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https://github.com/zhm-real/PathPlanning.git
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'update'
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yue qi
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# plotting
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import matplotlib.pyplot as plt
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from mpl_toolkits.mplot3d import Axes3D
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from mpl_toolkits.mplot3d.art3d import Poly3DCollection
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import mpl_toolkits.mplot3d as plt3d
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from mpl_toolkits.mplot3d import proj3d
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import numpy as np
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def CreateSphere(center, r):
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u = np.linspace(0, 2 * np.pi, 30)
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v = np.linspace(0, np.pi, 30)
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x = np.outer(np.cos(u), np.sin(v))
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y = np.outer(np.sin(u), np.sin(v))
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z = np.outer(np.ones(np.size(u)), np.cos(v))
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x, y, z = r * x + center[0], r * y + center[1], r * z + center[2]
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return (x, y, z)
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def draw_Spheres(ax, balls):
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for i in balls:
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(xs, ys, zs) = CreateSphere(i[0:3], i[-1])
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ax.plot_wireframe(xs, ys, zs, alpha=0.15, color="b")
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def draw_block_list(ax, blocks, color=None, alpha=0.15):
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'''
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drawing the blocks on the graph
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'''
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v = np.array([[0, 0, 0], [1, 0, 0], [1, 1, 0], [0, 1, 0], [0, 0, 1], [1, 0, 1], [1, 1, 1], [0, 1, 1]],
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dtype='float')
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f = np.array([[0, 1, 5, 4], [1, 2, 6, 5], [2, 3, 7, 6], [3, 0, 4, 7], [0, 1, 2, 3], [4, 5, 6, 7]])
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n = blocks.shape[0]
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d = blocks[:, 3:6] - blocks[:, :3]
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vl = np.zeros((8 * n, 3))
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fl = np.zeros((6 * n, 4), dtype='int64')
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for k in range(n):
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vl[k * 8:(k + 1) * 8, :] = v * d[k] + blocks[k, :3]
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fl[k * 6:(k + 1) * 6, :] = f + k * 8
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if type(ax) is Poly3DCollection:
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ax.set_verts(vl[fl])
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else:
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pc = Poly3DCollection(vl[fl], alpha=alpha, linewidths=1, edgecolors='k')
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pc.set_facecolor(color)
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h = ax.add_collection3d(pc)
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return h
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def obb_verts(obb):
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# 0.017004013061523438 for 1000 iters
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ori_body = np.array([[1, 1, 1], [-1, 1, 1], [-1, -1, 1], [1, -1, 1], \
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[1, 1, -1], [-1, 1, -1], [-1, -1, -1], [1, -1, -1]])
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# P + (ori * E)
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ori_body = np.multiply(ori_body, obb.E)
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# obb.O is orthornormal basis in {W}, aka rotation matrix in SO(3)
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verts = (obb.O @ ori_body.T).T + obb.P
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return verts
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def draw_obb(ax, OBB, color=None, alpha=0.15):
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f = np.array([[0, 1, 5, 4], [1, 2, 6, 5], [2, 3, 7, 6], [3, 0, 4, 7], [0, 1, 2, 3], [4, 5, 6, 7]])
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n = OBB.shape[0]
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vl = np.zeros((8 * n, 3))
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fl = np.zeros((6 * n, 4), dtype='int64')
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for k in range(n):
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vl[k * 8:(k + 1) * 8, :] = obb_verts(OBB[k])
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fl[k * 6:(k + 1) * 6, :] = f + k * 8
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if type(ax) is Poly3DCollection:
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ax.set_verts(vl[fl])
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else:
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pc = Poly3DCollection(vl[fl], alpha=alpha, linewidths=1, edgecolors='k')
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pc.set_facecolor(color)
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h = ax.add_collection3d(pc)
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return h
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def draw_line(ax, SET, visibility=1, color=None):
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if SET != []:
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for i in SET:
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xs = i[0][0], i[1][0]
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ys = i[0][1], i[1][1]
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zs = i[0][2], i[1][2]
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line = plt3d.art3d.Line3D(xs, ys, zs, alpha=visibility, color=color)
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ax.add_line(line)
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def visualization(initparams):
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if initparams.ind % 100 == 0 or initparams.done:
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#----------- list structure
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# V = np.array(list(initparams.V))
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# E = initparams.E
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#----------- end
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V = np.array(initparams.V)
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# edges = initparams.E
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Path = np.array(initparams.Path)
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start = initparams.env.start
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goal = initparams.env.goal
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# edges = E.get_edge()
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#----------- list structure
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edges = []
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for i in initparams.Parent:
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edges.append([i,initparams.Parent[i]])
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#----------- end
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# generate axis objects
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ax = plt.subplot(111, projection='3d')
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# ax.view_init(elev=0.+ 0.03*initparams.ind/(2*np.pi), azim=90 + 0.03*initparams.ind/(2*np.pi))
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# ax.view_init(elev=0., azim=90.)
