def initSequence(self, state, params):
# =================================================================
# If necessary, create intial state
if self._getIterCount() == 0:
stepSize = params['stepSize']
# What is the range on the X and Y offsets of the center points?
shape = params['spaceShape']
xMin = -1 * (shape[1] // 2)
xMax = xMin + shape[1] - 1
xPositions = range(stepSize * xMin, stepSize * xMax + 1, stepSize)
yMin = -1 * (shape[0] // 2)
yMax = yMin + shape[0] - 1
yPositions = range(stepSize * yMin, stepSize * yMax + 1, stepSize)
self._centerOffsets = list(cross(yPositions, xPositions))
self._numCenterOffsets = len(self._centerOffsets)
# What is the range on the X and Y offsets of the spread points?
shape = params['spreadShape']
xMin = -1 * (shape[1] // 2)
xMax = xMin + shape[1] - 1
xPositions = range(stepSize * xMin, stepSize * xMax + 1, stepSize)
yMin = -1 * (shape[0] // 2)
yMax = yMin + shape[0] - 1
yPositions = range(stepSize * yMin, stepSize * yMax + 1, stepSize)
self._spreadOffsets = list(cross(yPositions, xPositions))
# Put the (0,0) entry first
self._spreadOffsets.remove((0,0))
self._spreadOffsets.insert(0, (0,0))
self._numSpreadOffsets = len(self._spreadOffsets)
# Set start position
self._catIdx = 0
self._centerPosIdx = 0 # Which center point
self._spreadPosIdx = 0 # radial position around the center point
self._numCats = self._getNumCategories()
# =================================================================
# Present it
self._presentNextPosn(state, params)
def initSequence(self, state, params):
# =================================================================
# If necessary, create intial state
if self._getIterCount() == 0:
stepSize = params['stepSize']
# What is the range on the X and Y offsets of the center points?
shape = params['spaceShape']
xMin = -1 * (shape[1] // 2)
xMax = xMin + shape[1] - 1
xPositions = range(stepSize * xMin, stepSize * xMax + 1, stepSize)
yMin = -1 * (shape[0] // 2)
yMax = yMin + shape[0] - 1
yPositions = range(stepSize * yMin, stepSize * yMax + 1, stepSize)
self._centerOffsets = list(cross(yPositions, xPositions))
self._numCenterOffsets = len(self._centerOffsets)
# What is the range on the X and Y offsets of the spread points?
shape = params['spreadShape']
xMin = -1 * (shape[1] // 2)
xMax = xMin + shape[1] - 1
xPositions = range(stepSize * xMin, stepSize * xMax + 1, stepSize)
yMin = -1 * (shape[0] // 2)
yMax = yMin + shape[0] - 1
yPositions = range(stepSize * yMin, stepSize * yMax + 1, stepSize)
self._spreadOffsets = list(cross(yPositions, xPositions))
# Put the (0,0) entry first
self._spreadOffsets.remove((0, 0))
self._spreadOffsets.insert(0, (0, 0))
self._numSpreadOffsets = len(self._spreadOffsets)
# Set start position
self._catIdx = 0
self._centerPosIdx = 0 # Which center point
self._spreadPosIdx = 0 # radial position around the center point
self._numCats = self._getNumCategories()
# =================================================================
# Present it
self._presentNextPosn(state, params)
def __init__(self, spaceShape=(5,5), spreadShape=None, spreadRadius=None,
stepSize=1, resetEveryPos=False, verbosity=0, *args, **kwargs):
"""
spaceShape: The (height, width) of the 2-D space to explore. This
sets the number of center-points.
spreadShape: The shape (height, width) of the area around each center-point
to explore if you want to spread in a square area. If this is
specified, then radius must be None.
spreadRadius: The radius of the spread if you want to spread in a circular
area. If this is specified, then spreadShape must be None.
When set to R, this explorer will visit all positions where:
int(round(sqrt(dx*dx + dy*dy))) <= radius
stepSize: The step size. How big each step is, in pixels. This controls
*both* the spacing of the center-points within the block and the
points we explore around each center-point.
