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import inspect
import sys
import warnings
import matplotlib.pyplot as plt
import numpy as np
import torch
from matplotlib.backend_tools import ToolToggleBase
from matplotlib.widgets import Button, RadioButtons
from siclib.geometry.camera import SimpleRadial as Camera
from siclib.geometry.gravity import Gravity
from siclib.geometry.perspective_fields import (
get_latitude_field,
get_perspective_field,
get_up_field,
)
from siclib.models.utils.metrics import latitude_error, up_error
from siclib.utils.conversions import rad2deg
from siclib.visualization.viz2d import (
add_text,
plot_confidences,
plot_heatmaps,
plot_horizon_lines,
plot_latitudes,
plot_vector_fields,
)
# flake8: noqa
# mypy: ignore-errors
with warnings.catch_warnings():
warnings.simplefilter("ignore")
plt.rcParams["toolbar"] = "toolmanager"
class RadioHideTool(ToolToggleBase):
"""Show lines with a given gid."""
default_keymap = "R"
description = "Show by gid"
default_toggled = False
radio_group = "default"
def __init__(self, *args, options=[], active=None, callback_fn=None, keymap="R", **kwargs):
super().__init__(*args, **kwargs)
self.f = 1.0
self.options = options
self.callback_fn = callback_fn
self.active = self.options.index(active) if active else 0
self.default_keymap = keymap
self.enabled = self.default_toggled
def build_radios(self):
w = 0.2
self.radios_ax = self.figure.add_axes([1.0 - w, 0.4, w, 0.5], zorder=1)
# self.radios_ax = self.figure.add_axes([0.5-w/2, 1.0-0.2, w, 0.2], zorder=1)
self.radios = RadioButtons(self.radios_ax, self.options, active=self.active)
self.radios.on_clicked(self.on_radio_clicked)
def enable(self, *args):
size = self.figure.get_size_inches()
size[0] *= self.f
self.build_radios()
self.figure.canvas.draw_idle()
self.enabled = True
def disable(self, *args):
size = self.figure.get_size_inches()
size[0] /= self.f
self.radios_ax.remove()
self.radios = None
self.figure.canvas.draw_idle()
self.enabled = False
def on_radio_clicked(self, value):
self.active = self.options.index(value)
enabled = self.enabled
if enabled:
self.disable()
if self.callback_fn is not None:
self.callback_fn(value)
if enabled:
self.enable()
class ToggleTool(ToolToggleBase):
"""Show lines with a given gid."""
default_keymap = "t"
description = "Show by gid"
def __init__(self, *args, callback_fn=None, keymap="t", **kwargs):
super().__init__(*args, **kwargs)
self.f = 1.0
self.callback_fn = callback_fn
self.default_keymap = keymap
self.enabled = self.default_toggled
def enable(self, *args):
self.callback_fn(True)
def disable(self, *args):
self.callback_fn(False)
def add_whitespace_left(fig, factor):
w, h = fig.get_size_inches()
left = fig.subplotpars.left
fig.set_size_inches([w * (1 + factor), h])
fig.subplots_adjust(left=(factor + left) / (1 + factor))
def add_whitespace_bottom(fig, factor):
w, h = fig.get_size_inches()
b = fig.subplotpars.bottom
fig.set_size_inches([w, h * (1 + factor)])
fig.subplots_adjust(bottom=(factor + b) / (1 + factor))
fig.canvas.draw_idle()
class ImagePlot:
plot_name = "image"
required_keys = ["image"]
def __init__(self, fig, axes, data, preds):
pass
class HorizonLinePlot:
plot_name = "horizon_line"
required_keys = ["camera", "gravity"]
def __init__(self, fig, axes, data, preds):
for idx, name in enumerate(preds):
pred = preds[name]
gt_cam = data["camera"][0].detach().cpu()
gt_gravity = data["gravity"][0].detach().cpu()
plot_horizon_lines([gt_cam], [gt_gravity], line_colors="r", ax=[axes[0][idx]])
if "camera" in pred and "gravity" in pred:
pred_cam = Camera(pred["camera"][0].detach().cpu())
gravity = Gravity(pred["gravity"][0].detach().cpu())