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ax.view_init(elev=8., azim=120.)
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# ax.view_init(elev=-8., azim=180)
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ax.clear()
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# drawing objects
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draw_Spheres(ax, initparams.env.balls)
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draw_block_list(ax, initparams.env.blocks)
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if initparams.env.OBB is not None:
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draw_obb(ax, initparams.env.OBB)
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draw_block_list(ax, np.array([initparams.env.boundary]), alpha=0)
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draw_line(ax, edges, visibility=0.75, color='g')
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draw_line(ax, Path, color='r')
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# if len(V) > 0:
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# ax.scatter3D(V[:, 0], V[:, 1], V[:, 2], s=2, color='g', )
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ax.plot(start[0:1], start[1:2], start[2:], 'go', markersize=7, markeredgecolor='k')
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ax.plot(goal[0:1], goal[1:2], goal[2:], 'ro', markersize=7, markeredgecolor='k')
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# adjust the aspect ratio
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xmin, xmax = initparams.env.boundary[0], initparams.env.boundary[3]
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ymin, ymax = initparams.env.boundary[1], initparams.env.boundary[4]
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zmin, zmax = initparams.env.boundary[2], initparams.env.boundary[5]
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dx, dy, dz = xmax - xmin, ymax - ymin, zmax - zmin
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ax.get_proj = make_get_proj(ax, 1 * dx, 1 * dy, 2 * dy)
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make_transparent(ax)
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#plt.xlabel('x')
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#plt.ylabel('y')
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ax.set_axis_off()
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plt.pause(0.0001)
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def make_get_proj(self, rx, ry, rz):
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'''
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Return a variation on :func:`~mpl_toolkit.mplot2d.axes3d.Axes3D.getproj` that
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makes the box aspect ratio equal to *rx:ry:rz*, using an axes object *self*.
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'''
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rm = max(rx, ry, rz)
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kx = rm / rx;
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ky = rm / ry;
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kz = rm / rz
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# Copied directly from mpl_toolkit/mplot3d/axes3d.py. New or modified lines are
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# marked by ##
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def get_proj():
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relev, razim = np.pi * self.elev / 180, np.pi * self.azim / 180
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xmin, xmax = self.get_xlim3d()
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ymin, ymax = self.get_ylim3d()
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zmin, zmax = self.get_zlim3d()
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# transform to uniform world coordinates 0-1.0,0-1.0,0-1.0
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worldM = proj3d.world_transformation(xmin, xmax,
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ymin, ymax,
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zmin, zmax)
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ratio = 0.5
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# adjust the aspect ratio ##
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aspectM = proj3d.world_transformation(-kx + 1, kx, ##
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-ky + 1, ky, ##
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-kz + 1, kz) ##
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# look into the middle of the new coordinates
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R = np.array([0.5, 0.5, 0.5])
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xp = R[0] + np.cos(razim) * np.cos(relev) * self.dist * ratio
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yp = R[1] + np.sin(razim) * np.cos(relev) * self.dist * ratio
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zp = R[2] + np.sin(relev) * self.dist * ratio
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E = np.array((xp, yp, zp))
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self.eye = E
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self.vvec = R - E
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self.vvec = self.vvec / np.linalg.norm(self.vvec)
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if abs(relev) > np.pi / 2:
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# upside down
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V = np.array((0, 0, -1))
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else:
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V = np.array((0, 0, 1))
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zfront, zback = -self.dist * ratio, self.dist * ratio
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viewM = proj3d.view_transformation(E, R, V)
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perspM = proj3d.persp_transformation(zfront, zback)
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M0 = np.dot(viewM, np.dot(aspectM, worldM)) ##
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M = np.dot(perspM, M0)
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return M
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return get_proj
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def make_transparent(ax):
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# make the panes transparent
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ax.xaxis.set_pane_color((1.0, 1.0, 1.0, 0.0))
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ax.yaxis.set_pane_color((1.0, 1.0, 1.0, 0.0))
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ax.zaxis.set_pane_color((1.0, 1.0, 1.0, 0.0))
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# make the grid lines transparent
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ax.xaxis._axinfo["grid"]['color'] = (1,1,1,0)
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ax.yaxis._axinfo["grid"]['color'] = (1,1,1,0)
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ax.zaxis._axinfo["grid"]['color'] = (1,1,1,0)
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if __name__ == '__main__':
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pass
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