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consolidate plot3d! #126

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Aug 13, 2024
Merged

consolidate plot3d! #126

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597a97c
consolidate plot3d!
dehann Aug 12, 2024
97a25b8
impr draw triads for plot3d!
dehann Aug 13, 2024
2cea1f6
impv plot3d!
dehann Aug 13, 2024
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4 changes: 3 additions & 1 deletion src/Arena.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ using DocStringExtensions
# NOTE a lot of legacy code has been moved to the attic

export plotPoints
export plotGraph3d
export plot3d!

# include("Exports.jl")
include("services/PlotManifolds.jl")
Expand All @@ -39,5 +39,7 @@ include("../ext/Prototypes.jl")
include("services/TodoConsolidate.jl")
include("services/PlotGraphGeneric.jl")

include("Deprecated.jl")


end # module
92 changes: 92 additions & 0 deletions src/Deprecated.jl
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Original file line number Diff line number Diff line change
@@ -0,0 +1,92 @@


@deprecate plotGraph3d(w...;kw...) plot3d!(w...;kw...)

@deprecate plot3d(w...;kw...) plot3d!(w...;kw...)


# function plot3d!(fg;
# linewidth = 0.025,
# lengthscale=0.15f0,
# arrowsize = Vec3f(0.05, 0.05, 0.1),
# solveKey=:parametric,
# vsyms = ls(fg, r"^x"),
# )


# ps = map(enumerate(vsyms)) do (i,v)
# val = getVal(fg, v; solveKey)[1]
# Point3f(val[1:3])
# end

# nxs = map(vsyms) do v
# val = getVal(fg, v; solveKey)[1]
# Point3f(val.x[2][:,1])
# end
# nys = map(vsyms) do v
# val = getVal(fg, v; solveKey)[1]
# Point3f(val.x[2][:,2])
# end
# nzs = map(vsyms) do v
# val = getVal(fg, v; solveKey)[1]
# Point3f(val.x[2][:,3])
# end

# Makie.arrows!(ps, nxs; color=:red, linewidth, lengthscale, arrowsize)
# Makie.arrows!(ps, nys; color=:green, linewidth, lengthscale, arrowsize)
# Makie.arrows!(ps, nzs; color=:blue , linewidth, lengthscale, arrowsize)

# lines!(ps)
# end



# function plot3d(fg;
# linewidth = 0.025,
# lengthscale=0.15f0,
# arrowsize = Vec3f(0.05, 0.05, 0.1),
# solveKey=:parametric,
# vsyms = ls(fg, r"^x"),
# )

# ps = map(enumerate(vsyms)) do (i,v)
# val = getVal(fg, v; solveKey)[1]
# if getVariableType(fg, v) == RotVelPos()
# Point3f(val.x[3][1:3])
# else
# Point3f(val[1:3])
# end
# end

# nxs = map(vsyms) do v
# val = getVal(fg, v; solveKey)[1]
# if getVariableType(fg, v) == RotVelPos()
# Point3f(val.x[1][:,1])
# else
# Point3f(val.x[2][:,1])
# end
# end
# nys = map(vsyms) do v
# val = getVal(fg, v; solveKey)[1]
# if getVariableType(fg, v) == RotVelPos()
# Point3f(val.x[1][:,2])
# else
# Point3f(val.x[2][:,2])
# end
# end
# nzs = map(vsyms) do v
# val = getVal(fg, v; solveKey)[1]
# if getVariableType(fg, v) == RotVelPos()
# Point3f(val.x[1][:,3])
# else
# Point3f(val.x[2][:,3])
# end
# end

# fig = Makie.arrows(ps, nxs; color=:red, linewidth, lengthscale, arrowsize)
# Makie.arrows!(ps, nys; color=:green, linewidth, lengthscale, arrowsize)
# Makie.arrows!(ps, nzs; color=:blue , linewidth, lengthscale, arrowsize)

