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double_video2.m
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%% Plot double video (above below)
fig_width = 640; fig_height = 640;
plot_proportion = 1;
retrain = true;
loghyper2 = save_hypers(1,2:end);
% Field estimate
h_fig = figure(10); clf; opos = get(h_fig, 'Position');
opos(1:2) = min(opos(1:2), [1920-fig_width, 1100-fig_height]);
set(h_fig, 'Position', [opos(1:2), fig_width, fig_height]);
h_ax(1) = axes('position', [0.1, 0.0, 0.8, 0.6]);
h_ax(2) = axes('position', [0.1, 0.45, 0.8, 0.6]);
set(h_ax, 'Zdir', 'reverse'); set(h_ax, 'Ydir', 'reverse');
set(h_ax, 'DataAspectRatio', [1 1 1]);
set(h_ax, 'NextPlot', 'add');
view(h_ax(1), 3); view(h_ax(2), 3);
xlabel(h_ax(1), '\it x_i \rm (m)'); ylabel(h_ax(1), '\it y_i \rm (m)');
zlabel(h_ax(1), '\it z_i \rm (m)');
for ii = 1:2
h_box(ii) = plot3(h_ax(ii), x_limits([1,2,2,1,1,1,2,2,1,1,1,1,2,2,2,2]), ...
y_limits([1,1,1,1,1,2,2,2,2,2,2,1,1,2,2,1]), ...
z_limits([1,1,2,2,1,1,1,2,2,1,2,2,2,2,1,1]), ...
'Color', [.8, .8, .8], 'LineStyle', '--');
end
set(h_ax, 'xlim', axlim(1,:), 'ylim', axlim(2,:), 'zlim', axlim(3,:));
%% Plot start features
CTrain = squeeze(X_train_full(:,:,1));
WTrain = squeeze(W_train_full(:,:,1));
tTrain = t_train_full(:,1);
cc = max_obs; while CTrain(cc,1)==0; cc=cc-1; end;
CTrain =CTrain(1:cc, :); WTrain =WTrain(1:cc, :); tTrain =tTrain(1:cc, :);
h_train = plot3(h_ax(1), CTrain(:,1), CTrain(:,2), CTrain(:,3), 'ko', ...
'MarkerSize', 3, 'markerfacecolor', 'k');
h_path = plot3(h_ax(1), pos_full(1,1), pos_full(2,1), pos_full(3,1),...
'-', 'linewidth', 0.5, 'color', .4*[1 1 1]);
h_newpath = plot3(h_ax(1), pos_full(1,1), pos_full(2,1), pos_full(3,1),...
'k-', 'linewidth', 1.5);
thermals = ttherm(0);
h_thermals =zeros(size(thermals, 1), 2);
[xcyl, ycyl, zcyl] = cylinder(0.75); zcyl = zcyl-.5;
for ii = 1:size(thermals, 1)
h_thermals(ii, 1) = plot3(h_ax(2), thermals(ii,4), thermals(ii,5), ...
thermals(ii,6), 'o', 'color', [1, 0.6, 0.1], 'markersize', 10, ...
'MarkerFaceColor', [1, 0.6, 0.1]);
h_thermals(ii,2) = surf(xcyl*thermals(ii,2)+thermals(ii,4), ...
ycyl*thermals(ii,2)+thermals(ii,5), ...
zcyl*thermals(ii,2)+thermals(ii,6), 'facecolor', [1, 0.6, 0.1], ...
'edgecolor', 'none', 'facealpha', 0.2);
end
set(h_fig, 'currentAxes', h_ax(2));
h_time = text(0, -100, -400, 't = 0s'); %-100, -150, -450
tnow = t0*ones(numel(x_grid), 1);
[WW_grid, VW_grid] = GPt_predict(CTrain, tTrain, WTrain, ...
[x_grid(:), y_grid(:), z_grid(:)], tnow, cov_funs{1}, loghyper2);
U_grid = reshape(WW_grid(:,1), size(x_grid));
V_grid = reshape(WW_grid(:,2), size(x_grid));
W_grid = reshape(WW_grid(:,3), size(x_grid));
VW_grid = reshape(VW_grid, size(x_grid));
scale = sqrt(max(sum(WW_grid.^2, 2)))/max_wind*0.5;
h_windcone = coneplot(h_ax(1), x_grid, y_grid, z_grid, U_grid, V_grid, W_grid, ...
x_grid, y_grid, z_grid, VW_grid, scale);
set(h_windcone, 'EdgeColor', 'none', 'facealpha', 0.5);
h_cbar = colorbar('peer', h_ax(1), 'East');
set(h_cbar, 'position', [0.9, 0.05, 0.03, 0.45], 'YAxisLocation', 'right');
tt = 0:(lookahead*ntf):tf;
W_true_grid = W_actual([x_grid(:), y_grid(:), z_grid(:)]', ...
t0);
% t0*ones(1, numel(x_grid)));
scale = sqrt(max(sum(W_true_grid.^2, 1)))/max_wind*0.5;
h_W_true = coneplot(h_ax(2), x_grid, y_grid, z_grid, ...
reshape(W_true_grid(1,:)', size(x_grid)), ...
reshape(W_true_grid(2,:)', size(x_grid)), ...
reshape(W_true_grid(3,:)', size(x_grid)), ...
