243 lines
9.5 KiB
C++
243 lines
9.5 KiB
C++
#ifndef MESHPLOTTER_H
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#define MESHPLOTTER_H
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#include <KLib/misc/gnuplot/Gnuplot.h>
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#include <KLib/misc/gnuplot/GnuplotSplot.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementColorPoints.h>
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#include <KLib/misc/gnuplot/objects/GnuplotObjectPolygon.h>
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#include <Indoor/math/Distributions.h>
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#include <Indoor/navMesh/NavMesh.h>
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#include <Indoor/floorplan/v2/Floorplan.h>
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class NavMeshTriangleDijkstra;
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/**
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* debug plot NavMeshes
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*/
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class MeshPlotter {
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public:
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K::Gnuplot gp;
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K::GnuplotSplot plot;
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K::GnuplotSplotElementLines pFloor;
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K::GnuplotSplotElementLines pOutline;
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K::GnuplotSplotElementLines lines;
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K::GnuplotSplotElementPoints border;
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K::GnuplotSplotElementColorPoints particles;
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K::GnuplotSplotElementColorPoints distances;
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K::GnuplotSplotElementLines pathEstimated;
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K::GnuplotSplotElementLines shortestPath;
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K::GnuplotSplotElementLines groundtruthPath;
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private:
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K::GnuplotFill gFill[6] = {
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K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#0000ff"), 1), // unknown
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K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#999999"), 1), // indoor
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K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#44ffee"), 1), // outdoor
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K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#666699"), 1), // door
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K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#444444"), 1), // stairs_level
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K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#666666"), 1) // stairs_skewed
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};
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public:
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MeshPlotter() {
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gp << "set view equal xy\n";
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plot.add(&lines); lines.setShowPoints(true);
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plot.add(&border);
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plot.add(&particles); particles.setPointType(7); particles.setPointSize(0.2);
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plot.add(&pathEstimated); pathEstimated.getStroke().setWidth(2); pathEstimated.setShowPoints(false); pathEstimated.getStroke().getColor().setHexStr("#00ff00");
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plot.add(&groundtruthPath); groundtruthPath.getStroke().setWidth(2); groundtruthPath.getStroke().getColor().setHexStr("#000000");
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plot.add(&distances); distances.setPointSize(0.75); distances.setPointType(7);
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plot.add(&shortestPath); shortestPath.getStroke().setWidth(3);
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plot.add(&pFloor);
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plot.add(&pOutline); pOutline.getStroke().getColor().setHexStr("#999999");
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}
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void draw() {
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gp.draw(plot);
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gp.flush();
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}
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template <typename T> void showParticles(const std::vector<T>& particles) {
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this->particles.clear();
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double min = +999;
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double max = -999;
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for (const T& p : particles) {
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const K::GnuplotPoint3 p3(p.state.pos.pos.x, p.state.pos.pos.y, p.state.pos.pos.z);
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const double prob = std::pow(p.weight, 0.25);
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this->particles.add(p3, prob);
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if (prob > max) {max = prob;}
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if (prob < min) {min = prob;}
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}
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plot.getAxisCB().setRange(min, max + 0.000001);
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}
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template <typename Tria> void addMesh(NM::NavMesh<Tria>& nm) {
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K::GnuplotStroke gStroke = K::GnuplotStroke(K::GnuplotDashtype::SOLID, 1, K::GnuplotColor::fromHexStr("#666600"));
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const BBox3 bbox = nm.getBBox();
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border.add(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z));
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border.add(K::GnuplotPoint3(bbox.getMax().x,bbox.getMax().y,bbox.getMax().z));
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// lines.add(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z), K::GnuplotPoint3(bbox.getMax().x, 0, 0));
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// lines.add(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z), K::GnuplotPoint3(0,bbox.getMax().y,0));
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// lines.addSegment(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z), K::GnuplotPoint3(0,0,bbox.getMax().z));
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//stairs in eigene group? vlt gehen dann auch die dellen weg?