# lines!(ps)
# fig
# end
51 changes: 41 additions & 10 deletions src/services/PlotGraphGeneric.jl
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Original file line number Diff line number Diff line change
@@ -1,11 +1,12 @@



function plotGraph3d(
function plot3d!(
dfg::AbstractDFG;
tag = :POSE,
labels::AbstractVector{Symbol} = sortDFG(ls(dfg; tags=[tag;])), # FIXME, better support for multiple trajectories via tags
solveKey = :default,
fig = Figure(),
title::AbstractString = string(
getSessionLabel(dfg),
", solveKey: ", solveKey,
Expand All @@ -15,22 +16,22 @@ function plotGraph3d(
),
drawTrajectory::Bool=true,
drawTrajectoryMarkers::Bool = drawTrajectory,
fig = Figure(),
drawTriads::Bool = false,
linewidth = 0.05,
lengthscale=0.15f0,
arrowsize = Vec3f(0.05, 0.05, 0.1),
aspect = :data,
)
#

_getppepos(_v::DFGVariable{<:Position{2}}, solvK) = [getPPESuggested(_v, solvK)[1:2]; 0.0]
_getppepos(_v::DFGVariable{<:Pose2}, solvK) = [getPPESuggested(_v, solvK)[1:2]; 0.0]
_getppepos(_v::DFGVariable{<:Position{3}}, solvK) = getPPESuggested(_v, solvK)[1:3]
_getppepos(_v::DFGVariable{<:Pose3}, solvK) = getPPESuggested(_v, solvK)[1:3]
_getppepos(_v::DFGVariable{<:RoME.VelPos3}, solvK) = getPPESuggested(_v, solvK)[4:6]
_getppepos(_v::DFGVariable{<:RoME.RotVelPos}, solvK) = getPPESuggested(_v, solvK)[7:9]

ax1 = Axis3(fig[1, 1]; title)
# Axis(f[2, 1], title = L"\sum_i{x_i \times y_i}")
# Axis(f[3, 1], title = rich(
# "Rich text title",
# subscript(" with subscript", color = :slategray)
# ))
ax1 = Axis3(fig[1, 1]; title, aspect)

_ppes = _getppepos.(getVariable.(dfg, labels), solveKey) # getPPESuggested.(dfg, labels, solveKey)

Expand All @@ -44,9 +45,39 @@ function plotGraph3d(
if drawTrajectoryMarkers
scatter!(ax1, Point3f(ppes[1,1:3]...), markersize = 20, markerspace = :pixel, marker = '✪', label = "traj start")
scatter!(ax1, Point3f(ppes[end,1:3]...), markersize = 20, markerspace = :pixel, marker = '⊙', label = "traj end")

axislegend(ax1)
end

_getPos(::RotVelPos, p::ArrayPartition) = p.x[3]
_getPos(::Pose2, p::ArrayPartition) = [p.x[1]...; 0.0]
_getPos(::Pose3, p::ArrayPartition) = p.x[1]
_getPos(::Position{1}, p::AbstractVector) = [p[1]; 0; 0.0]
_getPos(::Position{2}, p::AbstractVector) = [p[1]; p[2]; 0.0]
_getPos(::Position{N} where N, p::AbstractVector) = p[1:3]

_getRot(::RotVelPos, p::ArrayPartition) = p.x[1]
_getRot(::Pose3, p::ArrayPartition) = p.x[2]
_getRot(::Pose2, p::ArrayPartition) = [p.x[2][1,1] p.x[2][1,2] 0; p.x[2][2,1] p.x[2][2,2] 0; 0 0 1.0]
_getRot(::Position{N} where N, p::ArrayPartition) = diagm(ones(3))