When spreadRadius is used to define the spread shape, then it will
only visit points within stepSize*spreadRadius of the center
point and insure that no two points it visits within this
area are closer than stepSize from each other, where distance
is defined as: int(round(sqrt(dx*dx + dy*dy)))
This euclidean distance is NOT used to determine where the
center points are - they are always laid out in a grid with x
spacing and y spacing of stepSize.
resetEveryPos: If False (the default), output a reset only when we first
visit a new center point. This is what is normally used for
training.
If True, then output a reset on every iteration. This is
often used for flash inference testing.
"""
BaseExplorer.__init__(self, *args, **kwargs)
# Parameter checking
if type(stepSize) is not int or stepSize < 1:
raise RuntimeError("'stepSize' should be a positive integer")
if len(spaceShape) != 2 or spaceShape[0] < 1 or spaceShape[1] < 1:
raise RuntimeError("'spaceShape' should be a 2-item tuple specifying the"
"(height, width) of the overall space to explore.")
if spreadShape is not None:
if spreadRadius is not None:
raise RuntimeError ("When spreadShape is used, spreadRadius must be set to None")
if len(spreadShape) != 2 or spreadShape[0] < 1 or spreadShape[1] < 1:
raise RuntimeError("'spreadShape' should be a 2-item tuple specifying the"
"(height, width) of the of the area round each center point to"
"explore.")
if spreadRadius is None and spreadShape is None:
raise RuntimeError ("Either spreadRadius or spreadShape must be defined")
# Parameters
self._spaceShape = spaceShape
self._spreadShape = spreadShape
self._spreadRadius = spreadRadius
self._stepSize = stepSize
self._verbosity = verbosity
self._resetEveryPos = resetEveryPos
# =====================================================================
# Init data structures
# What is the range on the X and Y offsets of the center points?
shape = self._spaceShape
# If the shape is (1,1), special case of just 1 center point
if shape[0] == 1 and shape[1] == 1:
self._centerOffsets = [(0,0)]
else:
xMin = -1 * (shape[1] // 2)
xMax = xMin + shape[1] - 1
xPositions = range(stepSize * xMin, stepSize * xMax + 1, stepSize)
yMin = -1 * (shape[0] // 2)
yMax = yMin + shape[0] - 1
yPositions = range(stepSize * yMin, stepSize * yMax + 1, stepSize)
self._centerOffsets = list(cross(yPositions, xPositions))
self._numCenterOffsets = len(self._centerOffsets)
# ----------------------------------------------------------------
# Figure out the spread points based on spreadShape:
if self._spreadShape is not None:
# What is the range on the X and Y offsets of the spread points?
shape = self._spreadShape
# If the shape is (1,1), special case of no spreading around each center
# point
if shape[0] == 1 and shape[1] == 1:
self._spreadOffsets = [(0,0)]
else:
xMin = -1 * (shape[1] // 2)
xMax = xMin + shape[1] - 1
xPositions = range(stepSize * xMin, stepSize * xMax + 1, stepSize)
yMin = -1 * (shape[0] // 2)
yMax = yMin + shape[0] - 1
yPositions = range(stepSize * yMin, stepSize * yMax + 1, stepSize)
self._spreadOffsets = list(cross(yPositions, xPositions))
# Put the (0,0) entry first
self._spreadOffsets.remove((0,0))
self._spreadOffsets.insert(0, (0,0))
# ---------------------------------------------------------------------
# Figure out the spread points based on spreadRadius
else:
# Special case of spreadRadius = 0:, no spreading around each center point
if spreadRadius == 0:
self._spreadOffsets = [(0,0)]
# Build up a list of all offsets within spreadRadius * stepSize
else:
self._spreadOffsets = []
for y in range(-spreadRadius*stepSize, spreadRadius*stepSize+1):
for x in range(-spreadRadius*stepSize, spreadRadius*stepSize+1):
distance = int(round(math.sqrt(x*x + y*y)))
if distance > spreadRadius*stepSize:
continue
# Make sure it's not closer than stepSize to another point within
# the spread
if not (x==0 and y==0) and stepSize > 1:
tooClose = False
for (otherY, otherX) in self._spreadOffsets:
dx = x - otherX
dy = y - otherY
distance = int(round(math.sqrt(dx*dx + dy*dy)))
if distance < stepSize:
tooClose = True
break
if tooClose:
continue
self._spreadOffsets.append((y,x))
# Put the (0,0) entry first
self._spreadOffsets.remove((0,0))
self._spreadOffsets.insert(0, (0,0))
if self._verbosity >= 1:
print "Visiting spread positions:", self._spreadOffsets
self._numSpreadOffsets = len(self._spreadOffsets)
# Set start position
self._centerPosIdx = 0 # Which center point
self._spreadPosIdx = 0 # radial position around the center point
def __init__(self,
spaceShape=(5, 5),
spreadShape=None,
spreadRadius=None,
stepSize=1,
resetEveryPos=False,
verbosity=0,
*args,
**kwargs):
"""
spaceShape: The (height, width) of the 2-D space to explore. This
sets the number of center-points.
