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Generalize crime viz to incomplete trajectories #4

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Generalize crime viz to incomplete trajectories #4

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841c899
Generalize crime viz to incomplete trajectories
Jan 7, 2025
5cffaaf
make visualization more resilient
Jan 24, 2025
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26 changes: 19 additions & 7 deletions commonroad_crime/utility/visualization.py
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Original file line number Diff line number Diff line change
Expand Up @@ -154,6 +154,9 @@ def draw_state_list(
Visualizing the state list as a connecting trajectory. The transparency is based on the starting
time step.
"""
if not state_list:
return

global zorder
# visualize optimal trajectory
pos = np.asarray([state.position for state in state_list])
Expand Down Expand Up @@ -317,25 +320,34 @@ def visualize_scenario_at_time_steps(
scenario: Scenario, plot_limit, time_steps: List[int]
):
rnd = MPRenderer(plot_limits=plot_limit)
rnd.draw_params.time_begin = time_steps[0]
if time_steps:
rnd.draw_params.time_end = time_steps[-1]

assert isinstance(time_steps, list)
plot_begin: int = min(time_steps)
plot_end: int = max(time_steps)
rnd.draw_params.time_begin = plot_begin
rnd.draw_params.time_end = plot_end

rnd.draw_params.trajectory.draw_trajectory = False
rnd.draw_params.dynamic_obstacle.draw_icon = True
scenario.draw(rnd)
rnd.render()
for obs in scenario.obstacles:
plot_traj_begin_time_step = max(obs.prediction.initial_time_step, plot_begin)
plot_traj_end_time_step = min(obs.prediction.final_time_step, plot_end)
plot_traj_begin_index = plot_traj_begin_time_step - obs.prediction.initial_time_step
plot_traj_end_index = plot_traj_end_time_step - obs.prediction.initial_time_step

draw_state_list(
rnd,
obs.prediction.trajectory.state_list[time_steps[0] : time_steps[-1] + 1],
obs.prediction.trajectory.state_list[plot_traj_begin_index: plot_traj_end_index + 1],
color=TUMcolor.TUMblue,
linewidth=5,
)
for ts in time_steps[1:]:
draw_dyn_vehicle_shape(rnd, obs, ts, color=TUMcolor.TUMblue)
for ts in time_steps:
if plot_traj_begin_time_step -1 <= ts <= plot_traj_end_time_step:
draw_dyn_vehicle_shape(rnd, obs, ts, color=TUMcolor.TUMblue)
plt.show()


def make_gif(
path: str,
prefix: str,
Expand Down