def generate_vectorfield_2articulations_1(space, a, b, c, width):
"""
ONLY DIMENSION 2
generates a vector field corresponding to rotation centred on the 'finger
' with 2 articulations at a and b, with ending point at c,
rotating the top part of the finger (2nd 'articulation)
"""
dim = 2
vector_ab_unit, vector_ab_norm_orth, ab_norm = cmp.compute_vect_unit(a, b)
vector_bc_unit, vector_bc_norm_orth, bc_norm = cmp.compute_vect_unit(b, c)
base_points_a = [
a - 0.5 * width * vector_ab_norm_orth,
a + 0.5 * width * vector_ab_norm_orth
]
base_points_c = [
c - 0.5 * width * vector_bc_norm_orth,
c + 0.5 * width * vector_bc_norm_orth
]
points = space.points().T
limit = 0.3 * width
base_points_b = []
base_points_b.append(
cmp.solve_intersection(base_points_a[0], vector_ab_unit,
base_points_c[0], vector_bc_unit,
ab_norm).copy())
base_points_b.append(
cmp.solve_intersection(base_points_a[1], vector_ab_unit,
base_points_c[1], vector_bc_unit,
ab_norm).copy())
points_prod_0_bc_orth = space.element(
sum([(points[u] - base_points_b[0][u]) * vector_bc_norm_orth[u]
for u in range(dim)]))
centre_rot0 = base_points_b[0].copy()
centre_rot1 = base_points_b[1].copy()
points = space.points().T
I = generate_image_2articulations_vectfield_1(space, a, b, c, width)
points_dec0 = np.array([points[u] - centre_rot0[u] for u in range(dim)])
fac0 = ((points_prod_0_bc_orth - (width + limit))**2)**(1 / 2)
vect0 = fac0 * space.tangent_bundle.element(Rot_inf(points_dec0.T).T)
fac1 = (((points_prod_0_bc_orth - (-limit)))**2)**(1 / 2)
points_dec1 = np.array([points[u] - centre_rot1[u] for u in range(dim)])
vect1 = fac1 * space.tangent_bundle.element(Rot_inf(points_dec1.T).T)
return ((vect0 + vect1) / (fac0 + fac1)) * I
def generate_image_rectangle(space, a, b, width):
"""
ONLY DIMENSION 2
generates a black and white image of a 'finger' with 2 articulations
at a and b, with ending point at c and constant width width
"""
dim = 2
points = space.points().T
vector_ab_unit, vector_ab_norm_orth, vector_ab_norm = cmp.compute_vect_unit(
a, b)
#width_list = width * vector_ab_unit
limit = 0.2 * vector_ab_norm
limit_orth = 0.2 * width
width_list_orth = width * vector_ab_norm_orth
points_prod_ab = sum([(points[u] - a[u]) * vector_ab_unit[u]
for u in range(dim)])
points_prod_ab_orth = sum([
(points[u] - a[u] + 0.5 * width_list_orth[u]) * vector_ab_norm_orth[u]
for u in range(dim)
])
I_arti0 = (0 - limit <= points_prod_ab) * (points_prod_ab <=
vector_ab_norm + limit)
I_arti0 *= (points_prod_ab_orth >=
0 - limit_orth) * (points_prod_ab_orth <= width + limit_orth)
return space.element((I_arti0 == 1))
def generate_image_2articulations_vectfield(space, a, b, c, width):
"""
ONLY DIMENSION 2
generates a black and white image of a 'finger' with 2 articulations
at a and b, with ending point at c and constant width width
"""
dim = 2
points = space.points().T
limit = 0.3 * width
vector_ab_unit, vector_ab_norm_orth, vector_ab_norm = cmp.compute_vect_unit(
a, b)
vector_bc_unit, vector_bc_norm_orth, vector_bc_norm = cmp.compute_vect_unit(
b, c)
points_prod_ab = sum([(points[u] - a[u]) * vector_ab_unit[u]
for u in range(dim)])
points_prod_bc = sum([(points[u] - b[u]) * vector_bc_unit[u]
for u in range(dim)])
points_prod_ab_orth = sum([(points[u] - a[u]) * vector_ab_norm_orth[u]
for u in range(dim)])
points_prod_bc_orth = sum([(points[u] - b[u]) * vector_bc_norm_orth[u]
for u in range(dim)])
I_arti0 = (0 - limit <= points_prod_ab) * (points_prod_ab <=
vector_ab_norm + limit)
I_arti0 *= (points_prod_ab_orth >= 0 - limit) * (points_prod_ab_orth <=
width + limit)
I_arti1 = (0 - limit <= points_prod_bc) * (points_prod_bc <=
vector_bc_norm + limit)
I_arti1 *= (points_prod_bc_orth >= 0 - limit) * (points_prod_bc_orth <=
width + limit)
return space.element((I_arti0 == 1) + (I_arti1 == 1))
def generate_vectorfield_2articulations_0(space, a, b, c, width):
"""
ONLY DIMENSION 2
generates a vector field corresponding to rotation on the 'finger
' with 2 articulations at a and b, with ending point at c,
rotating the whole finger (1st 'articulation)
"""
vector_ab_unit, vector_ab_norm_orth, vector_ab_norm = cmp.compute_vect_unit(
a, b)
