More modular
Frank Dellaert
parent
423e447de0
commit
8148b78af6
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@ -1,13 +1,31 @@
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# gtsam_plotly.py
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# gtsam_plotly_modular.py
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import numpy as np
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import plotly.graph_objects as go
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from tqdm.notebook import tqdm # Progress bar
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from typing import List, Optional, Tuple, Dict, Any
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import gtsam
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# --- Ellipse Calculation Helpers (Mostly unchanged) ---
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def ellipse_path(cx, cy, sizex, sizey, angle, N=60):
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"""SVG path string for an ellipse centered at (cx, cy), rotated by `angle` in degrees."""
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def ellipse_path(
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cx: float, cy: float, sizex: float, sizey: float, angle: float, N: int = 60
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) -> str:
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"""
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Generates an SVG path string for an ellipse.
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Args:
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cx: Center x-coordinate.
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cy: Center y-coordinate.
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sizex: Full width of the ellipse along its major axis.
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sizey: Full height of the ellipse along its minor axis.
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angle: Rotation angle in degrees.
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N: Number of points to approximate the ellipse.
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Returns:
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SVG path string.
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"""
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angle_rad = np.radians(angle)
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t = np.linspace(0, 2 * np.pi, N)
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x = (sizex / 2) * np.cos(t)
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@ -24,9 +42,19 @@ def ellipse_path(cx, cy, sizex, sizey, angle, N=60):
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return path
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# Helper to convert GTSAM covariance to Plotly ellipse parameters
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def gtsam_cov_to_plotly_ellipse(cov_matrix, scale=2.0):
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"""Calculates ellipse parameters (angle, width, height) from a 2x2 covariance matrix."""
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def gtsam_cov_to_plotly_ellipse(
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cov_matrix: np.ndarray, scale: float = 2.0
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) -> Tuple[float, float, float]:
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"""
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Calculates ellipse parameters (angle, width, height) from a 2x2 covariance matrix.
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Args:
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cov_matrix: The 2x2 covariance matrix (or larger, only top-left 2x2 used).
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scale: Scaling factor for the ellipse size (e.g., 2.0 for 2-sigma).
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Returns:
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Tuple containing (angle_degrees, width, height).
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"""
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# Ensure positive definite - add small epsilon if needed
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cov = cov_matrix[:2, :2] + np.eye(2) * 1e-9
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try:
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@ -34,199 +62,225 @@ def gtsam_cov_to_plotly_ellipse(cov_matrix, scale=2.0):
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# Ensure eigenvalues are positive for sqrt
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eigvals = np.maximum(eigvals, 1e-9)
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except np.linalg.LinAlgError:
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# print("Warning: Covariance matrix SVD failed, using default ellipse.") # Can be verbose
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# print("Warning: Covariance matrix SVD failed, using default ellipse.") # Optional warning
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return 0, 0.1 * scale, 0.1 * scale # Default small ellipse
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# Width/Height are 2*scale*sqrt(eigenvalue)
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width = 2 * scale * np.sqrt(eigvals[1])
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height = 2 * scale * np.sqrt(eigvals[0])
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# Width/Height are 2*scale*sqrt(eigenvalue) (using full width/height)
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width = (
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2 * scale * np.sqrt(eigvals[1])
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) # Major axis corresponds to largest eigenvalue
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height = (
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2 * scale * np.sqrt(eigvals[0])
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) # Minor axis corresponds to smallest eigenvalue
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# Angle of the major axis (corresponding to largest eigenvalue)
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# Angle of the major axis (eigenvector corresponding to largest eigenvalue eigvals[1])
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angle_rad = np.arctan2(eigvecs[1, 1], eigvecs[0, 1])
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angle_deg = np.degrees(angle_rad)
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return angle_deg, width, height
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def create_slam_animation(
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results_history, # List of gtsam.Values
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marginals_history, # List of gtsam.Marginals or None
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landmarks_gt_array, # Nx2 numpy array
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poses_gt, # List of gtsam.Pose2
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num_steps,
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world_size,
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X, # Symbol func
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L, # Symbol func
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):
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"""Creates a Plotly animation of the SLAM results."""
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print("Generating Plotly animation...")
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# --- Plotting Element Creation Helpers ---
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fig = go.Figure()
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# Add Ground Truth Landmarks (static)
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fig.add_trace(
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def _add_ground_truth_traces(
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fig: go.Figure, landmarks_gt_array: np.ndarray, poses_gt: List[gtsam.Pose2]
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) -> None:
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"""Adds static ground truth landmark and path traces to the figure."""
