From 6e7d74a4b721e3fc03bf713aeec74b5a9100e448 Mon Sep 17 00:00:00 2001
From: Hari <harisankar995@gmail.com>
Date: Wed, 22 Nov 2023 15:47:14 +0100
Subject: [PATCH] added example with visualization

---
 examples/03_view_map.py |  71 ++++++++++++++++++++++++++++++++++++++++
 examples/sample_map.npy | Bin 0 -> 296480 bytes
 2 files changed, 71 insertions(+)
 create mode 100644 examples/03_view_map.py
 create mode 100644 examples/sample_map.npy

diff --git a/examples/03_view_map.py b/examples/03_view_map.py
new file mode 100644
index 0000000..7f91782
--- /dev/null
+++ b/examples/03_view_map.py
@@ -0,0 +1,71 @@
+# import the necessary packages
+import os
+
+import numpy as np
+
+from pathfinding3d.core.diagonal_movement import DiagonalMovement
+from pathfinding3d.core.grid import Grid, GridNode
+from pathfinding3d.finder.a_star import AStarFinder
+
+USE_OPEN3D = True
+try:
+    # for visualization
+    # only py 3.8, 3.9 and 3.10
+    import open3d as o3d
+except ImportError:
+    USE_OPEN3D = False
+    print("Open3D is not installed. Please install it using 'pip install open3d'")
+
+# load map
+sample_map_path = os.path.join(os.path.dirname(__file__), "sample_map.npy")
+matrix = np.load(sample_map_path)
+
+# define start and end points
+start_pt = [21, 21, 21]
+end_pt = [5, 38, 33]
+
+# create grid representation and start and end nodes
+grid = Grid(matrix=matrix)
+start = grid.node(*start_pt)
+end = grid.node(*end_pt)
+
+# initialize A* finder
+finder = AStarFinder(diagonal_movement=DiagonalMovement.only_when_no_obstacle)
+path_, runs = finder.find_path(start, end, grid)
+path_cost = end.g
+print(f"path cost: {path_cost:.4f}, path length: {len(path_)}, runs: {runs}")
+
+path = []
+for node in path_:
+    if isinstance(node, GridNode):
+        path.append([node.x, node.y, node.z])
+    elif isinstance(node, tuple):
+        path.append([node[0], node[1], node[2]])
+print(f"path: {path}")
+  
+
+# visualize path in open3d
+if USE_OPEN3D:
+    # Find the obstacles and represent in blue
+    obstacle_indices = np.where(matrix == 0)
+    xyz_pt = np.stack(obstacle_indices, axis=-1).astype(float)
+    colors = np.zeros((xyz_pt.shape[0], 3))
+    colors[:, 2] = obstacle_indices[2] / np.max(obstacle_indices[2])
+    
+    # Prepare start and end colors
+    start_color = np.array([[1.0, 0, 0]])  # Red
+    end_color = np.array([[0, 1.0, 0]])    # Green
+    path_colors = np.full((len(path) - 2, 3), [0.7, 0.7, 0.7])  # Grey for the path
+
+    # Combine points and colors
+    xyz_pt = np.concatenate((xyz_pt, [start_pt], [end_pt], path[1:-1]))
+    colors = np.concatenate((colors, start_color, end_color, path_colors))
+    
+    # Create and visualize the point cloud
+    pcd = o3d.geometry.PointCloud()
+    pcd.points = o3d.utility.Vector3dVector(xyz_pt)
+    pcd.colors = o3d.utility.Vector3dVector(colors)
+
+    voxel_grid = o3d.geometry.VoxelGrid.create_from_point_cloud(pcd, voxel_size=1.0)
+    axes = o3d.geometry.TriangleMesh.create_coordinate_frame(size=15.0, origin=np.array([-3.0, -3.0, -3.0]))
+    o3d.visualization.draw_geometries([axes, voxel_grid], window_name="Voxel Env", width=1024, height=768)
diff --git a/examples/sample_map.npy b/examples/sample_map.npy
new file mode 100644
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