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The matplotlib plotter implementation for all the primitive tasks (in our case: lines and
dots)
"""
from typing import Any, Callable, Dict, List
import matplotlib.pyplot as plt
import mpl_toolkits.mplot3d.axes3d as p3
import numpy as np
from .core import BasePlotter, BasePlotterTask
class Matplotlib2DPlotter(BasePlotter):
_fig: plt.figure # plt figure
_ax: plt.axis # plt axis
# stores artist objects for each task (task name as the key)
_artist_cache: Dict[str, Any]
# callables for each task primitives
_create_impl_callables: Dict[str, Callable]
_update_impl_callables: Dict[str, Callable]
def __init__(self, task: "BasePlotterTask") -> None:
fig, ax = plt.subplots()
self._fig = fig
self._ax = ax
self._artist_cache = {}
self._create_impl_callables = {
"Draw2DLines": self._lines_create_impl,
"Draw2DDots": self._dots_create_impl,
"Draw2DTrail": self._trail_create_impl,
}
self._update_impl_callables = {
"Draw2DLines": self._lines_update_impl,
"Draw2DDots": self._dots_update_impl,
"Draw2DTrail": self._trail_update_impl,
}
self._init_lim()
super().__init__(task)
@property
def ax(self):
return self._ax
@property
def fig(self):
return self._fig
def show(self):
plt.show()
def _min(self, x, y):
if x is None:
return y
if y is None:
return x
return min(x, y)
def _max(self, x, y):
if x is None:
return y
if y is None:
return x
return max(x, y)
def _init_lim(self):
self._curr_x_min = None
self._curr_y_min = None
self._curr_x_max = None
self._curr_y_max = None
def _update_lim(self, xs, ys):
self._curr_x_min = self._min(np.min(xs), self._curr_x_min)
self._curr_y_min = self._min(np.min(ys), self._curr_y_min)
self._curr_x_max = self._max(np.max(xs), self._curr_x_max)
self._curr_y_max = self._max(np.max(ys), self._curr_y_max)
def _set_lim(self):
if not (
self._curr_x_min is None
or self._curr_x_max is None
or self._curr_y_min is None
or self._curr_y_max is None
):
self._ax.set_xlim(self._curr_x_min, self._curr_x_max)
self._ax.set_ylim(self._curr_y_min, self._curr_y_max)
self._init_lim()
@staticmethod
def _lines_extract_xy_impl(index, lines_task):
return lines_task[index, :, 0], lines_task[index, :, 1]
@staticmethod
def _trail_extract_xy_impl(index, trail_task):
return (trail_task[index : index + 2, 0], trail_task[index : index + 2, 1])
def _lines_create_impl(self, lines_task):
color = lines_task.color
self._artist_cache[lines_task.task_name] = [
self._ax.plot(
*Matplotlib2DPlotter._lines_extract_xy_impl(i, lines_task),
color=color,
linewidth=lines_task.line_width,
alpha=lines_task.alpha
)[0]
for i in range(len(lines_task))
]
def _lines_update_impl(self, lines_task):
lines_artists = self._artist_cache[lines_task.task_name]
for i in range(len(lines_task)):
artist = lines_artists[i]
xs, ys = Matplotlib2DPlotter._lines_extract_xy_impl(i, lines_task)
artist.set_data(xs, ys)
if lines_task.influence_lim:
self._update_lim(xs, ys)
def _dots_create_impl(self, dots_task):
color = dots_task.color
self._artist_cache[dots_task.task_name] = self._ax.plot(
dots_task[:, 0],
dots_task[:, 1],
c=color,
linestyle="",
marker=".",
markersize=dots_task.marker_size,
alpha=dots_task.alpha,
)[0]
def _dots_update_impl(self, dots_task):
dots_artist = self._artist_cache[dots_task.task_name]
dots_artist.set_data(dots_task[:, 0], dots_task[:, 1])
if dots_task.influence_lim:
