import matplotlib.pyplot as plt import mpl_toolkits.axisartist as axisartist # fig, _ = plt.subplots(3, 1, figsize=(5, 12)) fig, _ = plt.subplots(1, 3, figsize=(15, 5)) fig.set_tight_layout(True) # 设置全局颜色 plt.rcParams['axes.prop_cycle'] = plt.cycler(color=['steelblue']) # plt.subplot(3, 1, 3) plt.subplot(1, 3, 3) # ax = axisartist.Subplot(fig, 111) # #将绘图区对象添加到画布中 # fig.add_axes(ax) # #通过set_axisline_style方法设置绘图区的底部及左侧坐标轴样式 # #"-|>"代表实心箭头："->"代表空心箭头 # ax.axis["bottom"].set_axisline_style("->", size = 1.5) # ax.axis["left"].set_axisline_style("->", size = 1.5) # #通过set_visible方法设置绘图区的顶部及右侧坐标轴隐藏 # ax.axis["top"].set_visible(False) # ax.axis["right"].set_visible(False) fontsize_ = 10 # SparseOCC fps = [17.3] ray_iou = [14.1] labels = ['SparseOcc(8f)'] plt.scatter(fps, ray_iou, color='dodgerblue') # 添加文本 plt.text(fps[0]+1.5, ray_iou[0]-0.1, labels[0], fontsize=fontsize_, ha='center', va='top') # Panoptic-FlashOcc # fps = [29.0, 22.6, 22.0, 20.3] # 3090 fps = [39.8, 35.2, 30.4, 30.2] # a100-80g # ray_iou = [12.6, 12.9, 14.2, 15.8] ray_iou = [12.89, 13.18, 14.52, 15.96] labels = ['Panoptic-\nFlashOcc-Tiny(1f)', 'Panoptic-\nFlashOcc(1f)', 'Panoptic-\nFlashOcc(2f)', 'Panoptic-\nFlashOcc(8f)'] plt.scatter(fps, ray_iou, color='orange') # 添加文本 plt.text(fps[0]-3.5, ray_iou[0]+0.0, labels[0], fontsize=fontsize_, ha='center', va='top') plt.text(fps[1]-3.0, ray_iou[1]+0.3, labels[1], fontsize=fontsize_, ha='center', va='top') plt.text(fps[2]+0.4, ray_iou[2], labels[2], fontsize=fontsize_, ha='left', va='bottom') plt.text(fps[3]+2., ray_iou[3]-0.1, labels[3], fontsize=fontsize_, ha='center', va='bottom') # 连接散点并画线 plt.plot(fps, ray_iou, color='orange', linestyle='-') # 修改线型 plt.grid(True) plt.grid(color='gray', linestyle='--', linewidth=1, alpha=0.3) # 设置字体大小和粗细 font = {'family': 'times new roman', 'color': 'black', 'weight': 'normal', 'size': 16, } # 设置图表标题和坐标轴标签 plt.xlabel('FPS (Hz)', fontdict=font) plt.ylabel('Occ3D-nuScenes (RayPQ)', fontdict=font) # 设置 y 轴范围 plt.ylim(11.5, 16.5) # 设置 y 轴刻度 plt.yticks([12, 13, 14, 15, 16]) # 设置 x 轴范围 # plt.xlim(16, 40) plt.xlim(0, 50) # 设置 y 轴刻度 # plt.xticks([15, 20, 25, 30, 35, 40]) plt.xticks([10, 20, 30, 40, 50]) # plt.subplot(3, 1, 2) plt.subplot(1, 3, 2) # BEVFormer fps = [3.0] ray_iou = [23.7] labels = ['BEVFormer'] plt.scatter(fps, ray_iou, color='dodgerblue') # 添加文本 plt.text(fps[0]+3.2, ray_iou[0]+0.2, labels[0], fontsize=fontsize_, ha='center', va='top') # FB-Occ fps = [10.3] ray_iou = [27.9] labels = ['FB-Occ'] plt.scatter(fps, ray_iou, color='dodgerblue') # 添加文本 plt.text(fps[0], ray_iou[0]-0.2, labels[0], fontsize=fontsize_, ha='center', va='top') # SparseOCC fps = [17.3, 12.5] ray_iou = [30.3, 30.9] labels = ['SparseOcc(8f)', 'SparseOcc(16f)'] plt.scatter(fps, ray_iou, color='dodgerblue') # 添加文本 plt.text(fps[0], ray_iou[0]-0.2, labels[0], fontsize=fontsize_, ha='center', va='top') plt.text(fps[1], ray_iou[1]+0.2, labels[1], fontsize=fontsize_, ha='center', va='bottom') # 连接散点并画线 plt.plot(fps, ray_iou, color='dodgerblue', linestyle='-') # 修改线型 # Panoptic-FlashOcc # fps = [29.0, 22.6, 22.0, 20.3] # 3090 fps = [43.9, 38.7, 35.9, 35.6] # a100 80g ray_iou = [29.1, 29.4, 30.3, 31.6] labels = ['Panoptic-\nFlashOcc-Tiny(1f)', 'Panoptic-\nFlashOcc(1f)', 'Panoptic-\nFlashOcc(2f)', 'Panoptic-\nFlashOcc(8f)'] plt.scatter(fps, ray_iou, color='orange') # 添加文本 