spreadShape: The shape (height, width) of the area around each center-point
to explore if you want to spread in a square area. If this is
specified, then radius must be None.
spreadRadius: The radius of the spread if you want to spread in a circular
area. If this is specified, then spreadShape must be None.
When set to R, this explorer will visit all positions where:
int(round(sqrt(dx*dx + dy*dy))) <= radius
stepSize: The step size. How big each step is, in pixels. This controls
*both* the spacing of the center-points within the block and the
points we explore around each center-point.
When spreadRadius is used to define the spread shape, then it will
only visit points within stepSize*spreadRadius of the center
point and insure that no two points it visits within this
area are closer than stepSize from each other, where distance
is defined as: int(round(sqrt(dx*dx + dy*dy)))
This euclidean distance is NOT used to determine where the
center points are - they are always laid out in a grid with x
spacing and y spacing of stepSize.
resetEveryPos: If False (the default), output a reset only when we first
visit a new center point. This is what is normally used for
training.
If True, then output a reset on every iteration. This is
often used for flash inference testing.
"""
BaseExplorer.__init__(self, *args, **kwargs)
# Parameter checking
if type(stepSize) is not int or stepSize < 1:
raise RuntimeError("'stepSize' should be a positive integer")
if len(spaceShape) != 2 or spaceShape[0] < 1 or spaceShape[1] < 1:
raise RuntimeError(
"'spaceShape' should be a 2-item tuple specifying the"
"(height, width) of the overall space to explore.")
if spreadShape is not None:
if spreadRadius is not None:
raise RuntimeError(
"When spreadShape is used, spreadRadius must be set to None"
)
if len(spreadShape
) != 2 or spreadShape[0] < 1 or spreadShape[1] < 1:
raise RuntimeError(
"'spreadShape' should be a 2-item tuple specifying the"
"(height, width) of the of the area round each center point to"
"explore.")
if spreadRadius is None and spreadShape is None:
raise RuntimeError(
"Either spreadRadius or spreadShape must be defined")
# Parameters
self._spaceShape = spaceShape
self._spreadShape = spreadShape
self._spreadRadius = spreadRadius
self._stepSize = stepSize
self._verbosity = verbosity
self._resetEveryPos = resetEveryPos
# =====================================================================
# Init data structures
# What is the range on the X and Y offsets of the center points?
shape = self._spaceShape
# If the shape is (1,1), special case of just 1 center point
if shape[0] == 1 and shape[1] == 1:
self._centerOffsets = [(0, 0)]
else:
xMin = -1 * (shape[1] // 2)
xMax = xMin + shape[1] - 1
xPositions = range(stepSize * xMin, stepSize * xMax + 1, stepSize)
yMin = -1 * (shape[0] // 2)
yMax = yMin + shape[0] - 1
yPositions = range(stepSize * yMin, stepSize * yMax + 1, stepSize)
self._centerOffsets = list(cross(yPositions, xPositions))
self._numCenterOffsets = len(self._centerOffsets)
# ----------------------------------------------------------------
# Figure out the spread points based on spreadShape:
if self._spreadShape is not None:
