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Ivan
2022-04-05 11:42:28 +03:00
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#
# BSD 3-Clause License
#
# This file is part of the Basalt project.
# https://gitlab.com/VladyslavUsenko/basalt.git
#
# Copyright (c) 2019-2021, Vladyslav Usenko and Nikolaus Demmel.
# All rights reserved.
#
import numpy as np
import os
import math
import functools
import matplotlib
matplotlib.use('Agg') # Not to use X server. For TravisCI.
import matplotlib.pyplot as plt # noqa
from matplotlib.ticker import MaxNLocator
prop_cycle = plt.rcParams['axes.prop_cycle']
#default_cycler = (cycler(linestyle=['-', '--', ':', '-.']) *
# cycler(color=prop_cycle.by_key()['color']))
class ModulusList(list):
def __init__(self, *args, **kwargs):
list.__init__(self, *args, **kwargs)
def __getitem__(self, key):
return list.__getitem__(self, key % len(self))
default_colors_finite = prop_cycle.by_key()['color']
default_colors_finite[0] = prop_cycle.by_key()['color'][0]
default_colors_finite[1] = prop_cycle.by_key()['color'][2]
default_colors_finite[2] = prop_cycle.by_key()['color'][3]
default_colors_finite[3] = prop_cycle.by_key()['color'][1]
default_colors = ModulusList(default_colors_finite)
#default_lines = ModulusList(["-", "-", ":", "--", "-.", ":", "--", "-."])
#default_markers = ModulusList(["o", "s", "^", "X", "D", "P", "v", "h"])
default_lines = ModulusList([":", "-", "-.", "--", ":", "--", "-.", "-"])
default_markers = ModulusList(["o", "s", "^", "X", "D", "P", "v", "h"])
from collections import deque
from collections import defaultdict
from pylatex import Figure
from pylatex.utils import NoEscape
from .containers import ExperimentsContainer
from .util import rotation2d
class NoFloatFigure(Figure):
pass
class Plot(ExperimentsContainer):
def __init__(self, exps, spec, seq_displayname_mapping, export_basepath):
super().__init__(seq_displayname_mapping)
self.width = None
plotters = dict(nullspace=self.plot_nullspace,
eigenvalues=self.plot_eigenvalues,
trajectory=self.plot_trajectory)
plot_fn = plotters[spec.type]
plot_fn(exps, spec)
if spec.width is not None:
self.width = spec.width
elif self.width is None:
self.width = 1
plt.tight_layout()
saved_file = self._save_plot(spec, export_basepath)
if "sequence" in spec:
plot_name = '{} {} {}'.format(spec.type, spec.name, spec.sequence).replace("_", " ")
else:
plot_name = '{} {}'.format(spec.type, spec.name).replace("_", " ")
#with self.create(Subsection(spec.name, numbering=False)) as p:
with self.create(NoFloatFigure()) as f:
f.add_image(os.path.abspath(saved_file), width=NoEscape(r'{}\textwidth'.format(self.width)))
f.add_caption(plot_name)
# cleanup
plt.close('all')
def plot_nullspace(self, exps, spec):
logs = [exps[e].runs[spec.sequence].log for e in spec.experiments]
names = [exps[e].display_name for e in spec.experiments]
num_plots = len(names)
if num_plots == 4:
if True:
if spec.figsize is None:
spec.figsize = [10, 2.5]
fig, axs = plt.subplots(1, 4, figsize=spec.figsize, sharey=True)
else:
if spec.figsize is None:
spec.figsize = [10, 4.7]
fig, axs = plt.subplots(2, 2, figsize=spec.figsize, sharey=True)
