1 """Plot JSON formatted scenario."""
3 from math import cos, pi, sin
5 from matplotlib import pyplot as plt
6 from sys import argv, exit
19 def get_scenario(fname):
20 """Load scenario from file."""
22 raise ValueError("File name as argument needed")
23 with open(fname, "r") as f:
24 scenario = loads(f.read())
27 def plot_nodes(nodes=[]):
28 """Return ``xcoords``, ``ycoords`` arrays of nodes to plot.
31 nodes -- The list of nodes to plot.
36 xcoords.append(n[0] - MINX)
37 ycoords.append(n[1] - MINY)
38 return (xcoords, ycoords)
41 """Return ``xcoords``, ``ycoords`` arrays of car frame to plot.
44 pose -- The pose of a car.
47 lfx += (BCAR_W / 2.0) * cos(pose[2] + pi / 2.0)
48 lfx += BCAR_DF * cos(pose[2])
49 lfx += BCAR_SD * cos(pose[2])
52 lf3x += (BCAR_W / 2.0) * cos(pose[2] + pi / 2.0)
53 lf3x += 2/3 * BCAR_DF * cos(pose[2])
54 lf3x += BCAR_SD * cos(pose[2])
57 lrx += (BCAR_W / 2.0) * cos(pose[2] + pi / 2.0)
58 lrx += -BCAR_DR * cos(pose[2])
59 lrx += -BCAR_SD * cos(pose[2])
62 rrx += (BCAR_W / 2.0) * cos(pose[2] - pi / 2.0)
63 rrx += -BCAR_DR * cos(pose[2])
64 rrx += -BCAR_SD * cos(pose[2])
67 rfx += (BCAR_W / 2.0) * cos(pose[2] - pi / 2.0)
68 rfx += BCAR_DF * cos(pose[2])
69 rfx += BCAR_SD * cos(pose[2])
72 rf3x += (BCAR_W / 2.0) * cos(pose[2] - pi / 2.0)
73 rf3x += 2/3 * BCAR_DF * cos(pose[2])
74 rf3x += BCAR_SD * cos(pose[2])
77 lfy += (BCAR_W / 2.0) * sin(pose[2] + pi / 2.0)
78 lfy += BCAR_DF * sin(pose[2])
79 lfy += BCAR_SD * sin(pose[2])
82 lf3y += (BCAR_W / 2.0) * sin(pose[2] + pi / 2.0)
83 lf3y += 2/3 * BCAR_DF * sin(pose[2])
84 lf3y += BCAR_SD * sin(pose[2])
87 lry += (BCAR_W / 2.0) * sin(pose[2] + pi / 2.0)
88 lry += -BCAR_DR * sin(pose[2])
89 lry += -BCAR_SD * sin(pose[2])
92 rry += (BCAR_W / 2.0) * sin(pose[2] - pi / 2.0)
93 rry += -BCAR_DR * sin(pose[2])
94 rry += -BCAR_SD * sin(pose[2])
97 rfy += (BCAR_W / 2.0) * sin(pose[2] - pi / 2.0)
98 rfy += BCAR_DF * sin(pose[2])
99 rfy += BCAR_SD * sin(pose[2])
102 rf3y += (BCAR_W / 2.0) * sin(pose[2] - pi / 2.0)
103 rf3y += 2/3 * BCAR_DF * sin(pose[2])
104 rf3y += BCAR_SD * sin(pose[2])
107 cfx += BCAR_DF * cos(pose[2])
108 cfx += BCAR_SD * cos(pose[2])
111 cfy += BCAR_DF * sin(pose[2])
112 cfy += BCAR_SD * sin(pose[2])
114 xcoords = (lfx, lrx, rrx, rfx, cfx, rf3x, lf3x, cfx, lfx)
115 ycoords = (lfy, lry, rry, rfy, cfy, rf3y, lf3y, cfy, lfy)
116 return ([x - MINX for x in xcoords], [y - MINY for y in ycoords])
118 if __name__ == "__main__":
122 elif (len(argv) == 3):
125 sc2 = get_scenario(SCEN_FILE2)
127 SCEN_FILE = "sc.json"
129 scenario = get_scenario(SCEN_FILE)
131 # Font size to be approximately the same in the paper:
135 plt.rcParams["font.family"] = "cmr10"
136 plt.rcParams["font.size"] = 12
137 plt.rcParams['hatch.linewidth'] = 1.0
138 plt.rcParams['lines.linewidth'] = 1.0
141 # here subplot starts
142 ax = fig.add_subplot(111)
143 ax.set_aspect("equal")
144 ax.set_title("Real-world parking scenario")
145 ax.set_xlabel("x [m]")
146 ax.set_ylabel("y [m]")
148 # For Possible Entry Points (Possible Entry Configurations) use:
149 #ax.set_xlim([35.6, 46.4])
150 #ax.set_ylim([2.9, 2.9 + 6.84])
152 # For Last Maneuver use:
153 #ax.set_xlim([38, 44])
154 #ax.set_ylim([3.1, 6.9])
156 # For Scenario 3-2 detail use:
157 #ax.set_xlim([0, 15])
158 #ax.set_ylim([35, 50])
160 # For Real-world parking scenario in Introduction section use:
161 #ax.set_xlim([32, 47.5])
162 #ax.set_ylim([2.4, 9.9])
164 # Set min and max to center the plot.