x_grid, y_grid, z_grid, scale);
set(h_W_true, 'EdgeColor', 'none', 'facecolor', 'b')
n
h_slice = slice(h_ax(1), x_grid, y_grid, z_grid, VW_grid, max(x_grid(:)), ...
min(y_grid(:)), max(z_grid(:)));
set(h_slice, 'edgecolor', 'none', 'facecolor', 'interp', 'facealpha', 0.2)
set(h_ax, 'xlim', axlim(1,:), 'ylim', axlim(2,:), 'zlim', axlim(3,:));
M3(1) = getframe(h_fig, [0, 0, fig_width, fig_height]);
%% Time info
actual_fps = 0.8; % Frequency of plotted frames
n_frames = (tf-t0)*actual_fps +1;
tvec = t0:(1/actual_fps):tf;
hyper_count2 = 1;
tt = (lookahead*ntf):(lookahead*ntf):tf;
%%
for ii = 2:n_frames
tnow = ii/actual_fps;
if ~rem(tnow, replan)
% Get new feature set and training data
CTrain = squeeze(X_train_full(:,:,tnow/replan));
WTrain = squeeze(W_train_full(:,:,tnow/replan));
tTrain = t_train_full(:,tnow/replan);
cc = max_obs; while CTrain(cc,1)==0; cc=cc-1; end;
CTrain =CTrain(1:cc, :); WTrain =WTrain(1:cc, :); tTrain =tTrain(1:cc, :);
set(h_train, 'XData', CTrain(:,1), 'YData', CTrain(:,2), ...
'ZData', CTrain(:,3));
end
set(h_path, 'XData', pos_full(1,1:tnow/dt), ...
'YData', pos_full(2,1:tnow/dt), ...
'ZData', pos_full(3,1:tnow/dt));
iimin = max(tnow/dt-20/dt, 1);
set(h_newpath, 'XData', pos_full(1,iimin:tnow/dt), ...
'YData', pos_full(2,iimin:tnow/dt), ...
'ZData', pos_full(3,iimin:tnow/dt));
thermals = ttherm(tnow);
set(h_thermals(:,1), 'XData', thermals(:,4)+windspeed(1)*tnow, ...
'YData', thermals(:,5)+windspeed(2)*tnow, ...
'ZData', thermals(:,6)+windspeed(3)*tnow);
for jj = 1:size(thermals, 1)
set(h_thermals(jj,2), 'XData', xcyl*thermals(jj,2)+thermals(jj,4)+windspeed(1)*tnow, ...
'YData', ycyl*thermals(jj,2)+thermals(jj,5)+windspeed(2)*tnow, ...
'ZData', zcyl*thermals(jj,2)+thermals(jj,6)+windspeed(3)*tnow);
end
set(h_time, 'string', sprintf('t = %0.1fs', tnow));
nowhyper = sum(save_hypers(:,1) < tnow/replan);
loghyper = save_hypers(nowhyper, 2:end);
tnowvec = tnow*ones(numel(x_grid), 1);
[WW_grid, VW_grid] = GPt_predict(CTrain, tTrain, WTrain, ...
[x_grid(:), y_grid(:), z_grid(:)], tnowvec, cov_funs{1}, loghyper2);
U_grid = reshape(WW_grid(:,1), size(x_grid));
V_grid = reshape(WW_grid(:,2), size(x_grid));
W_grid = reshape(WW_grid(:,3), size(x_grid));
VW_grid = reshape(VW_grid, size(x_grid));
scale = sqrt(max(sum(WW_grid.^2, 2)))/max_wind*0.5;
delete(h_windcone);
h_windcone = coneplot(h_ax(1), x_grid, y_grid, z_grid, U_grid, V_grid, W_grid, ...
x_grid, y_grid, z_grid, VW_grid, scale);
set(h_windcone, 'EdgeColor', 'none', 'facealpha', 0.5);
delete(h_W_true);
W_true_grid = W_actual([x_grid(:), y_grid(:), z_grid(:)]', ...
tnow);
% tnow*ones(1, numel(x_grid)));
scale = sqrt(max(sum(W_true_grid.^2, 1)))/max_wind*0.5;
h_W_true = coneplot(h_ax(2), x_grid, y_grid, z_grid, ...
reshape(W_true_grid(1,:)', size(x_grid)), ...
reshape(W_true_grid(2,:)', size(x_grid)), ...
reshape(W_true_grid(3,:)', size(x_grid)), ...
x_grid, y_grid, z_grid, scale);
set(h_W_true, 'EdgeColor', 'none', 'facecolor', 'b')
set(h_ax, 'xlim', axlim(1,:), 'ylim', axlim(2,:), 'zlim', axlim(3,:));
delete(h_slice);
h_slice = slice(h_ax(1), x_grid, y_grid, z_grid, VW_grid, max(x_grid(:)), ...
min(y_grid(:)), max(z_grid(:)));
set(h_slice, 'edgecolor', 'none', 'facecolor', 'interp', 'facealpha', 0.2)
M3(ii) = getframe(h_fig, [0, 0, fig_width, fig_height]);
end
% %%
% if exist('M_title', 'var')
% M3(11:10+ii) = M3(1:ii);
% for jj = 1:10
% M3(jj) = M_title;
% end
% end
%
% %%
% movie2avi(M3, 'movies\soaring_DOUBLE3.avi', 'fps', 15, 'Compression','none')