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for (const Tria* tria : nm) {
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const uint8_t type = tria->getType();
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if (type < 0 || type > 5) {
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throw std::runtime_error("out of type-bounds");
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}
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K::GnuplotObjectPolygon* pol = new K::GnuplotObjectPolygon(gFill[type], gStroke);
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pol->add(K::GnuplotCoordinate3(tria->getP1().x, tria->getP1().y, tria->getP1().z, K::GnuplotCoordinateSystem::FIRST));
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pol->add(K::GnuplotCoordinate3(tria->getP2().x, tria->getP2().y, tria->getP2().z, K::GnuplotCoordinateSystem::FIRST));
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pol->add(K::GnuplotCoordinate3(tria->getP3().x, tria->getP3().y, tria->getP3().z, K::GnuplotCoordinateSystem::FIRST));
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pol->close();
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pol->setZIndex(tria->getP3().z);
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plot.getObjects().add(pol);
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//for (int i = 0; i < nm.getNumNeighbors(tria); ++i) {
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// const Tria* o = nm.getNeighbor(tria, i);
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// const Point3 p1 = tria->getCenter();
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// const Point3 p2 = o.getCenter();
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// //lines.addSegment(K::GnuplotPoint3(p1.x,p1.y,p1.z+0.1), K::GnuplotPoint3(p2.x,p2.y,p2.z+0.1));
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//}
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for (const NM::NavMeshTriangle* o : *tria) {
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const Point3 p1 = tria->getCenter();
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const Point3 p2 = o->getCenter();
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// lines.addSegment(K::GnuplotPoint3(p1.x,p1.y,p1.z+0.1), K::GnuplotPoint3(p2.x,p2.y,p2.z+0.1));
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}
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}
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plot.getObjects().reOrderByZIndex();
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}
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template <typename Tria> void addDijkstra(NM::NavMesh<Tria>& mesh) {
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distances.clear();
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// ensure Tria extends NavMeshTriangleDijkstra
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StaticAssert::AinheritsB<Tria, NavMeshTriangleDijkstra>();
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NM::NavMeshRandom<Tria> rnd = mesh.getRandom();
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for (int i = 0; i < 5000; ++i) {
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NM::NavMeshLocation<Tria> loc = rnd.draw();
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float v = loc.tria->interpolate(loc.pos, loc.tria->spFromP1.distance, loc.tria->spFromP2.distance, loc.tria->spFromP3.distance);
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distances.add(K::GnuplotPoint3(loc.pos.x, loc.pos.y, loc.pos.z), v);
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}
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// Distribution::Uniform<float> dist (-0.5, +0.5);
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// for (const Tria* t : mesh) {
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// const Point3 posC = t->getCenter();
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// distances.add(K::GnuplotPoint3(posC.x+dist.draw(), posC.y+dist.draw(), posC.z), t->distAtCenter);
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// const Point3 pos1 = t->getP1();
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// distances.add(K::GnuplotPoint3(pos1.x+dist.draw(), pos1.y+dist.draw(), pos1.z), t->distAtP1);
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// const Point3 pos2 = t->getP2();
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// distances.add(K::GnuplotPoint3(pos2.x+dist.draw(), pos2.y+dist.draw(), pos2.z), t->distAtP2);
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// const Point3 pos3 = t->getP3();
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// distances.add(K::GnuplotPoint3(pos3.x+dist.draw(), pos3.y+dist.draw(), pos3.z), t->distAtP3);
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// }
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}
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template <typename Tria> void addDijkstra(std::vector<NM::NavMeshLocation<Tria>>& path) {
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shortestPath.clear();
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for (auto& e : path) {
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K::GnuplotPoint3 gp(e.pos.x, e.pos.y, e.pos.z);
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shortestPath.add(gp);
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}
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}
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void addGroundTruthNode(const Point3 pos) {
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K::GnuplotPoint3 gp(pos.x, pos.y, std::round(pos.z * 10) / 10);
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groundtruthPath.add(gp);
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}
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void addEstimationNode(const Point3 pos){
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K::GnuplotPoint3 est(pos.x, pos.y, std::round(pos.z * 10) / 10);
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pathEstimated.add(est);
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}
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void setTimeInMinute(const int minutes, const int seconds) {
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gp << "set label 1002 at screen 0.02, 0.94 'Time: " << minutes << ":" << seconds << "'\n";
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}
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void setGT(const Point3 pt) {
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gp << "set arrow 31337 from " << pt.x << "," << pt.y << "," << (pt.z+1.4) << " to " << pt.x << "," << pt.y << "," << pt.z << " front \n";
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}
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void setCurPos(const Point3 pt) {
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gp << "set arrow 31338 from " << pt.x << "," << pt.y << "," << (pt.z+0.9) << " to " << pt.x << "," << pt.y << "," << pt.z << " lw 2 lc 'green' front \n";
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}
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void saveToFile(std::ofstream& stream){
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gp.draw(plot);
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stream << "set terminal x11 size 2000,1500\n";
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stream << gp.getBuffer();
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stream << "pause -1\n";
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gp.flush();
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}
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void printOverview(const std::string& path) {
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gp << "set terminal png size 1280,720\n";
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gp << "set output '" << path << "_overview" << ".png'\n";
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gp << "set view 75,60\n";
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gp << "set autoscale xy\n";
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gp << "set autoscale z\n";
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draw();
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}
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//meshless drawing
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void addFloors(Floorplan::IndoorMap* map) {
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for (Floorplan::Floor* f : map->floors) {
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for (Floorplan::FloorObstacle* obs : f->obstacles) {
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Floorplan::FloorObstacleLine* line = dynamic_cast<Floorplan::FloorObstacleLine*>(obs);
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if (line) {
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K::GnuplotPoint3 p1(line->from.x, line->from.y, f->atHeight);
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K::GnuplotPoint3 p2(line->to.x, line->to.y, f->atHeight);
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pFloor.addSegment(p1, p2);
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}
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}
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}
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}
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void addOutline(Floorplan::IndoorMap* map) {
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for (Floorplan::Floor* f : map->floors) {
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for (Floorplan::FloorOutlinePolygon* poly : f->outline) {
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const int cnt = poly->poly.points.size();
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for (int i = 0; i < cnt; ++i) {
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Point2 p1 = poly->poly.points[(i+0)];
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Point2 p2 = poly->poly.points[(i+1)%cnt];
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K::GnuplotPoint3 gp1(p1.x, p1.y, f->atHeight);
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K::GnuplotPoint3 gp2(p2.x, p2.y, f->atHeight);
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pOutline.addSegment(gp1, gp2);
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}
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}
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}
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}
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};
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#endif // MESHPLOTTER_H
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