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Fix Bugs: correct (w, h) order and adjust DPI settings in matplotlib plots #2

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Fix Bugs: correct (w, h) order and adjust DPI settings in matplotlib plots #2

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72 changes: 51 additions & 21 deletions moka/planners/visual_prompt_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -340,7 +340,7 @@ def plot_keypoints(
if keypoints is None:
return

(h, w) = image_size
(w, h) = image_size
for i, keypoint in enumerate(keypoints):
if keypoint is None:
continue
Expand Down Expand Up @@ -370,12 +370,20 @@ def annotate_candidate_keypoints(
image,
candidate_keypoints,
):
fig, ax = plt.subplots(1, 1)
ax.imshow(image)
ax.axis('off')
dpi = 100
w, h = image.size # Calculate the figure size to match the input resolution
fig = plt.figure(figsize=(w/dpi, h/dpi), dpi=dpi, frameon=False) # Create a figure with no frame
ax = fig.add_subplot(111) # Add a subplot that fully fills the figure
fig.subplots_adjust(left=0, right=1, top=1, bottom=0, wspace=0, hspace=0) # Remove all margins and spacing
ax.imshow(image, extent=(0, w, h, 0)) # Use tuple format
ax.axis('off') # Turn off the axis

ax.set_xlim(0, w) # Strictly set the x-axis range to ensure no margins
ax.set_ylim(h, 0) # Strictly set the y-axis range to ensure no margins
ax.margins(0) # Disable all margins
ax.set_aspect('equal') # Maintain equal aspect ratio

image_size = image.size[:2]
print('image_size (annotate_candidate_keypoints)', image_size)

if candidate_keypoints['grasped'] is not None:
plot_keypoints(
Expand All @@ -386,18 +394,28 @@ def annotate_candidate_keypoints(
ax, image_size, candidate_keypoints['unattached'], 'b', prefix='Q')

buf = io.BytesIO()
fig.savefig(buf, transparent=True, bbox_inches='tight',
pad_inches=0, format='jpg')
fig.savefig(buf, transparent=True, pad_inches=0, # Save the figure with strict parameters to ensure no margins
bbox_inches=None, format='jpg', dpi=dpi,
facecolor='none', edgecolor='none')
buf.seek(0)
# close the figure to prevent it from being displayed
plt.close(fig)
return Image.open(buf)


def annotate_grid(image, grid_size):
fig, ax = plt.subplots(1, 1)
ax.imshow(image)
ax.axis('off')
dpi = 100 # Fixed DPI value
w, h = image.size # Calculate the figure size to match the input resolution
fig = plt.figure(figsize=(w/dpi, h/dpi), dpi=dpi, frameon=False) # Create a figure with no frame
ax = fig.add_subplot(111) # Add a subplot that fully fills the figure
fig.subplots_adjust(left=0, right=1, top=1, bottom=0, wspace=0, hspace=0) # Remove all margins and spacing
ax.imshow(image, extent=(0, w, h, 0)) # Use tuple format
ax.axis('off') # Turn off the axis

ax.set_xlim(0, w) # Strictly set the x-axis range to ensure no margins
ax.set_ylim(h, 0) # Strictly set the y-axis range to ensure no margins
ax.margins(0) # Disable all margins
ax.set_aspect('equal') # Maintain equal aspect ratio

image_size = image.size[:2]
(w, h) = image_size
Expand Down Expand Up @@ -425,16 +443,17 @@ def annotate_grid(image, grid_size):
for i in range(0, grid_size[0]):
for j in range(0, grid_size[1]):
ax.annotate(str(f"{ascii_lowercase[i]}{grid_size[1] - j}"),
[w * (i + 0.5) / grid_size[0], h *
(j + 0.5) / grid_size[1]],
[w * (i + 0.5) / grid_size[0], h *
(j + 0.5) / grid_size[1]],
(w * (i + 0.5) / grid_size[0], h *
(j + 0.5) / grid_size[1]),
(w * (i + 0.5) / grid_size[0], h *
(j + 0.5) / grid_size[1]),
size=10,
color='white')

buf = io.BytesIO()
fig.savefig(buf, transparent=True, bbox_inches='tight',
pad_inches=0, format='jpg')
fig.savefig(buf, transparent=True, pad_inches=0, # Save the figure with strict parameters to ensure no margins
bbox_inches=None, format='jpg', dpi=dpi,
facecolor='none', edgecolor='none')
buf.seek(0)
# close the figure to prevent it from being displayed
plt.close(fig)
Expand Down Expand Up @@ -505,9 +524,18 @@ def plot_smooth_curve(ax, points):


def annotate_motion(image, context, log_dir=None, add_caption=True):
fig, ax = plt.subplots(1, 1)
ax.imshow(image)
ax.axis('off')
dpi = 100 # Fixed DPI value
w, h = image.size # Calculate the figure size to match the input resolution
fig = plt.figure(figsize=(w/dpi, h/dpi), dpi=dpi, frameon=False) # Create a figure with no frame
ax = fig.add_subplot(111) # Add a subplot that fully fills the figure
fig.subplots_adjust(left=0, right=1, top=1, bottom=0, wspace=0, hspace=0) # Remove all margins and spacing
ax.imshow(image, extent=(0, w, h, 0)) # Use tuple format
ax.axis('off') # Turn off the axis

ax.set_xlim(0, w) # Strictly set the x-axis range to ensure no margins
ax.set_ylim(h, 0) # Strictly set the y-axis range to ensure no margins
ax.margins(0) # Disable all margins
ax.set_aspect('equal') # Maintain equal aspect ratio

image_size = image.size[:2]

Expand All @@ -530,6 +558,7 @@ def annotate_motion(image, context, log_dir=None, add_caption=True):
ax, image_size, [pre_contact_waypoint], 'cyan', 'waypoint 0', False,
add_caption=add_caption)
plot_keypoints(

ax, image_size, [post_contact_waypoint], 'cyan', 'waypoint 1', False,
add_caption=add_caption)

Expand All @@ -556,8 +585,9 @@ def annotate_motion(image, context, log_dir=None, add_caption=True):

plt.show()
buf = io.BytesIO()
fig.savefig(buf, transparent=True, bbox_inches='tight',
pad_inches=0, format='jpg')
fig.savefig(buf, transparent=True, pad_inches=0, # Save the figure with strict parameters to ensure no margins
bbox_inches=None, format='jpg', dpi=dpi,
facecolor='none', edgecolor='none')
buf.seek(0)
# close the figure to prevent it from being displayed
plt.close(fig)
Expand Down