pos = []
nxs = []
nys = []
nzs = []
if drawTriads
# NOTE using val (not PPE), this will help show when PPEs are out of step with val
for var in getVariable.(dfg, labels)
ps = calcMean(getBelief(var, solveKey))
push!(pos, Point3f(_getPos(getVariableType(var), ps)))
rot = _getRot(getVariableType(var),ps)
push!(nxs, Point3f(rot[:,1]...))
push!(nys, Point3f(rot[:,2]...))
push!(nzs, Point3f(rot[:,3]...))
Makie.arrows!(ax1, pos, nxs; color=:red, linewidth, lengthscale, arrowsize)
Makie.arrows!(ax1, pos, nys; color=:green, linewidth, lengthscale, arrowsize)
Makie.arrows!(ax1, pos, nzs; color=:blue , linewidth, lengthscale, arrowsize)
end
end

fig
end
end
4 changes: 2 additions & 2 deletions src/services/PlotManifolds.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -4,9 +4,9 @@
function plotPoints(
::typeof(SpecialOrthogonal(3)),
ps::AbstractVector{<:AbstractMatrix{<:Real}};
color = :red
color = :red,
scene = Scene(),
)
scene = Scene()
cam3d!(scene)
wireframe!(scene, Makie.Sphere( Point3f(0), 1.0), color=:gray)
Makie.scale!(scene, 1.0, 1.0, 1.0)
Expand Down
81 changes: 0 additions & 81 deletions src/services/TodoConsolidate.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -276,55 +276,7 @@ end

##

function plot3d(fg;
linewidth = 0.025,
lengthscale=0.15f0,
arrowsize = Vec3f(0.05, 0.05, 0.1),
solveKey=:parametric,
vsyms = ls(fg, r"^x"),
)

ps = map(enumerate(vsyms)) do (i,v)
val = getVal(fg, v; solveKey)[1]
if getVariableType(fg, v) == RotVelPos()
Point3f(val.x[3][1:3])
else
Point3f(val[1:3])
end
end

nxs = map(vsyms) do v
val = getVal(fg, v; solveKey)[1]
if getVariableType(fg, v) == RotVelPos()
Point3f(val.x[1][:,1])
else
Point3f(val.x[2][:,1])
end
end
nys = map(vsyms) do v
val = getVal(fg, v; solveKey)[1]
if getVariableType(fg, v) == RotVelPos()
Point3f(val.x[1][:,2])
else
Point3f(val.x[2][:,2])
end
end
nzs = map(vsyms) do v
val = getVal(fg, v; solveKey)[1]
if getVariableType(fg, v) == RotVelPos()
Point3f(val.x[1][:,3])
else
Point3f(val.x[2][:,3])
end
end

fig = Makie.arrows(ps, nxs; color=:red, linewidth, lengthscale, arrowsize)
Makie.arrows!(ps, nys; color=:green, linewidth, lengthscale, arrowsize)
Makie.arrows!(ps, nzs; color=:blue , linewidth, lengthscale, arrowsize)

lines!(ps)
fig
end


function plot3d_p3(poses::Vector;
Expand Down Expand Up @@ -355,39 +307,6 @@ function plot3d_p3(poses::Vector;
fig
end

function plot3d!(fg;
linewidth = 0.025,
lengthscale=0.15f0,
arrowsize = Vec3f(0.05, 0.05, 0.1),
solveKey=:parametric,
vsyms = ls(fg, r"^x"),
)


ps = map(enumerate(vsyms)) do (i,v)
val = getVal(fg, v; solveKey)[1]
Point3f(val[1:3])
end

nxs = map(vsyms) do v
val = getVal(fg, v; solveKey)[1]
Point3f(val.x[2][:,1])
end
nys = map(vsyms) do v
val = getVal(fg, v; solveKey)[1]
Point3f(val.x[2][:,2])
end
nzs = map(vsyms) do v
val = getVal(fg, v; solveKey)[1]
Point3f(val.x[2][:,3])
end

Makie.arrows!(ps, nxs; color=:red, linewidth, lengthscale, arrowsize)
Makie.arrows!(ps, nys; color=:green, linewidth, lengthscale, arrowsize)
Makie.arrows!(ps, nzs; color=:blue , linewidth, lengthscale, arrowsize)

lines!(ps)
end



Expand Down
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