasDrawIdle:
self.fig.canvas.draw()
self.fig.canvas.flush_events()
def drawTraj(self, traj, name, color='r', marker='.'):
if self.queue is None:
return
self.queue.put((traj, name, color, marker))
def updateMinMax(self, np_traj):
xmax,ymax,zmax = np.amax(np_traj,axis=0)
xmin,ymin,zmin = np.amin(np_traj,axis=0)
cx = 0.5*(xmax+xmin)
cy = 0.5*(ymax+ymin)
cz = 0.5*(zmax+zmin)
if False:
# update maxs
if xmax > self.xlim[1]:
self.xlim[1] = xmax
if ymax > self.ylim[1]:
self.ylim[1] = ymax
if zmax > self.zlim[1]:
self.zlim[1] = zmax
# update mins
if xmin < self.xlim[0]:
self.xlim[0] = xmin
if ymin < self.ylim[0]:
self.ylim[0] = ymin
if zmin < self.zlim[0]:
self.zlim[0] = zmin
# make axis actually squared
if True:
#smin = min(self.xlim[0],self.ylim[0],self.zlim[0])
#smax = max(self.xlim[1],self.ylim[1],self.zlim[1])
smin = min(xmin,ymin,zmin)
smax = max(xmax,ymax,zmax)
delta = 0.5*(smax - smin)
self.xlim = [cx-delta,cx+delta]
self.ylim = [cy-delta,cy+delta]
self.zlim = [cz-delta,cz+delta]
self.axis_computed = True
def plot_refresh(self, lock):
if kVerbose:
print(mp.current_process().name,"refreshing ", self.title)
lock.acquire()
self.setAxis()
#if not kUseFigCanvasDrawIdle:
if kUsePlotPause:
plt.pause(kPlotSleep)
lock.release()
# fake
def refresh(self):
pass