# -*- coding: utf-8 -*- ''' @File : plot_radar_and_bar.py @Time : 2025/12/27 22:52:24 @Author : wty-yy, Gemini3 Pro @Version : 1.0 @Blog : https://wty-yy.github.io/ @Desc : 可视化评测结果，生成雷达图和柱状图 ''' import matplotlib.pyplot as plt from pathlib import Path import numpy as np import yaml import argparse import os # --- 配置 Matplotlib 样式 --- config = { "font.family": 'serif', "figure.figsize": (8, 6), "font.size": 12, "mathtext.fontset": 'cm', 'axes.unicode_minus': False } plt.rcParams.update(config) plt.rcParams['font.serif'] = ['Times New Roman', 'DejaVu Serif', 'serif'] def parse_value_string(val_str): if isinstance(val_str, (int, float)): return float(val_str) if isinstance(val_str, str): if '±' in val_str: return float(val_str.split('±')[0].strip()) return float(val_str) return 0.0 def load_data(file_paths): all_data = [] metric_keys = ['lin_vel_err', 'ang_vel_err', 'orientation_stability', 'dof_limits', 'torque_smoothness', 'dof_power'] labels_map = { 'lin_vel_err': 'Lin Vel\nAccuracy', 'ang_vel_err': 'Ang Vel\nAccuracy', 'dof_limits': 'Joint Limits\nMargin', 'dof_power': 'Energy\nEfficiency', 'orientation_stability': 'Orientation\nStability', 'torque_smoothness': 'Torque\nSmoothness', } for path in file_paths: if not os.path.exists(path): print(f"[ERROR] File not found: {path}") continue with open(path, 'r', encoding='utf-8') as f: content = yaml.safe_load(f) raw_path = content.get('model_path', 'Unknown_Model') model_name = os.path.basename(raw_path).replace('.pt', '') values = [] summary = content['summary'] for k in metric_keys: if k in summary: raw_val = summary[k]['mean@25'] values.append(parse_value_string(raw_val)) else: values.append(0.0) all_data.append({'name': model_name, 'values': values}) return all_data, [labels_map[k] for k in metric_keys] def plot_radar(data_list, labels, output_file=None, r_range=(0, 1.05)): """绘制雷达图""" if not data_list: return num_vars = len(labels) angles = np.linspace(0, 2 * np.pi, num_vars, endpoint=False).tolist() angles += angles[:1] colors = plt.cm.get_cmap("tab10", len(data_list)) fig, ax = plt.subplots(figsize=(10, 8), subplot_kw=dict(polar=True)) plt.subplots_adjust(left=0.05, right=0.75, top=0.9, bottom=0.1) ax.set_theta_offset(np.pi / 2) ax.set_theta_direction(-1) plt.xticks(angles[:-1], labels, color='#444444', size=11) for label, angle in zip(ax.get_xticklabels(), angles[:-1]): if angle in (0, np.pi): label.set_horizontalalignment('center') elif 0 < angle < np.pi: label.set_horizontalalignment('left') else: label.set_horizontalalignment('right') r_min, r_max = r_range ax.set_ylim(r_min, r_max) ticks = np.linspace(r_min, r_max, 5) plt.yticks(ticks, [f"{t:.2f}" for t in ticks], color="grey", size=10) ax.set_rlabel_position(180) ax.grid(True, color='gray', linestyle=':', linewidth=1.5, alpha=0.5) ax.spines['polar'].set_visible(False) linewidth = 2.5 for idx, item in enumerate(data_list): values_closed = item['values'] + [item['values'][0]] color = colors(idx) ax.plot(angles, values_closed, linewidth=linewidth, label=item['name'], color=color) ax.fill(angles, values_closed, color=color, alpha=0.15) plt.legend(loc='lower left', bbox_to_anchor=(0.82, 0.0), title="Models", frameon=False) plt.title('Performance Comparison (Radar)', size=16, y=1.06) if output_file: plt.savefig(output_file, dpi=300, bbox_inches='tight') print(f"Radar plot saved to {output_file}") def plot_bar(data_list, labels, output_file=None, h_range=(0, 1.05)): """绘制柱状图""" if not data_list: return num_models = len(data_list) num_metrics = len(labels) # 设置柱状图参数 x = np.arange(num_metrics) width = 0.8 / num_models # 自动计算柱子宽度 fig, ax = plt.subplots(figsize=(12, 6)) colors = plt.cm.get_cmap("tab10", num_models) for idx, item in enumerate(data_list): # 计算每个模型柱子的偏移量 offset = (idx - (num_models - 1) / 2) * width ax.bar(x + offset, item['values'], width, label=item['name'], color=colors(idx), alpha=0.8) ax.set_ylabel('Score / Value') ax.set_title('Performance Comparison (Bar)', size=16) ax.set_xticks(x) # 将标签中的换行符去掉或处理，使其在柱状图中更美观 clean_labels = [l.replace('\n', ' ') for l in labels] ax.set_xticklabels(clean_labels, rotation=15, ha='right') ax.legend(title="Models", bbox_to_anchor=(1.05, 1), loc='upper left', frameon=False) ax.grid(axis='y', linestyle='--', alpha=0.7) if h_range: ax.set_ylim(h_range) plt.tight_layout() if output_file: plt.savefig(output_file, dpi=300, bbox_inches='tight') print(f"Bar plot saved to {output_file}") if __name__ == "__main__": parser = argparse.ArgumentParser() parser.add_argument('files_or_dir', metavar='F', type=str, nargs='+', help='YAML files or directory') parser.add_argument('--out', type=str, help='Base name for output files') parser.add_argument('--range', type=float, nargs=2, default=[0.0, 1.0], help='Axis range for radar and bar plots') args = parser.parse_args() # 获取文件列表 files = args.files_or_dir if Path(args.files_or_dir[0]).is_dir(): dir_path = Path(args.files_or_dir[0]) files = [str(p) for p in dir_path.glob('*.yaml')] data, metrics_labels = load_data(files) # 处理输出文件名 radar_out, bar_out = None, None if args.out: out_path = Path(args.out) radar_out = str(out_path.with_name(f"{out_path.stem}_radar{out_path.suffix}")) bar_out = str(out_path.with_name(f"{out_path.stem}_bar{out_path.suffix}")) # 分别调用绘图函数 plot_radar(data, metrics_labels, output_file=radar_out, r_range=args.range) plot_bar(data, metrics_labels, output_file=bar_out, h_range=args.range) plt.show()