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# Ground Truth Landmarks
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if landmarks_gt_array is not None and landmarks_gt_array.size > 0:
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fig.add_trace(
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go.Scatter(
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x=landmarks_gt_array[0, :],
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y=landmarks_gt_array[1, :],
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mode="markers",
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marker=dict(color="black", size=8, symbol="star"),
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name="Landmarks GT",
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)
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)
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# Ground Truth Path
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if poses_gt:
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gt_path_x = [p.x() for p in poses_gt]
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gt_path_y = [p.y() for p in poses_gt]
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fig.add_trace(
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go.Scatter(
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x=gt_path_x,
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y=gt_path_y,
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mode="lines",
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line=dict(color="gray", width=1, dash="dash"),
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name="Path GT",
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)
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)
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def _create_ellipse_shape_dict(
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cx: float,
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cy: float,
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angle: float,
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width: float,
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height: float,
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fillcolor: str,
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line_color: str,
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name: str,
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) -> Dict[str, Any]:
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"""Creates the dictionary required for a Plotly ellipse shape."""
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return dict(
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type="path",
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path=ellipse_path(cx=cx, cy=cy, sizex=width, sizey=height, angle=angle, N=60),
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xref="x",
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yref="y",
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fillcolor=fillcolor,
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line_color=line_color,
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name=name, # Note: name isn't directly displayed for shapes, but good for metadata
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)
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def _create_single_frame_data(
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k: int,
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step_results: gtsam.Values,
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step_marginals: Optional[gtsam.Marginals],
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X: callable,
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L: callable,
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ellipse_scale: float = 2.0,
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verbose: bool = False,
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) -> Tuple[List[go.Scatter], List[Dict[str, Any]]]:
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"""
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Creates the traces and shapes for a single animation frame.
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Args:
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k: The current step index.
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step_results: gtsam.Values for this step.
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step_marginals: gtsam.Marginals for this step (or None).
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X: Symbol function for poses.
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L: Symbol function for landmarks.
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ellipse_scale: Scaling factor for covariance ellipses.
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verbose: If True, print warnings for covariance errors.
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Returns:
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A tuple containing (list_of_traces, list_of_shapes).
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"""
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traces = []
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shapes = []
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# 1. Estimated Path up to step k
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est_path_x = []
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est_path_y = []
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for i in range(k + 1):
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pose_key = X(i)
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if step_results.exists(pose_key):
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pose = step_results.atPose2(pose_key)
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est_path_x.append(pose.x())
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est_path_y.append(pose.y())
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traces.append(
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go.Scatter(
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x=landmarks_gt_array[0, :],
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y=landmarks_gt_array[1, :],
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mode="markers",
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marker=dict(color="black", size=8, symbol="star"),
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name="Landmarks GT",
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x=est_path_x,
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y=est_path_y,
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mode="lines+markers",
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line=dict(color="red", width=2),
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marker=dict(size=4, color="red"),
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name="Path Est", # Legend entry for the whole path
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)
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)
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# Add Ground Truth Path (static)
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gt_path_x = [p.x() for p in poses_gt]
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gt_path_y = [p.y() for p in poses_gt]
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fig.add_trace(
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go.Scatter(
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x=gt_path_x,
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y=gt_path_y,
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mode="lines",
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line=dict(color="gray", width=1, dash="dash"),
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name="Path GT",
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)
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)
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# 2. Estimated Landmarks known at step k
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est_landmarks_x = []
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est_landmarks_y = []
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landmark_keys_in_frame = []
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all_keys = step_results.keys()
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for key_val in all_keys:
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symbol = gtsam.Symbol(key_val)
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if symbol.chr() == ord("l"): # Check if it's a landmark symbol
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# Check existence again (though keys() implies existence)
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if step_results.exists(key_val):
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lm_point = step_results.atPoint2(key_val)
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est_landmarks_x.append(lm_point[0])
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est_landmarks_y.append(lm_point[1])
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landmark_keys_in_frame.append(key_val)
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if est_landmarks_x:
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traces.append(
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go.Scatter(
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x=est_landmarks_x,
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y=est_landmarks_y,
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mode="markers",
