Finish Klampt and Mpl visualization for pedestrian path

Author: Shiyang-Zhao

GEMstack/scripts/visualization.py

@@ -0,0 +1,191 @@
+import json
+import os
+import time
+from klampt import vis
+from klampt.model.trajectory import Trajectory
+import matplotlib.pyplot as plt
+from ..onboard.visualization.klampt_visualization import KlamptVisualization
+from ..onboard.visualization.mpl_visualization import MPLVisualization
+
+LOG_DIR = "logs"
+BEHAVIOR_FILE = "behavior.json"
+
+def select_log_folder():
+    log_folders = [f for f in os.listdir(LOG_DIR) if os.path.isdir(os.path.join(LOG_DIR, f))]
+    if not log_folders:
+        print("\033[91mNo log folders found.\033[0m")
+        return None
+
+    print("\n\033[94mAvailable log folders:\033[0m")
+    for idx, folder in enumerate(log_folders):
+        print(f"{idx + 1}. {folder}")
+
+    while True:
+        try:
+            choice = int(input("\n\033[93mEnter the number of the log folder to use:\033[0m ")) - 1
+            if 0 <= choice < len(log_folders):
+                return os.path.join(LOG_DIR, log_folders[choice])
+            print("\033[91mInvalid selection. Please enter a valid number.\033[0m")
+        except ValueError:
+            print("\033[91mPlease enter a number.\033[0m")
+
+def select_visualizer():
+    print("\n\033[94mChoose a visualization method:\033[0m")
+    print("1. Klampt (3D visualization)")
+    print("2. MPL (Matplotlib 2D visualization)")
+
+    while True:
+        try:
+            choice = int(input("\n\033[93mEnter 1 or 2:\033[0m "))
+            if choice in [1, 2]:
+                return choice
+            print("\033[91mInvalid selection. Please enter 1 or 2.\033[0m")
+        except ValueError:
+            print("\033[91mPlease enter a valid number.\033[0m")
+
+# Load and extract pedestrian and vehicle data
+def extract_behavior_data(log_dir):
+    behavior_path = os.path.join(log_dir, BEHAVIOR_FILE)
+    if not os.path.exists(behavior_path):
+        print(f"\033[91mError: {behavior_path} not found.\033[0m")
+        return None, None, None, None, None, None, None, None
+
+    with open(behavior_path, "r") as f:
+        data = [json.loads(line) for line in f]
+
+    pedestrian_paths = {}
+    pedestrian_times = {}
+    vehicle_path = []
+    vehicle_times = []
+    speeds = []
+    accelerators = []
+    brakes = []
+    steering_angles = []
+
+    for entry in data:
+        time_stamp = entry.get("time", 0)
+
+        # Extract pedestrian data
+        if "agents" in entry:
+            for agent_id, agent in entry["agents"].items():
+                agent_data = agent.get("data", {})
+                if agent_data.get("type") == 3:  # Type 3 = pedestrian
+                    pose = agent_data.get("pose", {})
+                    x, y = pose.get("x", 0), pose.get("y", 0)
+
+                    if agent_id not in pedestrian_paths:
+                        pedestrian_paths[agent_id] = []
+                        pedestrian_times[agent_id] = []
+
+                    pedestrian_paths[agent_id].append((x, y))
+                    pedestrian_times[agent_id].append(time_stamp)
+
+        # Extract vehicle data
+        if "vehicle" in entry:
+            vehicle_data = entry["vehicle"].get("data", {})
+            pose = vehicle_data.get("pose", {})
+            x, y = pose.get("x", 0), pose.get("y", 0)
+
+            vehicle_path.append((x, y))
+            vehicle_times.append(time_stamp)
+            speeds.append(vehicle_data.get("v", 0))
+            accelerators.append(vehicle_data.get("accelerator_pedal_position", 0))
+            brakes.append(vehicle_data.get("brake_pedal_position", 0))
+            steering_angles.append(vehicle_data.get("steering_wheel_angle", 0))
