60 lines
2.1 KiB
Python
60 lines
2.1 KiB
Python
import matplotlib.pyplot as plt
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import numpy as np
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from rdp import rdp
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from tqdm import tqdm
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import utils.hull as hull
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joint_angles = np.load("BMC/joint_angles.npy")
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print(joint_angles.shape)
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EPSILON = 0.0005
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FINGER_NAMES = ["Thumb", "Index", "Middle", "Ring", "Pinky(Little)"]
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BONE_NAMES = ["PIP", "DIP", "TIP"] # i.e. PIP bone means the bone from MCP joint to PIP joint
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del_rdp_hulls = np.load("BMC/CONVEX_HULLS.npy", allow_pickle=True)
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fig = plt.figure()
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plt.suptitle("CONVEX HULLS of JOINT ANGLES")
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for ID in tqdm(range(15)):
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ja = joint_angles[:, ID]
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ja_list = [tuple(x) for x in ja.tolist()]
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convex = hull.convex(ja_list)
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convex = np.array(convex)
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convex_list = convex.tolist()
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rdp_convex = rdp(convex_list, epsilon=EPSILON)
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rdp_convex = np.array(rdp_convex)
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del_rdp_hull = del_rdp_hulls[ID]
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ax = fig.add_subplot(3, 5, ID + 1)
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ax.scatter(ja[:, 0], ja[:, 1], s=0.05, c='r')
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ax.set_xlabel("flexion")
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ax.set_ylabel("abduction")
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ax.set_title('ID:{} Finger:{} Bone:{}'.format(ID, FINGER_NAMES[ID % 5], BONE_NAMES[int(ID / 5)]))
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plt.plot(np.append(convex[:, 0], convex[0, 0]), np.append(convex[:, 1], convex[0, 1]), '--ro', linewidth=3,label='ori_convex_hull')
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plt.plot(np.append(rdp_convex[:, 0], rdp_convex[0, 0]), np.append(rdp_convex[:, 1], rdp_convex[0, 1]), '--gv',
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linewidth=2, label='rdp_convex_hull')
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plt.plot(np.append(del_rdp_hull[:, 0], del_rdp_hull[0, 0]),
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np.append(del_rdp_hull[:, 1], del_rdp_hull[0, 1]),
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'-b*', linewidth=1, label='del_convex_hull')
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plt.xticks(np.arange(-3, 4, 1))
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plt.yticks(np.arange(-2, 2, 0.5))
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ja_min = np.min(ja, axis=0)
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ja_max = np.max(ja, axis=0)
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plt.gca().add_patch(
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plt.Rectangle((ja_min[0], ja_min[1]), ja_max[0] - ja_min[0], ja_max[1] - ja_min[1], edgecolor="yellow",
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fill=False, linewidth=2, label='rectangle'))
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plt.legend(title='Convex hull category:')
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figManager = plt.get_current_fig_manager()
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figManager.window.showMaximized()
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plt.subplots_adjust(left=0.125, bottom=0.05, right=0.9, top=0.9, wspace=0.3, hspace=0.3)
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plt.show()
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