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visualize_field.py
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import cmath
import numpy as np
import matplotlib.pyplot as plt
from matplotlib.patches import Arc
import seaborn as sn
def draw_proxemics_field(gt_traj, pred_traj, save_name=None, save_root='./'):
"""
gt_traj: (18, 2) or (N, 18, 2)
pred_traj: (20, 9, 2) or (N, 20, 9, 2)
"""
if len(gt_traj.shape) == 2:
gt_traj = gt_traj[np.newaxis, :]
pred_traj = pred_traj[np.newaxis, :]
min_x = min(np.min(gt_traj[:, :, 0]), np.min(pred_traj[:, :, :, 0]))
max_x = max(np.max(gt_traj[:, :, 0]), np.max(pred_traj[:, :, :, 0]))
min_y = min(np.min(gt_traj[:, :, 1]), np.min(pred_traj[:, :, :, 1]))
max_y = max(np.max(gt_traj[:, :, 1]), np.max(pred_traj[:, :, :, 1]))
if max_x - min_x > max_y - min_y:
side_length = max_x - min_x
fig_min_x = min_x - 0.5
fig_max_x = max_x + 0.5
fig_min_y = (min_y + max_y) / 2 - side_length / 2 - 0.5
fig_max_y = (min_y + max_y) / 2 + side_length / 2 + 0.5
else:
side_length = max_y - min_y
fig_min_y = min_y - 0.5
fig_max_y = max_y + 0.5
fig_min_x = (min_x + max_x) / 2 - side_length / 2 - 0.5
fig_max_x = (min_x + max_x) / 2 + side_length / 2 + 0.5
fig, ax = plt.subplots(figsize=(7, 7))
ax.grid(False)
num_p, _, seq_len, _ = pred_traj.shape
for pid in range(num_p):
ax.plot(gt_traj[pid, :9, 0],
gt_traj[pid, :9, 1],
marker='.',
linestyle='None',
color='navy',
markersize=4)
colors = ['#ffb549'] * 9
for tid in reversed(list(range(seq_len))):
x = pred_traj[pid, :, tid, 0].ravel()
y = pred_traj[pid, :, tid, 1].ravel()
sn.kdeplot(x=x,
y=y,
shade=True,
ax=ax,
levels=20,
cmap=sn.light_palette(colors[tid], as_cmap=True))
plt.xlim(fig_min_x, fig_max_x)
plt.ylim(fig_min_y, fig_max_y)
if save_name:
fig.savefig('{}/{}.png'.format(save_root, save_name), dpi=300)
else:
plt.show()
plt.close()
def draw_attn_field_with_traj(gt_traj, face_gt, face_pred, radius=0.5, angle_range=30,
show_gt=True, save_name=None, save_root='./'):
"""
traj_gt: [N, 18, 2]
face_gt: [N, 18, 2]
face_pred: [N, 9, 2]
"""
if len(gt_traj.shape) == 2:
gt_traj = gt_traj[np.newaxis, :]
face_gt = face_gt[np.newaxis, :]
face_pred = face_pred[np.newaxis, :]
min_x = np.min(gt_traj[:, :, 0])
max_x = np.max(gt_traj[:, :, 0])
min_y = np.min(gt_traj[:, :, 1])
max_y = np.max(gt_traj[:, :, 1])
if max_x - min_x > max_y - min_y:
side_length = max_x - min_x
fig_min_x = min_x - 1
fig_max_x = max_x + 1
fig_min_y = (min_y + max_y) / 2 - side_length / 2 - 1
fig_max_y = (min_y + max_y) / 2 + side_length / 2 + 1
else:
side_length = max_y - min_y
fig_min_y = min_y - 1
fig_max_y = max_y + 1
fig_min_x = (min_x + max_x) / 2 - side_length / 2 - 1
fig_max_x = (min_x + max_x) / 2 + side_length / 2 + 1
fig, ax = plt.subplots(nrows=1,
ncols=1,
figsize=(8, 8))
ax.grid(False)
num_p, seq_len, _ = gt_traj.shape
polygons = []
for pid in range(num_p):
ax.plot(gt_traj[pid, :9, 0],
gt_traj[pid, :9, 1],
marker='.',
linestyle='None',
color='navy',
markersize=6)
ax.plot(gt_traj[pid, 9:, 0],
gt_traj[pid, 9:, 1],
marker='.',
linestyle='None',
color='orange',
markersize=6)
for tid in range(9):
ori = face_gt[pid, tid]
cn = complex(ori[0], ori[1])
_, angle = cmath.polar(cn)
base_x, base_y = gt_traj[pid, tid, 0], gt_traj[pid, tid, 1]
polygons.append(Arc(xy=(base_x, base_y), # 椭圆中心，（圆弧是椭圆的一部分而已）
width=radius, # 长半轴
height=radius, # 短半轴
theta1=angle / cmath.pi * 180 - angle_range / 2, # 圆弧起点处角度
theta2=angle / cmath.pi * 180 + angle_range / 2, # 圆弧终点处角度
fc='w', # 填充色
ec='navy' # 边框颜色
))
for cur_angle in [angle - angle_range / 360 * cmath.pi, angle + angle_range / 360 * cmath.pi]:
cn = cmath.rect(radius / 2, cur_angle)
edge_x = cn.real + base_x
edge_y = cn.imag + base_y
ax.plot([base_x, edge_x], [base_y, edge_y], c='navy')
for tid in range(9):
base_x, base_y = gt_traj[pid, tid + 9, 0], gt_traj[pid, tid + 9, 1]
if show_gt:
ori = face_gt[pid, tid + 9]
else:
ori = face_pred[pid, tid]
cn = complex(ori[0], ori[1])
_, angle = cmath.polar(cn)
polygons.append(Arc(xy=(base_x, base_y), # 椭圆中心，（圆弧是椭圆的一部分而已）
width=radius, # 长半轴
height=radius, # 短半轴
theta1=angle / cmath.pi * 180 - angle_range / 2, # 圆弧起点处角度
theta2=angle / cmath.pi * 180 + angle_range / 2, # 圆弧终点处角度
fc='w', # 填充色
ec='orange' # 边框颜色
))
for cur_angle in [angle - angle_range / 360 * cmath.pi, angle + angle_range / 360 * cmath.pi]:
cn = cmath.rect(radius / 2, cur_angle)
edge_x = cn.real + base_x
edge_y = cn.imag + base_y
ax.plot([base_x, edge_x], [base_y, edge_y], c='orange')
for pln in polygons:
ax.add_patch(pln)
plt.xlim(fig_min_x, fig_max_x)
plt.ylim(fig_min_y, fig_max_y)
if save_name:
fig.savefig('{}/{}.png'.format(save_root, save_name), dpi=300)
else:
plt.show()
plt.close()
if __name__ == '__main__':
gt_traj = np.load('dataset/GIF_Dataset/predictions/proxemics/proxemics_gt.npy')
pred_traj = np.load('dataset/GIF_Dataset/predictions/proxemics/proxemics_prediction.npy')
gt_face = np.load('dataset/GIF_Dataset/predictions/attention/attention_gt.npy')
pred_face = np.load('dataset/GIF_Dataset/predictions/attention/attention_prediction.npy')
print(gt_traj.shape, pred_traj.shape, gt_face.shape, pred_face.shape)
draw_proxemics_field(gt_traj[:2], pred_traj[:2])
draw_attn_field_with_traj(gt_traj[:2], gt_face[:2], pred_face[:2])