def display(self, report, discdds=None):
report.text('summary',
'Testcase: %s\nPlan: %s' % (self.id_tc, self.true_plan))
report.data('id_tc', self.id_tc)
report.data('id_discdds', self.id_discdds)
report.data('true_plan', self.true_plan)
def zoom(rgb):
""" Enlarge image so that pixels are distinguishable even though
the brows makes them smooth. """
return rgb_zoom(rgb, K=8)
f = report.figure(cols=4)
f.data_rgb('y0_rgb', zoom(self.y0.get_rgb()), caption='$y_0$ (rgb)')
f.data_rgb('y1_rgb', zoom(self.y1.get_rgb()), caption='$y_1$ (rgb)')
from diffeoplan.library.distances.distance_norm import DistanceNorm
d = DistanceNorm(2)
if discdds is None:
discdds = get_conftools_discdds().instance(self.id_discdds)
y1p = discdds.predict(self.y0, self.true_plan)
e_y0_y1_field = d.error_field(self.y1, self.y0)
e_y1p_y1_field = d.error_field(self.y1, y1p)
e_max = float(max(e_y0_y1_field.max(), e_y1p_y1_field.max()))
f.data_rgb('e_y0_y1',
zoom(scale(e_y0_y1_field, max_value=e_max)),
caption="Discrepancy between $y_0$ and $y_1$.")
f = report.figure('prediction_model',
cols=4,
caption="This is the prediction according to the "
"learned model."
"")
f.data_rgb('y1p_rgb',
zoom(y1p.get_rgb()),
caption="$p^\star \cdot y_0$")
f.data_rgb('y1p_rgb_u',
zoom(y1p.get_rgb_uncertain()),
caption="Uncertainty")
f.data_rgb('e_y1p_y1',
zoom(scale(e_y1p_y1_field, max_value=e_max)),
caption="Discrepancy between $y_1$ and $p^\star "
"\cdot y_0$.")
def diffeo_to_rgb_norm(D, max_value=None):
stats = diffeo_stats(D)
return scale(stats.norm,
min_value=0,
max_value=max_value,
min_color=[1, 1, 1],
max_color=[0, 0, 1])
def report_alldata(alldata):
r = Report()
y = alldata["observations"]
yr = scale(y)
f = r.figure()
f.data_rgb("y", yr)
return r
def display(self, report):
if not self.initialized():
report.text('notice', 'Cannot display() because not initialized.')
return
report.text('estimator', type(self).__name__)
report.data('num_samples', self.num_samples)
score = self._get_score()
flattening = self.flat_structure.flattening
min_score = flattening.flat2rect(np.min(score, axis=1))
max_score = flattening.flat2rect(np.max(score, axis=1))
caption = 'minimum and maximum score per pixel across neighbors'
f = report.figure('scores', caption=caption)
f.data('min_score', min_score).display('scale')
f.data('max_score', max_score).display('scale')
f = report.figure(cols=4)
def make_best(x):
return x == np.min(x, axis=1)
max_d = int(np.ceil(np.hypot(np.floor(self.area[0] / 2.0),
np.floor(self.area[1] / 2.0))))
safe_d = int(np.floor(np.min(self.area) / 2.0))
def plot_safe(pylab):
plot_vertical_line(pylab, safe_d, 'g--')
plot_vertical_line(pylab, max_d, 'r--')
if self.shape[0] <= 64:
as_grid = self.make_grid(score)
f.data_rgb('grid', rgb_zoom(scale(as_grid), 4))
else:
report.text('warn', 'grid visualization not done because too big')
distance_to_border = distance_to_border_for_best(self.flat_structure, score)
distance_to_center = distance_from_center_for_best(self.flat_structure, score)
bdist_scale = dict(min_value=0, max_value=max_d, max_color=[0, 1, 0])
d = report.data('distance_to_border', distance_to_border).display('scale', **bdist_scale)
d.add_to(f, caption='Distance to border of best guess, white=0, green=%d' % max_d)
cdist_scale = dict(min_value=0, max_value=max_d, max_color=[1, 0, 0])
d = report.data('distance_to_center', distance_to_center).display('scale', **cdist_scale)
d.add_to(f, caption='Distance to center of best guess, white=0, red=%d' % max_d)
bins = np.array(range(max_d + 2))
# values will be integers (0, 1, 2, ...), center bins appropriately
bins = bins - 0.5
with f.plot('distance_to_border_hist') as pylab:
pylab.hist(distance_to_border.flat, bins)
caption = 'Red line: on border; Green line (red-1): safe to be here.'