plot_horizon_lines([pred_cam], [gravity], line_colors="yellow", ax=[axes[0][idx]])
class LatitudePlot:
plot_name = "latitude"
required_keys = ["latitude_field"]
def __init__(self, fig, axes, data, preds):
self.artists = []
self.gt_mode = False # Flag to track whether to display ground truth or predicted
self.text_objects = [] # To store text objects
self.fig = fig
self.axes = axes
self.data = data
self.preds = preds
# Create a toggle button on the lower left corner of the first axis
self.ax_button = self.fig.add_axes([0.01, 0.02, 0.2, 0.06])
self.button = Button(self.ax_button, "Toggle GT")
self.button.on_clicked(self.toggle_display)
self.update_plot()
def toggle_display(self, event):
# Toggle between ground truth and predicted latitudes
self.gt_mode = not self.gt_mode
self.update_plot()
def update_plot(self):
for x in self.artists:
x.remove()
for text in self.text_objects:
text.remove()
self.artists = []
self.text_objects = []
for idx, name in enumerate(self.preds):
pred = self.preds[name]
if self.gt_mode:
latitude = self.data["latitude_field"][0][0]
text = "\nGT"
else:
if "latitude_field" not in pred:
continue
latitude = pred["latitude_field"][0][0]
text = "\nPrediction"
self.artists += plot_latitudes([latitude], axes=[self.axes[0][idx]])
self.text_objects.append(add_text(idx, text))
# Update the plot
self.fig.canvas.draw()
def clear(self):
# Remove the button
self.button.disconnect_events()
self.ax_button.remove()
for x in self.artists:
x.remove()
for text in self.text_objects:
text.remove()
self.artists = []
self.text_objects = []
class LatitudeErrorPlot:
plot_name = "latitude_error"
required_keys = ["latitude_field"]
def __init__(self, fig, axes, data, preds):
self.artists = []
for idx, name in enumerate(preds):
pred = preds[name]
gt = data["latitude_field"].detach().cpu()
if "latitude_field" in pred:
lat = pred["latitude_field"].detach().cpu()
error = latitude_error(lat, gt)[0].numpy()
if "latitude_confidence" in pred:
confidence = pred["latitude_confidence"].detach().cpu().numpy()
confidence = np.log10(confidence).clip(-5)
confidence = (confidence + 5) / (confidence.max() + 5)
arts = plot_heatmaps(
[error], cmap="turbo", axes=[axes[0][idx]], colorbar=True, a=confidence
)
else:
arts = plot_heatmaps([error], cmap="turbo", axes=[axes[0][idx]], colorbar=True)
self.artists += arts
def clear(self):
for x in self.artists:
x.remove()
x.colorbar.remove()
self.artists = []
class LatitudeConfidencePlot:
plot_name = "latitude_confidence"
required_keys = []
# required_keys = ["latitude_confidence"]
def __init__(self, fig, axes, data, preds):
self.artists = []
for idx, name in enumerate(preds):
pred = preds[name]
if "latitude_confidence" in pred:
arts = plot_confidences([pred["latitude_confidence"][0]], axes=[axes[0][idx]])
self.artists += arts
def clear(self):
for x in self.artists:
x.remove()
x.colorbar.remove()
self.artists = []
class UpPlot:
plot_name = "up"
required_keys = ["up_field"]
def __init__(self, fig, axes, data, preds):
self.artists = []
self.gt_mode = False # Flag to track whether to display ground truth or predicted
self.text_objects = [] # To store text objects
self.fig = fig
self.axes = axes
self.data = data
self.preds = preds
# Create a toggle button on the lower left corner of the first axis
self.ax_button = self.fig.add_axes([0.01, 0.02, 0.2, 0.06])
self.button = Button(self.ax_button, "Toggle GT")
self.button.on_clicked(self.toggle_display)
self.update_plot()
def toggle_display(self, event):
# Toggle between ground truth and predicted latitudes
self.gt_mode = not self.gt_mode
self.update_plot()
def update_plot(self):
for x in self.artists:
x.remove()
for text in self.text_objects:
text.remove()
self.artists = []
self.text_objects = []
