| |
| """Plot one benchmark session's offline tracks over the static map and the study area. |
| |
| usage: python quickstart.py [ROOT] [quiet|moderate|busy] [out.png] |
| """ |
| import sys |
| import numpy as np |
| import matplotlib |
| matplotlib.use("Agg") |
| import matplotlib.pyplot as plt |
| from linger_loaders import load_tracklets, load_static_map, load_study_area |
|
|
| root = sys.argv[1] if len(sys.argv) > 1 else "linger" |
| level = sys.argv[2] if len(sys.argv) > 2 else "busy" |
| out = sys.argv[3] if len(sys.argv) > 3 else f"quickstart_{level}.png" |
|
|
| tr = load_tracklets(f"{root}/benchmark/{level}/tracks_final_5hz.csv.gz") |
| sm = load_static_map(f"{root}/environment/static_map.npz") |
| area = load_study_area(f"{root}/environment/study_area.json") |
|
|
| h = sm["points"][:, 2] - sm["floor_z"] |
| walls = sm["points"][(h > 1.4) & (h < 2.3)] |
| fig, ax = plt.subplots(figsize=(8, 6)) |
| ax.scatter(walls[:, 0], walls[:, 1], s=0.05, c="0.6", lw=0) |
| ax.plot(*np.vstack([area, area[:1]]).T, color="0.3", lw=0.6, ls="--") |
| for tid in np.unique(tr["track_id"]): |
| m = tr["track_id"] == tid |
| ax.plot(tr["x"][m], tr["y"][m], lw=0.4, alpha=0.6) |
| ax.set_aspect("equal"); ax.set_xlabel("x (m)"); ax.set_ylabel("y (m)") |
| ax.set_title(f"{level} session: {len(np.unique(tr['track_id']))} offline tracks, " |
| f"{(~tr['coasting']).mean():.0%} of rows detected") |
| fig.savefig(out, dpi=150, bbox_inches="tight") |
| print("wrote", out) |
|
|