with f.plot('distance_to_center_hist', caption=caption) as pylab:
pylab.hist(distance_to_center.flat, bins)
plot_safe(pylab)
def draw_significance_figure(pylab, xlabels, ylabels, P):
def format(p):
return 1 if p else 0
# x = numpy.array(values_to_strings(P, format))
rgb = scale(P * 1.0, max_color=[0, 1, 0])
#print x
#print rgb
draw_matrix_and_labels(pylab, xlabels, ylabels, rgb)
def add_scaled(report, id, x, **kwargs):
n = report.data(id, x)
n.data_rgb('retina',
add_reflines(scale(values2retina(x), min_value=0, **kwargs)))
#with n.data_pylab('plot') as pylab:
# pylab.plot(x, '.')
return n
def display(self, report, discdds=None):
report.text('summary',
'Testcase: %s\nPlan: %s' % (self.id_tc, self.true_plan))
report.data('id_tc', self.id_tc)
report.data('id_discdds', self.id_discdds)
report.data('true_plan', self.true_plan)
def zoom(rgb):
""" Enlarge image so that pixels are distinguishable even though
the brows makes them smooth. """
return rgb_zoom(rgb, K=8)
f = report.figure(cols=4)
f.data_rgb('y0_rgb', zoom(self.y0.get_rgb()), caption='$y_0$ (rgb)')
f.data_rgb('y1_rgb', zoom(self.y1.get_rgb()), caption='$y_1$ (rgb)')
from diffeoplan.library.distances.distance_norm import DistanceNorm
d = DistanceNorm(2)
if discdds is None:
discdds = get_conftools_discdds().instance(self.id_discdds)
y1p = discdds.predict(self.y0, self.true_plan)
e_y0_y1_field = d.error_field(self.y1, self.y0)
e_y1p_y1_field = d.error_field(self.y1, y1p)
e_max = float(max(e_y0_y1_field.max(), e_y1p_y1_field.max()))
f.data_rgb('e_y0_y1', zoom(scale(e_y0_y1_field, max_value=e_max)),
caption="Discrepancy between $y_0$ and $y_1$.")
f = report.figure('prediction_model', cols=4,
caption="This is the prediction according to the "
"learned model.""")
f.data_rgb('y1p_rgb', zoom(y1p.get_rgb()),
caption="$p^\star \cdot y_0$")
f.data_rgb('y1p_rgb_u', zoom(y1p.get_rgb_uncertain()),
caption="Uncertainty")
f.data_rgb('e_y1p_y1', zoom(scale(e_y1p_y1_field, max_value=e_max)),
caption="Discrepancy between $y_1$ and $p^\star "
"\cdot y_0$.")