# What is the range on the X and Y offsets of the spread points?
shape = self._spreadShape
# If the shape is (1,1), special case of no spreading around each center
# point
if shape[0] == 1 and shape[1] == 1:
self._spreadOffsets = [(0, 0)]
else:
xMin = -1 * (shape[1] // 2)
xMax = xMin + shape[1] - 1
xPositions = range(stepSize * xMin, stepSize * xMax + 1,
stepSize)
yMin = -1 * (shape[0] // 2)
yMax = yMin + shape[0] - 1
yPositions = range(stepSize * yMin, stepSize * yMax + 1,
stepSize)
self._spreadOffsets = list(cross(yPositions, xPositions))
# Put the (0,0) entry first
self._spreadOffsets.remove((0, 0))
self._spreadOffsets.insert(0, (0, 0))
# ---------------------------------------------------------------------
# Figure out the spread points based on spreadRadius
else:
# Special case of spreadRadius = 0:, no spreading around each center point
if spreadRadius == 0:
self._spreadOffsets = [(0, 0)]
# Build up a list of all offsets within spreadRadius * stepSize
else:
self._spreadOffsets = []
for y in range(-spreadRadius * stepSize,
spreadRadius * stepSize + 1):
for x in range(-spreadRadius * stepSize,
spreadRadius * stepSize + 1):
distance = int(round(math.sqrt(x * x + y * y)))
if distance > spreadRadius * stepSize:
continue
# Make sure it's not closer than stepSize to another point within
# the spread
if not (x == 0 and y == 0) and stepSize > 1:
tooClose = False
for (otherY, otherX) in self._spreadOffsets:
dx = x - otherX
dy = y - otherY
distance = int(
round(math.sqrt(dx * dx + dy * dy)))
if distance < stepSize:
tooClose = True
break
if tooClose:
continue
self._spreadOffsets.append((y, x))
# Put the (0,0) entry first
self._spreadOffsets.remove((0, 0))
self._spreadOffsets.insert(0, (0, 0))
if self._verbosity >= 1:
print "Visiting spread positions:", self._spreadOffsets
self._numSpreadOffsets = len(self._spreadOffsets)
# Set start position
self._centerPosIdx = 0 # Which center point
self._spreadPosIdx = 0 # radial position around the center point
class InwardSweep(BaseExplorer):
"""
This explorer performs deterministic sweeps toward the center of the image.
The starting point of each sweep is a point along the edge of a block
of radius N pixels; the ending point of each sweep is the center of the
image. Based on simple geometry, there will always be a total of 8 * N
sweeps per image.
"""
# Pre-computed table
_inwardNeighbors = tuple(
[delta for delta in cross([-1, 0, 1], [-1, 0, 1])])
def __init__(self, radius=4, numRepetitions=1, *args, **kwargs):
"""
@param radius: the distance from the center, in pixels, at which the
sweeps start;
@param numRepetitions: number of times to present each inward sweep.
"""
BaseExplorer.__init__(self, *args, **kwargs)
# Parameter checking
if type(radius) is not int or radius < 1:
raise RuntimeError("'radius' should be a positive integer")
if type(numRepetitions) is not int or numRepetitions < 1:
raise RuntimeError("'numRepetitions' should be a positive integer")
# Parameters
self._radius = radius
self._numRepetitions = numRepetitions
# Internal state
self._itersDone = 0
def _computeNextPosn(self, iteration=None):
"""
Helper method that deterministically computes the next
inward sweep position.
"""
radius = self._radius
if iteration is None:
iteration = self._itersDone
# Take into account repetitions
iterCount = iteration // self._numRepetitions
# numRadials are all the positions on the boundary
# Calculation 1) (2*radius+1)**2 - (2*radius-1)**2
# Calculation 2) (2*radius+1)*4 - 4
# numRadials, both ways is 8*radius
# And each radial is radius + 1 iterations
numRadialsPerCat = 8 * radius
numItersPerCat = numRadialsPerCat * (radius + 1)
catIndex = iterCount // numItersPerCat
catIterCount = iterCount % numItersPerCat
radialIndex = catIterCount // (radius + 1)
# Determine quadrants: 0 (top), 1 (right), 2 (bottom), 3 (left)
quadrantIndex = radialIndex // (2 * radius)
radialPosn = catIterCount % (radius + 1)
quadrantPosn = (radialIndex % (2 * radius))
# Determine start position of this radial
posnX, posnY = {
0: (quadrantPosn - radius, -radius),
1: (radius, quadrantPosn - radius),
2: (radius - quadrantPosn, radius),
3: (-radius, radius - quadrantPosn),
}[quadrantIndex]
spokeIdx = iteration % (radius + 1)
for spokeIter in range(spokeIdx):
# Compute neighbor with minimal euclidean distance to center
neighbors = [(posnX + dx, posnY + dy)
for dx, dy in self._inwardNeighbors]
posnX, posnY = min(neighbors, key=lambda a: a[0]**2 + a[1]**2)
self.position['reset'] = (spokeIdx == 0)
self.position['image'] = catIndex
self.position['offset'] = [posnX, posnY]
# Debugging output to console
if False:
print "[%04d] %d: (%d, %d) %s" % ( \
self._itersDone,
self.position['image'],
self.position['offset'][0],
self.position['offset'][1],
"RESET" if self.position['reset'] else "")
# Update iteration count
self._itersDone = iteration + 1
def seek(self, iteration=None, position=None):
"""
Seek to the specified position or iteration.