+
+    return pedestrian_paths, pedestrian_times, vehicle_path, vehicle_times, speeds, accelerators, brakes, steering_angles
+
+# Klampt 3D Visualization
+def visualize_with_klampt(pedestrian_paths, pedestrian_times, vehicle_path):
+    """Uses Klampt to visualize pedestrian and vehicle paths."""
+    vis.init("PyQt6")
+    vis.setWindowTitle("Pedestrian and Vehicle Path Visualization")
+
+    klampt_vis = KlamptVisualization(vehicle_interface=None, rate=20.0)
+
+    for agent_id, path in pedestrian_paths.items():
+        if len(path) < 2:
+            continue
+
+        times = pedestrian_times[agent_id]
+        path_3d = [[float(x), float(y), 0.0] for x, y in path]  
+
+        trajectory = Trajectory(times, path_3d)
+        vis.add(agent_id, trajectory, color=(0, 1, 0, 1), width=2)
+
+    # if vehicle_path:
+    #     vehicle_x, vehicle_y = zip(*vehicle_path)
+    #     vehicle_tuples = [[float(x), float(y), 0.0] for x, y in zip(vehicle_x, vehicle_y)]
+    #     vis.add("Vehicle Path", vehicle_tuples, color=(1, 0, 0, 1), width=2)
+
+    klampt_vis.initialize()
+    vis.show()
+
+    while vis.shown():
+        time.sleep(0.05)
+
+    klampt_vis.cleanup()
+    vis.kill()
+
+# MPL 2D Visualization
+def visualize_with_mpl(pedestrian_paths, pedestrian_times, vehicle_path, vehicle_data):
+    vis = MPLVisualization(rate=10.0)
+    vis.initialize()
+
+    fig, axs = vis.fig, vis.axs
+    axs[0].clear()
+    axs[1].clear()
+
+    # Left Plot: Pedestrian & Vehicle Trajectories
+    axs[0].set_xlabel("X Position")
+    axs[0].set_ylabel("Y Position")
+    axs[0].set_title("Pedestrian & Vehicle Trajectories")
+
+    for agent_id, path in pedestrian_paths.items():
+        path_x, path_y = zip(*path)
+        axs[0].plot(path_x, path_y, linestyle='-', marker='o', label=f"Pedestrian {agent_id}")
+
+    # if vehicle_path:
+    #     vehicle_x, vehicle_y = zip(*vehicle_path)
+    #     axs[0].plot(vehicle_x, vehicle_y, linestyle='-', marker='s', color='red', label="Vehicle Path")
+
+    axs[0].legend()
+
+    # Right Plot: Vehicle Controls Over Time
+    times, speeds, accelerators, brakes, steering_angles = vehicle_data
+    axs[1].set_xlabel("Time (s)")
+    axs[1].set_title("Vehicle Controls Over Time")
+
+    axs[1].plot(times, speeds, label="Speed (m/s)", color="blue")
+    axs[1].plot(times, accelerators, label="Accelerator (%)", color="green")
+    axs[1].plot(times, brakes, label="Brake (%)", color="red")
+    axs[1].plot(times, steering_angles, label="Steering Angle", color="purple")
+    axs[1].legend()
+
+    fig.canvas.draw_idle()
+    fig.canvas.flush_events()
+    plt.show(block=True)
+    
+    vis.cleanup()
+
+# Main Execution
+if __name__ == "__main__":
+    visualizer_choice = select_visualizer()
+    selected_log_folder = select_log_folder()
+
+    if selected_log_folder:
+        print(f"\n\033[94mLoading behavior data from:\033[0m {selected_log_folder}")
+        data = extract_behavior_data(selected_log_folder)
+
+        pedestrian_paths, pedestrian_times, vehicle_path, vehicle_times, speeds, accelerators, brakes, steering_angles = data
+        vehicle_data = (vehicle_times, speeds, accelerators, brakes, steering_angles)
+
+        if pedestrian_paths or vehicle_path:
+            if visualizer_choice == 1:
+                print("\033[92mUsing Klampt for visualization...\033[0m")
+                visualize_with_klampt(pedestrian_paths, pedestrian_times, vehicle_path)
+            else:
+                print("\033[92mUsing MPL (Matplotlib) for visualization...\033[0m")
+                visualize_with_mpl(pedestrian_paths, pedestrian_times, vehicle_path, vehicle_data)
+        else:
+            print("\033[91mNo pedestrian or vehicle data found.\033[0m")