limit_ab = 0.2 * vector_ab_norm
centre_rot = a - limit_ab * vector_ab_norm_orth
dim = 2
points = space.points().T
I = generate_image_2articulations_vectfield(space, a, b, c, width)
points_a = np.array([points[u] - centre_rot[u] for u in range(dim)])
vect = space.tangent_bundle.element(Rot_inf(points_a.T).T)
return vect * I
#for i in range(nbdata):
# a = a_list[i]
# b = b_list[i]
# c = c_list[i]
# vector_fields_list.append(generate_vectorfield_2articulations_0(space, a, b, c, width))
# image_list.append(generate_image_2articulations(space, a, b, c, width))
##
r_b = 4
sigma = 0.1
nbdata = 10
param = generate_random_param(nbdata, r_b)
points_list = []
vectors_list = []
vector_ab_unit, vector_ab_norm_orth, ab_norm = cmp.compute_vect_unit(
param.T[0][0:2], param.T[0][2:4])
nb_ab = int((ab_norm + 0.4 * ab_norm) / sigma) + 1
nb_ab_orth = int(2 * width / sigma) + 1
for i in range(nbdata):
a = param.T[i][0:2]
b = param.T[i][2:4]
truth_temp = generate_truth_from_param(param.T[i]).copy()
image_list.append(generate_image_rectangle(space, a, b, width))
vector_fields_list.append(truth_temp.copy())
points, vectors = cmp.compute_pointsvectors_rectangle_nb(
a, b, 1.2 * width, sigma, nb_ab, nb_ab_orth)
points_list.append(points.copy())
vectors_list.append(vectors.copy())
#
def generate_image_2articulations(space, a, b, c, width):
"""
ONLY DIMENSION 2
generates a black and white image of a 'finger' with 2 articulations
at a and b, with ending point at c and constant width width
"""
dim = 2
points = space.points().T
#limit = 0.0*width
vector_ab_unit, vector_ab_norm_orth, ab_norm = cmp.compute_vect_unit(a, b)
vector_bc_unit, vector_bc_norm_orth, bc_norm = cmp.compute_vect_unit(b, c)
base_points_a = [
a - 0.5 * width * vector_ab_norm_orth,
a + 0.5 * width * vector_ab_norm_orth
]
base_points_c = [
c - 0.5 * width * vector_bc_norm_orth,
c + 0.5 * width * vector_bc_norm_orth
]
base_points_b = []
base_points_b.append(
cmp.solve_intersection(base_points_a[0], vector_ab_unit,
base_points_c[0], vector_bc_unit,
ab_norm).copy())
base_points_b.append(
cmp.solve_intersection(base_points_a[1], vector_ab_unit,
base_points_c[1], vector_bc_unit,
ab_norm).copy())
limit_ab = 0.2 * ab_norm
limit_bc = 0.2 * bc_norm
limit_orth = 0.2 * width
points_prod_0_ab = sum([
(points[u] - base_points_b[0][u]) * vector_ab_unit[u]
for u in range(dim)
])
points_prod_0_bc = sum([
(points[u] - base_points_b[0][u]) * vector_bc_unit[u]
for u in range(dim)
])
points_prod_0_ab_orth = sum([
(points[u] - base_points_b[0][u]) * vector_ab_norm_orth[u]
for u in range(dim)
])
points_prod_0_bc_orth = sum([
(points[u] - base_points_b[0][u]) * vector_bc_norm_orth[u]
for u in range(dim)
])
I_arti0 = (-ab_norm - limit_ab <= points_prod_0_ab) * (points_prod_0_ab <=
0 + 0 * limit_ab)
I_arti0 *= (0 <= points_prod_0_ab_orth) * (points_prod_0_ab_orth <=
width + 0 * limit_orth)
I_arti1 = (0 <= points_prod_0_bc) * (points_prod_0_bc <=
bc_norm + limit_bc)
I_arti1 *= (0 <= points_prod_0_bc_orth) * (points_prod_0_bc_orth <=
width + 0 * limit_orth)
return space.element((I_arti0 == 1) + (I_arti1 == 1))
r_b = 4 r_c = 4 sigma = 0.3 nbdata = 10 param = generate_random_param(nbdata, r_b, r_c) points_list = [] vectors_list = [] a= param.T[0][0:2] b= param.T[0][2:4] c= param.T[0][4:6] vector_ab_unit, vector_ab_norm_orth, ab_norm = cmp.compute_vect_unit(a, b) vector_bc_unit, vector_bc_norm_orth, bc_norm = cmp.compute_vect_unit(b, c) base_points_a = [a - 0.5*width *vector_ab_norm_orth, a + 0.5*width *vector_ab_norm_orth ] base_points_c = [c - 0.5*width *vector_bc_norm_orth, c + 0.5*width *vector_bc_norm_orth ] base_points_b = [] base_points_b.append(cmp.solve_intersection(base_points_a[0], vector_ab_unit, base_points_c[0], vector_bc_unit, ab_norm).copy()) base_points_b.append(cmp.solve_intersection(base_points_a[1], vector_ab_unit, base_points_c[1], vector_bc_unit, ab_norm).copy()) vector_points_b_unit, vector_points_b_norm_orth, points_b_norm = cmp.compute_vect_unit(base_points_b[0], base_points_b[1]) n_orth = int((points_b_norm + 0.2*width) / sigma) +1 nb_ab = int((ab_norm + 0.2*width) / sigma) +1 nb_bc = int((bc_norm + 0.2*width) / sigma) +1