iteration -- Target iteration number (or None).
position -- Target position (or None).
ImageSensor checks validity of inputs, checks that one (but not both) of
position and iteration are None, and checks that if position is not None,
at least one of its values is not None.
Updates value of position.
"""
self._computeNextPosn(iteration=iteration)
def first(self):
"""
Set up the position.
BaseExplorer picks image 0, offset (0,0), etc., but explorers that wish
to set a different first position should extend this method. Such explorers
may wish to call BaseExplorer.first(center=False), which initializes the
position tuple but does not call centerImage() (which could cause
unnecessary filtering to occur).
"""
BaseExplorer.first(self, center=False)
self._computeNextPosn(iteration=0)
def next(self, seeking=False):
"""
Go to the next position (next iteration).
seeking -- Boolean that indicates whether the explorer is calling next()
from seek(). If True, the explorer should avoid unnecessary computation
that would not affect the seek command. The last call to next() from
seek() will be with seeking=False.
"""
BaseExplorer.next(self)
self._computeNextPosn()
class InwardPictureExplorer(PictureSensor.PictureExplorer):
"""
A PictureSensor explorer that deterministically generates
inward sweeps starting at each point along a square perimeter
of side length 1+2*radialLength, with each such sweep
taking the most expeditious route to the center position.
"""
# Pre-computed table
_inwardNeighbors = tuple(
[delta for delta in cross([-1, 0, 1], [-1, 0, 1])])
@classmethod
def queryRelevantParams(klass):
"""
Returns a sequence of parameter names that are relevant to
the operation of the explorer.
May be extended or overridden by sub-classes as appropriate.
"""
return ('radialLength', )
def initSequence(self, state, params):
"""
Initiate the next sequence at the appropriate point
along the block perimeter.
"""
radialLength = params['radialLength']
# Take into account repetitions
iterCount = self._getIterCount() // self._getNumRepetitions()
# numRadials are all the positions on the boundary
# Calculation 1) (2*radialLength+1)**2 - (2*radialLength-1)**2
# Calculation 2) (2*randialLength+1)*4 - 4
# numRadials, both ways is 8*radialLength
# And each radial is radialLength + 1 iterations
numRadialsPerCat = 8 * radialLength
numItersPerCat = numRadialsPerCat * (radialLength + 1)
numCats = self._getNumCategories()
catIndex = iterCount // numItersPerCat
catIterCount = iterCount % numItersPerCat
radialIndex = catIterCount // (radialLength + 1)
# Determine quadrants: 0 (top), 1 (right), 2 (bottom), 3 (left)
quadrantIndex = radialIndex // (2 * radialLength)
radialPosn = catIterCount % (radialLength + 1)
quadrantPosn = radialIndex % (2 * radialLength)
# Determine start position of this radial
posnX, posnY = {
0: (quadrantPosn - radialLength, -radialLength),
1: (radialLength, quadrantPosn - radialLength),
2: (radialLength - quadrantPosn, radialLength),
3: (-radialLength, radialLength - quadrantPosn),
}[quadrantIndex]
# Override default state
state['posnX'] = posnX
state['posnY'] = posnY
state['velocityX'] = 0
state['velocityY'] = 0
state['angularPosn'] = 0
state['angularVelocity'] = 0
state['catIndex'] = catIndex
def updateSequence(self, state, params):
"""
Move to the neighbor position closest to the center
"""
posnX = state['posnX']
posnY = state['posnY']
# Compute neighbor with minimal euclidean distance to center
neighbors = [(posnX + dx, posnY + dy)
for dx, dy in self._inwardNeighbors]
state['posnX'], state['posnY'] = min(neighbors,
key=lambda a: a[0]**2 + a[1]**2)
