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mplot_thread.py
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mplot_thread.py
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"""
* This file is part of PYSLAM
*
* Copyright (C) 2016-present Luigi Freda <luigi dot freda at gmail dot com>
*
* PYSLAM is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* PYSLAM is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with PYSLAM. If not, see <http://www.gnu.org/licenses/>.
"""
import time
import sys
import numpy as np
import platform
import matplotlib.pyplot as plt
from mpl_toolkits import mplot3d
import multiprocessing as mp
from multiprocessing import Process, Queue, Lock, RLock, Value
import ctypes
kPlotSleep = 0.04
kVerbose = False
kSetDaemon = True # from https://docs.python.org/3/library/threading.html#threading.Thread.daemon
# The entire Python program exits when no alive non-daemon threads are left.
kUseFigCanvasDrawIdle = True
# global lock for drawing with matplotlib
mp_lock = RLock()
if kUseFigCanvasDrawIdle:
plt.ion()
# use mplotlib figure to draw in 2d dynamic data
class Mplot2d:
def __init__(self, xlabel='', ylabel='', title=''):
self.xlabel = xlabel
self.ylabel = ylabel
self.title = title
self.data = None
self.got_data = False
self.axis_computed = False
self.xlim = [float("inf"),float("-inf")]
self.ylim = [float("inf"),float("-inf")]
self.key = Value('i',0)
self.is_running = Value('i',1)
self.handle_map = {}
self.queue = Queue()
self.vp = Process(target=self.drawer_thread, args=(self.queue,mp_lock,self.key,self.is_running,))
self.vp.daemon = kSetDaemon
self.vp.start()
def quit(self):
self.is_running.value = 0
self.vp.join(timeout=5)
def drawer_thread(self, queue, lock, key, is_running):
self.init(lock)
#print('starting drawer_thread')
while is_running.value == 1:
#print('drawer_refresh step')
self.drawer_refresh(queue, lock)
if kUseFigCanvasDrawIdle:
time.sleep(kPlotSleep)
print(mp.current_process().name,'closing fig ', self.fig)
plt.close(self.fig)
def drawer_refresh(self, queue, lock):
while not queue.empty():
self.got_data = True
self.data = queue.get()
xy_signal, name, color, marker = self.data
#print(mp.current_process().name,"refreshing : signal ", name)
if name in self.handle_map:
handle = self.handle_map[name]
handle.set_xdata(np.append(handle.get_xdata(), xy_signal[0]))
handle.set_ydata(np.append(handle.get_ydata(), xy_signal[1]))
else:
handle, = self.ax.plot(xy_signal[0], xy_signal[1], c=color, marker=marker, label=name)
self.handle_map[name] = handle
#print(mp.current_process().name,"got data: ", self.got_data)
if self.got_data is True:
self.plot_refresh(lock)
def on_key_press(self, event):
#print(mp.current_process().name,"key event pressed...", self._key)
self.key.value = ord(event.key) # conver to int
def on_key_release(self, event):
#print(mp.current_process().name,"key event released...", self._key)
self.key.value = 0 # reset to no key symbol
def get_key(self):
return chr(self.key.value)
def init(self, lock):
lock.acquire()
if kVerbose:
print(mp.current_process().name,"initializing...")
self.fig = plt.figure()
if kUseFigCanvasDrawIdle:
self.fig.canvas.draw_idle()
self.fig.canvas.mpl_connect('key_press_event', self.on_key_press)
self.fig.canvas.mpl_connect('key_release_event', self.on_key_release)
#self.ax = self.fig.gca(projection='3d')
#self.ax = self.fig.gca()
self.ax = self.fig.add_subplot(111)
if self.title is not '':
self.ax.set_title(self.title)
self.ax.set_xlabel(self.xlabel)
self.ax.set_ylabel(self.ylabel)
self.ax.grid()
#Autoscale on unknown axis and known lims on the other
self.ax.set_autoscaley_on(True)
#self.refresh()
lock.release()
def setAxis(self):
self.ax.legend()
self.ax.relim()
self.ax.autoscale_view()
#We need to draw *and* flush
if not kUseFigCanvasDrawIdle:
self.fig.canvas.draw()
self.fig.canvas.flush_events()
def draw(self, xy_signal, name, color='r', marker='.'):
if self.queue is None:
return
self.queue.put((xy_signal, name, color, marker))
def updateMinMax(self, np_signal):
xmax,ymax = np.amax(np_signal,axis=0)
xmin,ymin = np.amin(np_signal,axis=0)
cx = 0.5*(xmax+xmin)
cy = 0.5*(ymax+ymin)
if False:
# update maxs
if xmax > self.xlim[1]:
self.xlim[1] = xmax
if ymax > self.ylim[1]:
self.ylim[1] = ymax