axs = axs.flatten()
else:
if spec.figsize is None:
spec.figsize = [6, 2 * num_plots]
fig, axs = plt.subplots(num_plots, 1, figsize=spec.figsize, sharey=True)
if num_plots == 1:
axs = [axs]
for i, (log, name) in enumerate(zip(logs, names)):
if log is None:
continue
ax = axs[i]
ns = log.sums.marg_ns[1:] # skip first prior, which just is all 0
ns = np.abs(ns) # cost change may be negative, we are only interested in the norm
ns = np.maximum(ns, 1e-20) # clamp at very small value
markerfacecolor = "white"
markevery = 1000
if spec.sequence == "kitti10":
markevery = 100
ax.semilogy(
ns[:, 0],
":",
# label="x",
color="tab:blue")
ax.semilogy(
ns[:, 1],
":",
# label="y",
color="tab:blue")
ax.semilogy(
ns[:, 2],
":",
# label="z",
label="x, y, z",
color="tab:blue",
marker="o",
markerfacecolor=markerfacecolor,
markevery=(markevery // 2, markevery))
ax.semilogy(
ns[:, 3],
":",
# label="roll",
color="tab:orange")
ax.semilogy(
ns[:, 4],
":",
# label="pitch",
label="roll, pitch",
color="tab:orange",
marker="s",
markerfacecolor=markerfacecolor,
markevery=(markevery // 2, markevery))
ax.semilogy(ns[:, 5],
":",
label="yaw",
color="tab:green",
marker="^",
markerfacecolor=markerfacecolor,
markevery=(0, markevery))
ax.semilogy(ns[:, 6],
":",
label="random",
color="tab:red",
marker="D",
markerfacecolor=markerfacecolor,
markevery=(0, markevery))
# marker on top of lines;
ax.semilogy(ns[:, 2],
color="None",
marker="o",
markerfacecolor=markerfacecolor,
markeredgecolor="tab:blue",
markevery=(markevery // 2, markevery))
ax.semilogy(ns[:, 4],
color="None",
marker="s",
markerfacecolor=markerfacecolor,
markeredgecolor="tab:orange",
markevery=(markevery // 2, markevery))
#ax.set_yscale("symlog", linthresh=1e-12)
ax.set_title(name)
ax.set_yticks([1e-17, 1e-12, 1e-7, 1e-2, 1e3, 1e8])
if spec.sequence == "kitti10":
ax.set_xticks([i * 100 for i in range(4)])
#ax.xaxis.set_minor_locator(matplotlib.ticker.FixedLocator([i * 100 + 50 for i in range(4)]))
if i == 0:
ax.set_ylabel("$\\Delta E_m$", rotation=0)
ax.yaxis.set_label_coords(-0.05, 1.05)
if i == num_plots - 1:
ax.legend(loc=spec.legend_loc)
if spec.ylim.top is not None:
ax.set_ylim(top=spec.ylim.top)
if spec.ylim.bottom is not None:
ax.set_ylim(bottom=spec.ylim.bottom)
if spec.suptitle:
fig.suptitle(spec.suptitle)
def plot_eigenvalues(self, exps, spec):
logs = [exps[e].runs[spec.sequence].log for e in spec.experiments]
names = [exps[e].display_name for e in spec.experiments]
num_plots = 1
if spec.figsize is None:
spec.figsize = [5.2, 2 * num_plots]
fig, axs = plt.subplots(num_plots, 1, figsize=spec.figsize)
ax = axs
for i, (log, name) in enumerate(zip(logs, names)):
if log is not None:
min_ev = [np.min(e) for e in log.sums.marg_ev[1:]]
#ax.plot(min_ev, ":", label=name, color=default_colors[i])
ax.plot(min_ev, default_lines[i], label=name, color=default_colors[i])
ax.set_yscale("symlog", linthresh=1e-8)
ax.legend(loc=spec.legend_loc)
#ax.set_title("smallest eigenvalue {} {}".format(name, spec.sequence))
if spec.sequence == "eurocMH01":
ax.set_xticks([i * 1000 for i in range(4)])
ax.xaxis.set_minor_locator(matplotlib.ticker.FixedLocator([i * 1000 + 500 for i in range(4)]))