self._update_lim(dots_task[:, 0], dots_task[:, 1])
def _trail_create_impl(self, trail_task):
color = trail_task.color
trail_length = len(trail_task) - 1
self._artist_cache[trail_task.task_name] = [
self._ax.plot(
*Matplotlib2DPlotter._trail_extract_xy_impl(i, trail_task),
color=trail_task.color,
linewidth=trail_task.line_width,
alpha=trail_task.alpha * (1.0 - i / (trail_length - 1))
)[0]
for i in range(trail_length)
]
def _trail_update_impl(self, trail_task):
trails_artists = self._artist_cache[trail_task.task_name]
for i in range(len(trail_task) - 1):
artist = trails_artists[i]
xs, ys = Matplotlib2DPlotter._trail_extract_xy_impl(i, trail_task)
artist.set_data(xs, ys)
if trail_task.influence_lim:
self._update_lim(xs, ys)
def _create_impl(self, task_list):
for task in task_list:
self._create_impl_callables[task.task_type](task)
self._draw()
def _update_impl(self, task_list):
for task in task_list:
self._update_impl_callables[task.task_type](task)
self._draw()
def _set_aspect_equal_2d(self, zero_centered=True):
xlim = self._ax.get_xlim()
ylim = self._ax.get_ylim()
if not zero_centered:
xmean = np.mean(xlim)
ymean = np.mean(ylim)
else:
xmean = 0
ymean = 0
plot_radius = max(
[
abs(lim - mean_)
for lims, mean_ in ((xlim, xmean), (ylim, ymean))
for lim in lims
]
)
self._ax.set_xlim([xmean - plot_radius, xmean + plot_radius])
self._ax.set_ylim([ymean - plot_radius, ymean + plot_radius])
def _draw(self):
self._set_lim()
self._set_aspect_equal_2d()
self._fig.canvas.draw()
self._fig.canvas.flush_events()
plt.pause(0.00001)
class Matplotlib3DPlotter(BasePlotter):
_fig: plt.figure # plt figure
_ax: p3.Axes3D # plt 3d axis
# stores artist objects for each task (task name as the key)
_artist_cache: Dict[str, Any]
# callables for each task primitives
_create_impl_callables: Dict[str, Callable]
_update_impl_callables: Dict[str, Callable]
def __init__(self, task: "BasePlotterTask") -> None:
self._fig = plt.figure()
self._ax = p3.Axes3D(self._fig)
self._artist_cache = {}
self._create_impl_callables = {
"Draw3DLines": self._lines_create_impl,
"Draw3DDots": self._dots_create_impl,
"Draw3DTrail": self._trail_create_impl,
}
self._update_impl_callables = {
"Draw3DLines": self._lines_update_impl,
"Draw3DDots": self._dots_update_impl,
"Draw3DTrail": self._trail_update_impl,
}
self._init_lim()
super().__init__(task)
@property
def ax(self):
return self._ax
@property
def fig(self):
return self._fig
def show(self):
plt.show()
def _min(self, x, y):
if x is None:
return y
if y is None:
return x
return min(x, y)
def _max(self, x, y):
if x is None:
return y
if y is None:
return x
return max(x, y)
def _init_lim(self):
self._curr_x_min = None
self._curr_y_min = None
self._curr_z_min = None
self._curr_x_max = None
self._curr_y_max = None
self._curr_z_max = None
def _update_lim(self, xs, ys, zs):
self._curr_x_min = self._min(np.min(xs), self._curr_x_min)
self._curr_y_min = self._min(np.min(ys), self._curr_y_min)
self._curr_z_min = self._min(np.min(zs), self._curr_z_min)
self._curr_x_max = self._max(np.max(xs), self._curr_x_max)
self._curr_y_max = self._max(np.max(ys), self._curr_y_max)
self._curr_z_max = self._max(np.max(zs), self._curr_z_max)
def _set_lim(self):
if not (
self._curr_x_min is None
or self._curr_x_max is None
or self._curr_y_min is None
or self._curr_y_max is None
or self._curr_z_min is None
or self._curr_z_max is None
):