165 MINX = scenario["init"][0]
166 MINY = scenario["init"][1]
167 if "obst" in scenario and len(scenario["obst"]) > 0:
168 for o in scenario["obst"]:
177 # Plot all the nodes (if exists.)
178 if "nodes_x" in scenario and "nodes_y" in scenario:
180 [x - MINX for x in scenario["nodes_x"]],
181 [y - MINY for y in scenario["nodes_y"]],
187 # Plot all the steered2 nodes (if exists.)
188 if "steered2_x" in scenario and "steered2_y" in scenario:
190 [x - MINX for x in scenario["steered2_x"]],
191 [y - MINY for y in scenario["steered2_y"]],
197 # Plot all the steered1 nodes (if exists.)
198 if "steered1_x" in scenario and "steered1_y" in scenario:
200 [x - MINX for x in scenario["steered1_x"]],
201 [y - MINY for y in scenario["steered1_y"]],
207 # Plot obstacles, slot.
208 if "obst" in scenario and len(scenario["obst"]) > 0:
209 for o in scenario["obst"]:
212 plt.plot(*plot_nodes(o), color="blue", linestyle=":")
213 if "slot" in scenario and len(scenario["slot"]) > 0:
214 plt.plot(*plot_nodes(scenario["slot"][0]), color="black")
215 #for s in scenario["slot"]:
216 # plt.plot(*plot_nodes(s), color="black")
218 # Plot `init`, `entry`, and `goal` configurations.
219 if "init" in scenario and len(scenario["init"]) == 3:
220 plt.plot(*plot_car(scenario["init"]), color="red")
222 scenario["init"][0] - MINX,
223 scenario["init"][1] - MINY,
228 if "entry" in scenario and len(scenario["entry"]) == 3:
229 plt.plot(*plot_car(scenario["entry"]), color="magenta")
231 scenario["entry"][0] - MINX,
232 scenario["entry"][1] - MINY,
237 if "goal" in scenario and len(scenario["goal"]) == 3:
238 plt.plot(*plot_car(scenario["goal"]), color="green")
240 scenario["goal"][0] - MINX,
241 scenario["goal"][1] - MINY,
247 # Plot `path` and `max_path`.
248 if sc2 and "path" in sc2 and len(sc2["path"]) > 0:
249 plt.plot(*plot_nodes(sc2["path"]), color="orange")
250 if "path" in scenario and len(scenario["path"]) > 0:
251 plt.plot(*plot_nodes(scenario["path"]), color="green")
253 # If there are possible starts specified, you may print and plot them.
254 #if "starts" in scenario and len(scenario["starts"]) > 0:
255 # print("possible starts:")
256 # for p in scenario["starts"]:
257 # plt.plot(*p, color="red", marker="+", ms=12)
258 # print(" {}".format(p))
260 # For the Last Maneuver figure from the paper, use:
261 # - `init2` -- orange
262 #plt.plot(*plot_car(scenario["init2"]), color="orange")
264 # scenario["init2"][0] - MINX,
265 # scenario["init2"][1] - MINY,
270 # - `goal2` -- orange
271 #plt.plot(*plot_car(scenario["goal2"]), color="orange")
273 # scenario["goal2"][0] - MINX,
274 # scenario["goal2"][1] - MINY,
279 # - `goal2` -- middle (orange)
280 #plt.plot(*plot_car(scenario["goals"][0]), color="orange")
282 # scenario["goal2"][0] - MINX,
283 # scenario["goal2"][1] - MINY,
289 #plt.plot(*plot_car(scenario["init1"]), color="green")
291 # scenario["init1"][0] - MINX,
292 # scenario["init1"][1] - MINY,
298 #plt.plot(*plot_car(scenario["goal1"]), color="green")
300 # scenario["goal1"][0] - MINX,
301 # scenario["goal1"][1] - MINY,
307 # For the Possible Entry Configurations from the paper, use:
308 #if "inits" in scenario:
309 # for i in scenario["inits"]:
312 # plt.plot(*plot_car(i), color="gray")
320 # plt.plot(*plot_car(scenario["inits"][0]), color="magenta")
322 # scenario["inits"][0][0] - MINX,
323 # scenario["inits"][0][1] - MINY,
329 # The `scenario` may also include:
330 # - `last` -- not sure what this is, see the source code. Maybe overlaps
332 # - `last1` -- used to demonstrate In-Slot Planner (was Parking Slot
334 # - `last2` -- used to demonstrate In-Slot Planner (was Parking Slot
336 # - `max_orig_path` -- maximum original path. I used this when comparing
337 # original paths but I had to copy the `max_orig_path` by hand from
338 # different scenario result.
339 # - `orig_path` -- the path before the optimization.
340 # - `max_path` -- the maximum path after optimization. Must be copied by
342 # - `path` -- optimized path of the scenario.
344 handles, labels = ax.get_legend_handles_labels()
346 # Uncommnent the following line and comment the plt.show() to store to the
348 plt.savefig("out.pdf", bbox_inches="tight")