if spec.sequence == "kitti10":
ax.set_xticks([i * 100 for i in range(4)])
ax.xaxis.set_minor_locator(matplotlib.ticker.FixedLocator([i * 100 + 50 for i in range(4)]))
ax.set_yticks([-1e4, -1e-4, 0.0, 1e-4, 1e4])
ax.set_ylim(bottom=-1e8, top=1e8)
# ax.yaxis.tick_right()
ax.set_ylabel("$\\sigma_{min}$", rotation=0)
ax.yaxis.set_label_coords(0, 1.05)
if spec.ylim.top is not None:
ax.set_ylim(top=spec.ylim.top)
if spec.ylim.bottom is not None:
ax.set_ylim(bottom=spec.ylim.bottom)
if spec.suptitle:
fig.suptitle(spec.suptitle)
def plot_trajectory(self, exps, spec):
#self.width = 1.5
runs = [exps[e].runs[spec.sequence] for e in spec.experiments]
names = [exps[e].display_name for e in spec.experiments]
linewidth_factor = 3
R = rotation2d(spec.rotate2d)
traj_axes_idx = self._axes_spec_to_index(spec.trajectory_axes)
if spec.figsize is None:
spec.figsize = [6.4, 4.8]
fig, ax = plt.subplots(figsize=spec.figsize)
ax.axis("equal")
ax.axis('off')
#ax.set_xlabel("x")
#ax.set_ylabel("y")
gt_color = "tab:grey"
#gt_color = "black"
# take gt-trajectory from first experiment:
if runs[0].traj_gt is not None:
gt = runs[0].traj_gt[:, traj_axes_idx].T
gt = np.matmul(R, gt)
ax.plot(gt[0, :],
gt[1, :],
'-',
zorder=1,
linewidth=1 * linewidth_factor,
color=gt_color,
label="ground truth")
# https://matplotlib.org/stable/gallery/color/named_colors.html
linestyles = [":", ":", "--", "-"]
colors = [default_colors[1], default_colors[3]]
#colors = ["tab:blue", "tab:orange"]
linewidths = [2, 1]
for i, (r, name) in enumerate(zip(runs, names)):
# plot in decreasing zorder
#zorder = len(runs) - i + 1
zorder = i + 2
if r.traj_est is not None:
pos = r.traj_est[:, traj_axes_idx].T
pos = np.matmul(R, pos)
ax.plot(
pos[0, :],
pos[1, :],
linestyles[i],
#default_lines[i],
zorder=zorder,
linewidth=linewidths[i] * linewidth_factor,
label=name,
color=colors[i])
#ax.set_xlim(np.min(x_gt), np.max(x_gt))
#ax.set_ylim(np.min(y_gt), np.max(y_gt))
#lines = [gt]
#colors = ['black']
#line_segments = LineCollection(lines, colors=colors, linestyle='solid')
#ax.add_collection(line_segments)
ax.legend(loc=spec.legend_loc)
if spec.title is not None:
ax.set_title(spec.title.format(sequence=self.seq_displayname(spec.sequence)))
@staticmethod
def _axes_spec_to_index(axes_spec):
index = []
assert len(axes_spec) == 2, "Inalid axes_spec {}".format(axes_spec)
for c in axes_spec:
if c == "x":
index.append(0)
elif c == "y":
index.append(1)
elif c == "z":
index.append(2)
else:
assert False, "Inalid axes_spec {}".format(axes_spec)
return index
# static:
filename_counters = defaultdict(int)
def _save_plot(self, spec, basepath, extension=".pdf"):
os.makedirs(basepath, exist_ok=True)
if "sequence" in spec:
filename = '{}_{}_{}'.format(spec.type, spec.name, spec.sequence)
else:
filename = '{}_{}'.format(spec.type, spec.name)
filename = filename.replace(" ", "_").replace("/", "_")
Plot.filename_counters[filename] += 1
counter = Plot.filename_counters[filename]
if counter > 1:
filename = "{}-{}".format(filename, counter)
filepath = os.path.join(basepath, "{}.{}".format(filename, extension.strip('.')))
plt.savefig(filepath)
return filepath