plt.text(fps[0]-2.0, ray_iou[0]-0.2, labels[0], fontsize=fontsize_, ha='center', va='top') plt.text(fps[1]-3.5, ray_iou[1]+0.4, labels[1], fontsize=fontsize_, ha='center', va='top') plt.text(fps[2]-7.0, ray_iou[2]-0.3, labels[2], fontsize=fontsize_, ha='left', va='bottom') plt.text(fps[3]-4.0, ray_iou[3]-0.5, labels[3], fontsize=fontsize_, ha='center', va='bottom') # 连接散点并画线 plt.plot(fps, ray_iou, color='orange', linestyle='-') # 修改线型 plt.grid(True) plt.grid(color='gray', linestyle='--', linewidth=1, alpha=0.3) # 设置字体大小和粗细 font = {'family': 'times new roman', 'color': 'black', 'weight': 'normal', 'size': 16, } # 设置图表标题和坐标轴标签 plt.xlabel('FPS (Hz)', fontdict=font) plt.ylabel('Occ3D-nuScenes (mIoU)', fontdict=font) # 设置 y 轴范围 plt.ylim(23, 33) # 设置 y 轴刻度 plt.yticks([24, 26, 28, 30, 32]) # 设置 x 轴范围 plt.xlim(2, 45) # 设置 y 轴刻度 # plt.xticks([5, 10, 15, 20, 25, 30, 35]) plt.xticks([10, 20, 30, 40, 50]) # plt.xticks([15, 20, 25, 30, 35, 40, 45]) # plt.subplot(3, 1, 1) plt.subplot(1, 3, 1) fps = [2.1, 5.4, 3.2, 7.6] ray_iou = [32.4, 29.6, 32.6, 33.5] labels = ['BEVFormer', 'BEVDet-Occ', 'BEVDet-Occ-\nLongterm', 'FB-Occ'] # 绘制散点图 plt.scatter(fps, ray_iou, color='dodgerblue') # 添加文本 for i in range(len(fps)): if labels[i] == 'BEVDet-Occ-\nLongterm': plt.text(fps[i]+5.3, ray_iou[i]-0.2, labels[i], fontsize=fontsize_, ha='center', va='bottom') # 通过减去0.5调整文本位置 elif labels[i] == 'BEVFormer': plt.text(fps[i]+2.3, ray_iou[i]-0.2, labels[i], fontsize=fontsize_, ha='center', va='top') # 通过减去0.5调整文本位置 elif labels[i] == 'BEVDet-Occ': plt.text(fps[i]+0.2, ray_iou[i]+0.5, labels[i], fontsize=fontsize_, ha='center', va='top') # 通过减去0.5调整文本位置 else: plt.text(fps[i]+0.2, ray_iou[i]+0.4, labels[i], fontsize=fontsize_, ha='center', va='top') # 通过减去0.5调整文本位置 # SparseOCC fps = [17.3, 12.5] ray_iou = [34.0, 35.1] labels = ['SparseOcc(8f)', 'SparseOcc(16f)'] plt.scatter(fps, ray_iou, color='dodgerblue') # 添加文本 plt.text(fps[0], ray_iou[0]-0.2, labels[0], fontsize=fontsize_, ha='center', va='top') plt.text(fps[1], ray_iou[1]+0.2, labels[1], fontsize=fontsize_, ha='center', va='bottom') # 连接散点并画线 plt.plot(fps, ray_iou, color='dodgerblue', linestyle='-') # 修改线型 # Panoptic-FlashOcc # fps = [29.0, 22.6, 22.0, 20.3] fps = [43.9, 38.7, 35.9, 35.6] # a100 80g ray_iou = [34.81, 35.22, 36.76, 38.50] labels = ['Panoptic-\nFlashOcc-Tiny(1f)', 'Panoptic-\nFlashOcc(1f)', 'Panoptic-\nFlashOcc(2f)', 'Panoptic-\nFlashOcc(8f)'] plt.scatter(fps, ray_iou, color='orange') # 添加文本 plt.text(fps[0]-4.0, ray_iou[0]+0.0, labels[0], fontsize=fontsize_, ha='center', va='top') plt.text(fps[1]-4.2, ray_iou[1]+0.4, labels[1], fontsize=fontsize_, ha='center', va='top') plt.text(fps[2]-8.5, ray_iou[2]-0.3, labels[2], fontsize=fontsize_, ha='left', va='bottom') plt.text(fps[3]-4.0, ray_iou[3]-0.5, labels[3], fontsize=fontsize_, ha='center', va='bottom') # 连接散点并画线 plt.plot(fps, ray_iou, color='orange', linestyle='-') # 修改线型 plt.grid(True) plt.grid(color='gray', linestyle='--', linewidth=1, alpha=0.3) # 设置字体大小和粗细 font = {'family': 'times new roman', 'color': 'black', 'weight': 'normal', 'size': 16, } # 设置图表标题和坐标轴标签 plt.xlabel('FPS (Hz)', fontdict=font) plt.ylabel('Occ3D-nuScenes (RayIoU)', fontdict=font) # 设置 y 轴范围 plt.ylim(29, 39) # 设置 y 轴刻度 plt.yticks([30, 32, 34, 36, 38]) # 设置 x 轴范围 plt.xlim(0, 45) # 设置 y 轴刻度 # plt.xticks([0, 5, 10, 15, 20, 25, 30, 35]) plt.xticks([10, 20, 30, 40, 50]) # 保存图像 plt.savefig('scatter_plot.png') plt.savefig('scatter_plot.pdf') # 显示图表 plt.show()