# update mins
if xmin < self.xlim[0]:
self.xlim[0] = xmin
if ymin < self.ylim[0]:
self.ylim[0] = ymin
# make axis actually squared
if True:
smin = min(xmin,ymin)
smax = max(xmax,ymax)
delta = 0.5*(smax - smin)
self.xlim = [cx-delta,cx+delta]
self.ylim = [cy-delta,cy+delta]
self.axis_computed = True
def plot_refresh(self, lock):
if kVerbose:
print(mp.current_process().name,"refreshing ", self.title)
lock.acquire()
self.setAxis()
if not kUseFigCanvasDrawIdle:
plt.pause(kPlotSleep)
lock.release()
# fake
def refresh(self):
pass
# use mplotlib figure to draw in 3D trajectories
class Mplot3d:
def __init__(self, title=''):
self.title = title
self.data = None
self.got_data = False
self.axis_computed = False
self.xlim = [float("inf"),float("-inf")]
self.ylim = [float("inf"),float("-inf")]
self.zlim = [float("inf"),float("-inf")]
self.handle_map = {}
self.key = Value('i',0)
self.is_running = Value('i',1)
self.queue = Queue()
self.vp = Process(target=self.drawer_thread, args=(self.queue,mp_lock, self.key, self.is_running,))
self.vp.daemon = kSetDaemon
self.vp.start()
def quit(self):
self.is_running.value = 0
self.vp.join(timeout=5)
def drawer_thread(self, queue, lock, key, is_running):
self.init(lock)
while is_running.value == 1:
self.drawer_refresh(queue, lock)
if kUseFigCanvasDrawIdle:
time.sleep(kPlotSleep)
print(mp.current_process().name,'closing fig ', self.fig)
plt.close(self.fig)
def drawer_refresh(self, queue, lock):
while not queue.empty():
self.got_data = True
self.data = queue.get()
traj, name, color, marker = self.data
np_traj = np.asarray(traj)
if name in self.handle_map:
handle = self.handle_map[name]
self.ax.collections.remove(handle)
self.updateMinMax(np_traj)
handle = self.ax.scatter3D(np_traj[:, 0], np_traj[:, 1], np_traj[:, 2], c=color, marker=marker)
handle.set_label(name)
self.handle_map[name] = handle
if self.got_data is True:
self.plot_refresh(lock)
def on_key_press(self, event):
#print(mp.current_process().name,"key event pressed...", self._key)
self.key.value = ord(event.key) # conver to int
def on_key_release(self, event):
#print(mp.current_process().name,"key event released...", self._key)
self.key.value = 0 # reset to no key symbol
def get_key(self):
return chr(self.key.value)
def init(self, lock):
lock.acquire()
if kVerbose:
print(mp.current_process().name,"initializing...")
self.fig = plt.figure()
if kUseFigCanvasDrawIdle:
self.fig.canvas.draw_idle()
self.fig.canvas.mpl_connect('key_press_event', self.on_key_press)
self.fig.canvas.mpl_connect('key_release_event', self.on_key_release)
self.ax = self.fig.gca(projection='3d')
if self.title is not '':
self.ax.set_title(self.title)
self.ax.set_xlabel('X axis')
self.ax.set_ylabel('Y axis')
self.ax.set_zlabel('Z axis')
self.setAxis()
lock.release()
def setAxis(self):
#self.ax.axis('equal') # this does not work with the new matplotlib 3
if self.axis_computed:
self.ax.set_xlim(self.xlim)
self.ax.set_ylim(self.ylim)
self.ax.set_zlim(self.zlim)
self.ax.legend()
#We need to draw *and* flush
if not kUseFigCanvasDrawIdle:
self.fig.canvas.draw()
self.fig.canvas.flush_events()
def drawTraj(self, traj, name, color='r', marker='.'):
if self.queue is None:
return
self.queue.put((traj, name, color, marker))
def updateMinMax(self, np_traj):
xmax,ymax,zmax = np.amax(np_traj,axis=0)
xmin,ymin,zmin = np.amin(np_traj,axis=0)
cx = 0.5*(xmax+xmin)
cy = 0.5*(ymax+ymin)
cz = 0.5*(zmax+zmin)
if False:
# update maxs
if xmax > self.xlim[1]:
self.xlim[1] = xmax
if ymax > self.ylim[1]:
self.ylim[1] = ymax
if zmax > self.zlim[1]:
self.zlim[1] = zmax
# update mins
if xmin < self.xlim[0]:
self.xlim[0] = xmin
if ymin < self.ylim[0]:
self.ylim[0] = ymin
if zmin < self.zlim[0]:
self.zlim[0] = zmin
# make axis actually squared
if True:
#smin = min(self.xlim[0],self.ylim[0],self.zlim[0])
#smax = max(self.xlim[1],self.ylim[1],self.zlim[1])
smin = min(xmin,ymin,zmin)
smax = max(xmax,ymax,zmax)
delta = 0.5*(smax - smin)
self.xlim = [cx-delta,cx+delta]
self.ylim = [cy-delta,cy+delta]
self.zlim = [cz-delta,cz+delta]
self.axis_computed = True
def plot_refresh(self, lock):
if kVerbose:
print(mp.current_process().name,"refreshing ", self.title)
lock.acquire()
self.setAxis()
if not kUseFigCanvasDrawIdle:
plt.pause(kPlotSleep)
lock.release()
# fake
def refresh(self):
pass