self._ax.set_xlim3d(self._curr_x_min, self._curr_x_max)
self._ax.set_ylim3d(self._curr_y_min, self._curr_y_max)
self._ax.set_zlim3d(self._curr_z_min, self._curr_z_max)
self._init_lim()
@staticmethod
def _lines_extract_xyz_impl(index, lines_task):
return lines_task[index, :, 0], lines_task[index, :, 1], lines_task[index, :, 2]
@staticmethod
def _trail_extract_xyz_impl(index, trail_task):
return (
trail_task[index : index + 2, 0],
trail_task[index : index + 2, 1],
trail_task[index : index + 2, 2],
)
def _lines_create_impl(self, lines_task):
color = lines_task.color
self._artist_cache[lines_task.task_name] = [
self._ax.plot(
*Matplotlib3DPlotter._lines_extract_xyz_impl(i, lines_task),
color=color,
linewidth=lines_task.line_width,
alpha=lines_task.alpha
)[0]
for i in range(len(lines_task))
]
def _lines_update_impl(self, lines_task):
lines_artists = self._artist_cache[lines_task.task_name]
for i in range(len(lines_task)):
artist = lines_artists[i]
xs, ys, zs = Matplotlib3DPlotter._lines_extract_xyz_impl(i, lines_task)
artist.set_data(xs, ys)
artist.set_3d_properties(zs)
if lines_task.influence_lim:
self._update_lim(xs, ys, zs)
def _dots_create_impl(self, dots_task):
color = dots_task.color
self._artist_cache[dots_task.task_name] = self._ax.plot(
dots_task[:, 0],
dots_task[:, 1],
dots_task[:, 2],
c=color,
linestyle="",
marker=".",
markersize=dots_task.marker_size,
alpha=dots_task.alpha,
)[0]
def _dots_update_impl(self, dots_task):
dots_artist = self._artist_cache[dots_task.task_name]
dots_artist.set_data(dots_task[:, 0], dots_task[:, 1])
dots_artist.set_3d_properties(dots_task[:, 2])
if dots_task.influence_lim:
self._update_lim(dots_task[:, 0], dots_task[:, 1], dots_task[:, 2])
def _trail_create_impl(self, trail_task):
color = trail_task.color
trail_length = len(trail_task) - 1
self._artist_cache[trail_task.task_name] = [
self._ax.plot(
*Matplotlib3DPlotter._trail_extract_xyz_impl(i, trail_task),
color=trail_task.color,
linewidth=trail_task.line_width,
alpha=trail_task.alpha * (1.0 - i / (trail_length - 1))
)[0]
for i in range(trail_length)
]
def _trail_update_impl(self, trail_task):
trails_artists = self._artist_cache[trail_task.task_name]
for i in range(len(trail_task) - 1):
artist = trails_artists[i]
xs, ys, zs = Matplotlib3DPlotter._trail_extract_xyz_impl(i, trail_task)
artist.set_data(xs, ys)
artist.set_3d_properties(zs)
if trail_task.influence_lim:
self._update_lim(xs, ys, zs)
def _create_impl(self, task_list):
for task in task_list:
self._create_impl_callables[task.task_type](task)
self._draw()
def _update_impl(self, task_list):
for task in task_list:
self._update_impl_callables[task.task_type](task)
self._draw()
def _set_aspect_equal_3d(self):
xlim = self._ax.get_xlim3d()
ylim = self._ax.get_ylim3d()
zlim = self._ax.get_zlim3d()
xmean = np.mean(xlim)
ymean = np.mean(ylim)
zmean = np.mean(zlim)
plot_radius = max(
[
abs(lim - mean_)
for lims, mean_ in ((xlim, xmean), (ylim, ymean), (zlim, zmean))
for lim in lims
]
)
self._ax.set_xlim3d([xmean - plot_radius, xmean + plot_radius])
self._ax.set_ylim3d([ymean - plot_radius, ymean + plot_radius])
self._ax.set_zlim3d([zmean - plot_radius, zmean + plot_radius])
def _draw(self):
self._set_lim()
self._set_aspect_equal_3d()
self._fig.canvas.draw()
self._fig.canvas.flush_events()
plt.pause(0.00001)
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