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marker=dict(color="blue", size=6, symbol="x"),
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name="Landmarks Est", # Legend entry for all estimated landmarks
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)
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)
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# 3. Covariance Ellipses (if marginals available)
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if step_marginals is not None:
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# Current Pose Covariance Ellipse
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current_pose_key = X(k)
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if step_results.exists(current_pose_key):
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try:
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pose_cov = step_marginals.marginalCovariance(current_pose_key)
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pose_mean = step_results.atPose2(current_pose_key).translation()
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angle, width, height = gtsam_cov_to_plotly_ellipse(
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pose_cov, scale=ellipse_scale
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)
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shapes.append(
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_create_ellipse_shape_dict(
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cx=pose_mean[0],
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cy=pose_mean[1],
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angle=angle,
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width=width,
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height=height,
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fillcolor="rgba(255,0,255,0.2)",
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line_color="rgba(255,0,255,0.5)",
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name=f"Pose {k} Cov",
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)
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)
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except Exception as e:
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if verbose:
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print(
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f"Warning: Failed getting pose {k} cov ellipse at step {k}: {e}"
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)
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# Landmark Covariance Ellipses
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for lm_key in landmark_keys_in_frame:
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try:
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lm_cov = step_marginals.marginalCovariance(lm_key)
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lm_mean = step_results.atPoint2(lm_key)
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angle, width, height = gtsam_cov_to_plotly_ellipse(
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lm_cov, scale=ellipse_scale
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)
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symbol = gtsam.Symbol(lm_key)
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shapes.append(
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_create_ellipse_shape_dict(
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cx=lm_mean[0],
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cy=lm_mean[1],
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angle=angle,
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width=width,
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height=height,
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fillcolor="rgba(0,0,255,0.1)",
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line_color="rgba(0,0,255,0.3)",
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name=f"LM {symbol.index()} Cov",
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)
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)
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except Exception as e:
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symbol = gtsam.Symbol(lm_key)
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if verbose:
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print(
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f"Warning: Failed getting landmark {symbol.index()} cov ellipse at step {k}: {e}"
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)
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return traces, shapes
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def _configure_figure_layout(
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fig: go.Figure,
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num_steps: int,
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world_size: float,
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initial_shapes: List[Dict[str, Any]],
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) -> None:
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"""Configures the Plotly figure's layout, axes, slider, and buttons."""
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# --- Animation Frames ---
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frames = []
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steps = list(range(num_steps + 1))
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for k in tqdm(steps):
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frame_data = []
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step_results = results_history[k]
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step_marginals = marginals_history[k]
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# Estimated Path up to step k
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est_path_x = []
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est_path_y = []
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for i in range(k + 1):
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pose_key = X(i)
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if step_results.exists(
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pose_key
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): # Check if pose exists in results for this step
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pose = step_results.atPose2(pose_key)
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est_path_x.append(pose.x())
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est_path_y.append(pose.y())
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frame_data.append(
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go.Scatter(
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x=est_path_x,
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y=est_path_y,
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mode="lines+markers",
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line=dict(color="red", width=2),
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marker=dict(size=4, color="red"),
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name="Path Est",
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)
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)
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# Estimated Landmarks known at step k
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est_landmarks_x = []
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est_landmarks_y = []
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landmark_keys_in_frame = []
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# Iterate through all possible landmark keys seen so far, check if present in current step's results
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all_keys = step_results.keys()
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for lm_key_val in all_keys: # Use keys() for integer keys
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if gtsam.Symbol(lm_key_val).chr() == ord("l"): # Check if symbol chr is 'l'
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lm_key = lm_key_val # Use the integer key directly
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if step_results.exists(lm_key):
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lm_pose = step_results.atPoint2(lm_key)
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est_landmarks_x.append(lm_pose[0])
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est_landmarks_y.append(lm_pose[1])
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landmark_keys_in_frame.append(lm_key)
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if est_landmarks_x:
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frame_data.append(
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go.Scatter(
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x=est_landmarks_x,
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y=est_landmarks_y,
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mode="markers",
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marker=dict(color="blue", size=6, symbol="x"),
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name="Landmarks Est",
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)
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)
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# Covariance Ellipses
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shapes = [] # List to hold ellipse shapes for this frame
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if step_marginals is not None:
