# mapf-visualizer

**Repository Path**: daoos_admin/mapf-visualizer

## Basic Information

- **Project Name**: mapf-visualizer
- **Description**: 简单且可扩展的多代理寻路 (MAPF) 可视化工具，供研究使用。

基于openFrameworks，用C++编写
- **Primary Language**: C++
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-04-29
- **Last Updated**: 2024-04-29

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

<div align="center">

<img src="./assets/logo.png" alt="Logo" width="400">

# mapf-visualizer

[![MIT License](http://img.shields.io/badge/license-MIT-blue.svg?style=flat)](LICENSE)
[![ci](https://github.com/Kei18/mapf-visualizer/actions/workflows/ci.yml/badge.svg)](https://github.com/Kei18/mapf-visualizer/actions/workflows/ci.yml)

Simple & scalable multi-agent pathfinding (MAPF) visualizer for research usage.

Based on [openFrameworks](https://openframeworks.cc/), written in C++

</div>

## Demo

![room-32-32-4](./assets/demo_room.gif)

![tunnel, planning with four agents](./assets/demo_tunnel.gif)

![ost003d, planning with 1000 agents](./assets/demo_ost003d.gif)

## Install

### for macOS

```sh
git clone --recursive https://github.com/Kei18/mapf-visualizer.git
cd mapf-visualizer
bash third_party/openFrameworks/scripts/osx/download_libs.sh
make -j4
echo "export PATH=$(pwd)/bin/mapf-visualizer.app/Contents/MacOS:\$PATH" >> ~/.bashrc
```

required: around 10 minutes

### for Ubuntu 20.04

```sh
git clone https://github.com/Kei18/mapf-visualizer.git
cd mapf-visualizer
wget -O third_party/openFrameworks.tar.gz https://github.com/openframeworks/openFrameworks/releases/download/0.11.2/of_v0.11.2_linux64gcc6_release.tar.gz
tar -xzvf third_party/openFrameworks.tar.gz -C third_party --strip-components=1 --one-top-level=openFrameworks
sudo third_party/openFrameworks/scripts/linux/ubuntu/install_dependencies.sh
sudo third_party/openFrameworks/scripts/linux/ubuntu/install_codecs.sh
make -j4
echo "export PATH=$(pwd)/bin:\$PATH" >> ~/.bashrc
```

#### for other Linux

I heard that the visualizer worked on (Arch) Linux.
To install, try `install_linux.sh`.
You may need `sudo`.

## Usage

```sh
mapf-visualizer assets/random-32-32-20.map assets/demo_random-32-32-20.txt
```

You can manipulate it via your keyboard. See printed info.

## Input format of planning result

e.g.,
```txt
0:(5,16),(21,29),[...]
1:(5,17),(21,28),[...]
[...]
```

`(x, y)` denotes location.
`(0, 0)` is the left-top point.
`(x, 0)` is the location at `x`-th column and 1st row.

## Notes

- Please specify **correct** files. I omitted error handling
- The grid maps in `assets/` are from [MAPF benchmarks](https://movingai.com/benchmarks/mapf.html)
- The font in `visualizer/bin/data` is from [Google Fonts](https://fonts.google.com/)
- This repo is forked from a series of my previous studies such as
  [pibt2](https://kei18.github.io/pibt2),
  [mapf-IR](https://kei18.github.io/mapf-IR/),
  [otimapp](https://kei18.github.io/otimapp/), etc.
  This repo is compatible with
  [lacam](https://kei18.github.io/lacam/),
  [tswap](https://kei18.github.io/tswap/),
  [pypibt](https://github.com/Kei18/pypibt), etc.
- Install [pre-commit](https://pre-commit.com/):
```sh
pre-commit install
```
- I'm happy if this repo helps somebody. Please use "Cite this repository" on this page for citation.

## Licence

This software is released under the MIT License, see [LICENSE.txt](LICENCE.txt).

## Author

[Keisuke Okumura](https://kei18.github.io)