for idx, name in enumerate(self.preds):
pred = self.preds[name]
if self.gt_mode:
up = self.data["up_field"][0]
text = "\nGT"
else:
if "up_field" not in pred:
continue
up = pred["up_field"][0]
text = "\nPrediction"
# Plot up
self.artists += plot_vector_fields([up], axes=[self.axes[0][idx]])
self.text_objects.append(add_text(idx, text))
# Update the plot
self.fig.canvas.draw()
def clear(self):
# Remove the button
self.button.disconnect_events()
self.ax_button.remove()
for x in self.artists:
x.remove()
for text in self.text_objects:
text.remove()
self.artists = []
self.text_objects = []
class UpErrorPlot:
plot_name = "up_error"
required_keys = ["up_field"]
def __init__(self, fig, axes, data, preds):
self.artists = []
for idx, name in enumerate(preds):
pred = preds[name]
gt = data["up_field"].detach().cpu()
if "up_field" in pred:
up = pred["up_field"].detach().cpu()
error = up_error(up, gt)[0].numpy()
if "up_confidence" in pred:
confidence = pred["up_confidence"].detach().cpu().numpy()
confidence = np.log10(confidence).clip(-5)
confidence = (confidence + 5) / (confidence.max() + 5)
arts = plot_heatmaps(
[error], cmap="turbo", axes=[axes[0][idx]], colorbar=True, a=confidence
)
else:
arts = plot_heatmaps([error], cmap="turbo", axes=[axes[0][idx]], colorbar=True)
self.artists += arts
def clear(self):
for x in self.artists:
x.remove()
x.colorbar.remove()
self.artists = []
class UpConfidencePlot:
plot_name = "up_confidence"
required_keys = []
# required_keys = ["up_confidence"]
def __init__(self, fig, axes, data, preds):
self.artists = []
for idx, name in enumerate(preds):
pred = preds[name]
if "up_confidence" in pred:
arts = plot_confidences([pred["up_confidence"][0]], axes=[axes[0][idx]])
self.artists += arts
def clear(self):
for x in self.artists:
x.remove()
x.colorbar.remove()
self.artists = []
class PerspectiveField:
plot_name = "perspective_field"
required_keys = ["camera", "gravity"]
def __init__(self, fig, axes, data, preds):
self.artists = []
self.gt_mode = False # Flag to track whether to display ground truth or predicted
self.text_objects = [] # To store text objects
self.fig = fig
self.axes = axes
self.data = data
self.preds = preds
# Create a toggle button on the lower left corner of the first axis
self.ax_button = self.fig.add_axes([0.01, 0.02, 0.2, 0.06])
self.button = Button(self.ax_button, "Toggle GT")
self.button.on_clicked(self.toggle_display)
self.update_plot()
def toggle_display(self, event):
# Toggle between ground truth and predicted latitudes
self.gt_mode = not self.gt_mode
self.update_plot()
def update_plot(self):
for x in self.artists:
x.remove()
for text in self.text_objects:
text.remove()
self.artists = []
self.text_objects = []
for idx, name in enumerate(self.preds):
pred = self.preds[name]
if self.gt_mode:
camera = self.data["camera"]
gravity = self.data["gravity"]
text = "\nGT"
else:
camera = pred["camera"]
gravity = pred["gravity"]
text = "\nPrediction"
camera = Camera(camera)
gravity = Gravity(gravity)
up, latitude = get_perspective_field(camera, gravity)
self.artists += plot_latitudes([latitude[0, 0]], axes=[self.axes[0][idx]])
self.artists += plot_vector_fields([up[0]], axes=[self.axes[0][idx]])
self.text_objects.append(add_text(idx, text))
# Update the plot
self.fig.canvas.draw()
def clear(self):
# Remove the button
self.button.disconnect_events()
self.ax_button.remove()
for x in self.artists:
x.remove()
for text in self.text_objects:
text.remove()
self.artists = []
self.text_objects = []
__plot_dict__ = {
obj.plot_name: obj
for _, obj in inspect.getmembers(sys.modules[__name__], predicate=inspect.isclass)
if hasattr(obj, "plot_name")
}
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