drawing issue

[hurong971013]

Sorry to bother you. Could you please teach me how to draw a picture like this？（Trajectory comparison in an invisible test case in your paper's figure 5）

[ChanganVR]

@hurong971013, the trajectory visualization code is here:

CrowdNav/crowd_sim/envs/crowd_sim.py

Lines 444 to 484 in 24be7ad

	elif mode == 'traj':
	fig, ax = plt.subplots(figsize=(7, 7))
	ax.tick_params(labelsize=16)
	ax.set_xlim(-5, 5)
	ax.set_ylim(-5, 5)
	ax.set_xlabel('x(m)', fontsize=16)
	ax.set_ylabel('y(m)', fontsize=16)
	robot_positions = [self.states[i][0].position for i in range(len(self.states))]
	human_positions = [[self.states[i][1][j].position for j in range(len(self.humans))]
	for i in range(len(self.states))]
	for k in range(len(self.states)):
	if k % 4 == 0 or k == len(self.states) - 1:
	robot = plt.Circle(robot_positions[k], self.robot.radius, fill=True, color=robot_color)
	humans = [plt.Circle(human_positions[k][i], self.humans[i].radius, fill=False, color=cmap(i))
	for i in range(len(self.humans))]
	ax.add_artist(robot)
	for human in humans:
	ax.add_artist(human)
	# add time annotation
	global_time = k * self.time_step
	if global_time % 4 == 0 or k == len(self.states) - 1:
	agents = humans + [robot]
	times = [plt.text(agents[i].center[0] - x_offset, agents[i].center[1] - y_offset,
	'{:.1f}'.format(global_time),
	color='black', fontsize=14) for i in range(self.human_num + 1)]
	for time in times:
	ax.add_artist(time)
	if k != 0:
	nav_direction = plt.Line2D((self.states[k - 1][0].px, self.states[k][0].px),
	(self.states[k - 1][0].py, self.states[k][0].py),
	color=robot_color, ls='solid')
	human_directions = [plt.Line2D((self.states[k - 1][1][i].px, self.states[k][1][i].px),
	(self.states[k - 1][1][i].py, self.states[k][1][i].py),
	color=cmap(i), ls='solid')
	for i in range(self.human_num)]
	ax.add_artist(nav_direction)
	for human_direction in human_directions:
	ax.add_artist(human_direction)
	plt.legend([robot], ['Robot'], fontsize=16)
	plt.show()

and in the test.py, there are options to visualize the trajectory as well, which use the code above.

[705603621]

So how do we save this trajectory?I'm trying to type in python test.py --policy sarl --model_dir data/output --phase test --visualize --test_case 0 --traj. But I couldn't find the saved file.

[ChanganVR]

This fucntion currently directly plots the figure in a pop-up window, you need to add a line of code to save the figure to the desired location.