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# Current Pose Covariance Ellipse
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try:
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current_pose_key = X(k)
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if step_results.exists(current_pose_key):
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pose_cov = step_marginals.marginalCovariance(current_pose_key)
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pose_mean = step_results.atPose2(current_pose_key).translation()
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angle, width, height = gtsam_cov_to_plotly_ellipse(pose_cov)
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cx, cy = pose_mean[0], pose_mean[1]
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shapes.append(
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dict(
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type="path",
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path=ellipse_path(
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cx=cx,
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cy=cy,
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sizex=width,
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sizey=height,
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angle=angle,
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N=60,
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),
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xref="x",
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yref="y",
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fillcolor="rgba(255,0,255,0.2)",
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line_color="rgba(255,0,255,0.5)",
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name=f"Pose {k} Cov",
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)
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)
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except Exception as e:
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print(
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f"Warning: Failed getting pose {k} cov ellipse at step {k}: {e}"
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) # Can be verbose
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pass
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# Landmark Covariance Ellipses
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for lm_key in landmark_keys_in_frame:
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try:
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lm_cov = step_marginals.marginalCovariance(lm_key)
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lm_mean = step_results.atPoint2(lm_key)
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angle, width, height = gtsam_cov_to_plotly_ellipse(lm_cov)
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cx, cy = lm_mean[0], lm_mean[1]
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index = gtsam.Symbol(lm_key).index()
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shapes.append(
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dict(
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type="path",
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path=ellipse_path(
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cx=cx,
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cy=cy,
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sizex=width,
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sizey=height,
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angle=angle,
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N=60,
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),
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xref="x",
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yref="y",
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fillcolor="rgba(0,0,255,0.1)",
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line_color="rgba(0,0,255,0.3)",
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name=f"LM {index} Cov",
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)
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)
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except Exception as e:
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index = gtsam.Symbol(lm_key).index()
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print(
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f"Warning: Failed getting landmark {index} cov ellipse at step {k}: {e}"
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) # Can be verbose
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frames.append(
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go.Frame(data=frame_data, name=str(k), layout=go.Layout(shapes=shapes))
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)
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# --- Set Initial State and Layout ---
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fig.update(frames=frames)
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# Set initial data to the first frame's data
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if frames:
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fig.add_traces(frames[0].data)
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initial_shapes = frames[0].layout.shapes if frames[0].layout else []
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else:
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initial_shapes = []
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# Define slider
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# Slider
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sliders = [
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dict(
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active=0,
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@ -237,10 +291,12 @@ def create_slam_animation(
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label=str(k),
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method="animate",
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args=[
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[str(k)],
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[str(k)], # Frame name
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dict(
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mode="immediate",
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frame=dict(duration=100, redraw=True),
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frame=dict(
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duration=100, redraw=True
|
||||
), # Redraw needed for shapes
|
||||
transition=dict(duration=0),
|
||||
),
|
||||
],
|
||||
|
|
@ -250,41 +306,162 @@ def create_slam_animation(
|
|||
)
|
||||
]
|
||||
|
||||
# Update layout
|
||||
# Buttons
|
||||
updatemenus = [
|
||||
dict(
|
||||
type="buttons",
|
||||
showactive=False,
|
||||
buttons=[
|
||||
dict(
|
||||
label="Play",
|
||||
method="animate",
|
||||
args=[
|
||||
None, # Animate all frames
|
||||
dict(
|
||||
mode="immediate",
|
||||
frame=dict(duration=100, redraw=True),
|
||||
transition=dict(duration=0),
|
||||
fromcurrent=True,
|
||||
),
|
||||
],
|
||||
),
|
||||
dict(
|
||||
label="Pause",
|
||||
method="animate",
|
||||
args=[
|
||||
[None], # Stop animation
|
||||
dict(
|
||||
mode="immediate",
|
||||
frame=dict(duration=0, redraw=False),
|
||||
transition=dict(duration=0),
|
||||
),
|
||||
],
|
||||
),
|
||||
],
|
||||
direction="left",
|
||||
pad={"r": 10, "t": 87},
|
||||
x=0.1,
|
||||
xanchor="right",
|
||||
y=0,
|
||||
yanchor="top",
|
||||
)
|
||||
]
|
||||
|
||||
# Layout settings
|
||||
fig.update_layout(
|
||||
title="Iterative Factor Graph SLAM Animation",
|
||||
xaxis=dict(range=[-world_size / 2 - 2, world_size / 2 + 2], constrain="domain"),
|
||||
xaxis=dict(
|
||||
range=[-world_size / 2 - 2, world_size / 2 + 2],
|
||||
constrain="domain", # Keep aspect ratio when zooming
|
||||
),
|
||||
yaxis=dict(
|
||||
range=[-world_size / 2 - 2, world_size / 2 + 2],
|
||||
scaleanchor="x",
|
||||
scaleanchor="x", # Ensure square aspect ratio
|
||||
scaleratio=1,
|
||||
),
|
||||
width=800,
|
||||
height=800,
|
||||
hovermode="closest",
|
||||
updatemenus=[
|
||||
dict(
|
||||
type="buttons",
|
||||
showactive=False,
|
||||
buttons=[
|
||||
dict(
|
||||
label="Play",
|
||||
method="animate",
|
||||
args=[
|
||||
None,
|
||||
dict(
|
||||
mode="immediate",
|
||||
frame=dict(duration=100, redraw=True),
|
||||
transition=dict(duration=0),
|
||||
fromcurrent=True,
|
||||
),
|
||||
],
|
||||
)
|
||||
],
|
||||
)
|
||||
],
|
||||
updatemenus=updatemenus,
|
||||
sliders=sliders,
|
||||
shapes=initial_shapes, # Set initial shapes
|
||||
shapes=initial_shapes, # Set initial shapes from frame 0
|
||||
# Add legend if desired
|
||||
legend=dict(
|
||||
traceorder="reversed",
|
||||
title_text="Legend",
|
||||
orientation="h",
|
||||
yanchor="bottom",
|
||||
y=1.02,
|
||||
xanchor="right",
|
||||
x=1,
|
||||
),
|
||||
)
|
||||
|
||||
|
||||
# --- Main Animation Function (Orchestrator) ---
|
||||
|
||||
|
||||
def create_slam_animation(
|
||||
results_history: List[gtsam.Values],
|
||||
marginals_history: List[Optional[gtsam.Marginals]],
|
||||
num_steps: int,
|
||||
X: callable,
|
||||
L: callable,
|
||||
landmarks_gt_array: Optional[np.ndarray] = None,
|
||||
poses_gt: Optional[List[gtsam.Pose2]] = None,
|
||||
world_size: float = 20.0,
|
||||
ellipse_scale: float = 2.0,
|
||||
verbose_cov_errors: bool = False,
|
||||
) -> go.Figure:
|
||||
"""
|
||||
Creates a Plotly animation of the SLAM results in a modular way.
|
||||
|
||||
Args:
|
||||
results_history: List of gtsam.Values, one per step.
|
||||
marginals_history: List of gtsam.Marginals or None, one per step.
|
||||
num_steps: The total number of steps (results_history should have length num_steps + 1).
|
||||
X: Symbol function for poses (e.g., lambda i: gtsam.symbol('x', i)).
|
||||
L: Symbol function for landmarks (e.g., lambda j: gtsam.symbol('l', j)).
|
||||
landmarks_gt_array: Optional Nx2 numpy array of ground truth landmark positions.
|
||||
poses_gt: Optional list of gtsam.Pose2 ground truth poses.
|
||||
world_size: Approximate size of the world for axis scaling.
|
||||
ellipse_scale: Scaling factor for covariance ellipses (e.g., 2.0 for 2-sigma).
|
||||
verbose_cov_errors: If True, print warnings for covariance calculation errors.
|
||||
|
||||
Returns:
|
||||
A plotly.graph_objects.Figure containing the animation.
|
||||
"""
|
||||
print("Generating Plotly animation...")
|
||||
|
||||
fig = go.Figure()
|
||||
|
||||
# 1. Add static ground truth elements
|
||||
_add_ground_truth_traces(fig, landmarks_gt_array, poses_gt)
|
||||
|
||||
# 2. Create frames for animation
|
||||
frames = []
|
||||
steps_iterable = range(num_steps + 1)
|
||||
|
||||
# Use tqdm for progress bar if available
|
||||
try:
|
||||
steps_iterable = tqdm(steps_iterable, desc="Creating Frames")
|
||||
except NameError:
|
||||
pass # tqdm not installed or not in notebook env
|
||||
|
||||
for k in steps_iterable:
|
||||
step_results = results_history[k]
|
||||
step_marginals = marginals_history[k] if marginals_history else None
|
||||
|
||||
# Create traces and shapes for this specific frame
|
||||
frame_traces, frame_shapes = _create_single_frame_data(
|
||||
k, step_results, step_marginals, X, L, ellipse_scale, verbose_cov_errors
|
||||
)
|
||||
|
||||
# Create the Plotly frame object
|
||||
frames.append(
|
||||
go.Frame(
|
||||
data=frame_traces,
|
||||
name=str(k), # Name used by slider/buttons
|
||||
layout=go.Layout(
|
||||
shapes=frame_shapes
|
||||
), # Shapes are part of layout per frame
|
||||
)
|
||||
)
|
||||
|
||||
# 3. Set initial figure state (using data from frame 0)
|
||||
if frames:
|
||||
# Add traces from the first frame as the initial state
|
||||
for trace in frames[0].data:
|
||||
fig.add_trace(trace)
|
||||
initial_shapes = frames[0].layout.shapes if frames[0].layout else []
|
||||
else:
|
||||
initial_shapes = []
|
||||
|
||||
# 4. Assign frames to the figure
|
||||
fig.update(frames=frames)
|
||||
|
||||
# 5. Configure overall layout, slider, buttons
|
||||
_configure_figure_layout(fig, num_steps, world_size, initial_shapes)
|
||||
|
||||
print("Plotly animation generated.")
|
||||
return fig
|
||||
|
|
|
|||
Loading…
Reference in New Issue