def write_image(name, values):
time_us = timestamp * 1000 * 1000
dirname2 = os.path.join(dirname, name)
if not os.path.exists(dirname2):
os.makedirs(dirname2)
filename = os.path.join(dirname2, 'ms%08d.png' % time_us)
if np.nanmin(values) < 0:
rgb = posneg(values)
else:
rgb = scale(values)
rgb = rgb_zoom(rgb, K=4)
imwrite(rgb, filename)
logger.debug('print to %r' % filename)
def write_image(name, values):
time_us = timestamp * 1000 * 1000
dirname2 = os.path.join(dirname, name)
if not os.path.exists(dirname2):
os.makedirs(dirname2)
filename = os.path.join(dirname2, 'ms%08d.png' % time_us)
if np.nanmin(values) < 0:
rgb = posneg(values)
else:
rgb = scale(values)
rgb = rgb_zoom(rgb, K=4)
imwrite(rgb, filename)
logger.debug('print to %r' % filename)
def report_nmap_distances(nmap, nmap_distances):
r = Report()
timestamps = []
alldists = []
allobs = []
poses = []
for i, (timestamp, (y, distances, pose)) in enumerate(nmap_distances):
timestamps.append(timestamp)
alldists.append(distances)
allobs.append(y)
poses.append(pose)
timestamp = np.array(timestamps)
alldists = np.vstack(alldists).T
print ('ntimestamps: %s' % len(timestamps))
nwaypoints, nmoments = alldists.shape
print('nmoments: %s' % nmoments)
print('nwaypoints: %s' % nwaypoints)
assert len(timestamps) == nmoments
f = r.figure(cols=1)
GREEN = [0, 1, 0]
RED = [1, 0, 0]
alldists_rgb1 = scale(alldists, min_color=GREEN, max_color=RED)
f.data_rgb('alldists', alldists_rgb1)
alldists_rgb2 = filter_colormap(alldists,
cmap='jet',
min_value=None, max_value=None,
nan_color=[1, 0.6, 0.6],
inf_color=[0.6, 1, 0.6],
flat_color=[0.5, 0.5, 0.5])
f.data_rgb('alldists2', alldists_rgb2)
f.data_rgb('observations', _nmapobslist_to_rgb(allobs))
waypoints = range(0, nwaypoints, 5)
with f.plot('distances') as pylab:
for a, i in enumerate(waypoints):
d = alldists[i, :]
d = d - np.min(d)
d = d / np.max(d)
x = timestamps
y = d + a * 1.1
pylab.plot(x, y, 'k-')
return r
def get_rgb(field, colors, **kwargs):
''' Returns a dict with values 'rgb' (rgb in [0,1]), 'colorbar', etc.. '''
properties = {}
if colors == 'posneg':
rgb = posneg(field, properties=properties, **kwargs) / 255.0
elif colors == 'scale':
rgb = scale(field, properties=properties, **kwargs) / 255.0
elif colors == 'cmap':
rgb = filter_colormap(field,
properties=properties, **kwargs) / 255.0
else:
raise ValueError('No known colors %r. ' % colors)
properties['rgb'] = rgb
return properties
def visualize_result(id_tc, id_algo, stats):
""" Returns a report """
result = stats['result']
r = Report('%s-%s' % (id_tc, id_algo))
# tc = config.testcases.instance(id_tc)
# discdds = config.discdds.instance(tc.id_discdds)
algo = stats['algo']
tc = stats['tc']
discdds = algo.get_dds()
tc.display(r.section('testcase'), discdds=discdds)
if not result.success:
r.text('warning', 'Plannning unsuccesful')
else:
rsol = r.section('solution')
rsol.text('plan', 'Plan: %s' % str(result.plan))
y0 = tc.y0
y1 = tc.y1
y1plan = discdds.predict(y0, result.plan)
mismatch = np.abs(y1.get_values() - y1plan.get_values()).sum(axis=2)
f = rsol.figure(cols=4)
zoom = lambda x: rgb_zoom(x, 8)
f.data_rgb('y1plan',
zoom(y1plan.get_rgb()),
caption='plan prediction (certain)')
f.data_rgb('y1plan_certain',
zoom(y1plan.get_rgb_uncertain()),
caption='certainty of prediction')
f.data_rgb('mismatch',
zoom(scale(mismatch)),
caption='Mismatch value pixel by pixel '
'(zero for synthetic testcases...)')
algo.plan_report(r.section('planning'), result, tc)
extra = result.extra
write_log_lines(r, extra)
return r
def visualize_result(config, id_tc, id_algo, stats):
""" Returns a report """
set_current_config(config)
result = stats["result"]
r = Report("%s-%s" % (id_tc, id_algo))
# tc = config.testcases.instance(id_tc)
# discdds = config.discdds.instance(tc.id_discdds)
algo = stats["algo"]
tc = stats["tc"]
discdds = algo.get_dds()
tc.display(r.section("testcase"), discdds=discdds)
if not result.success:
r.text("warning", "Plannning unsuccesful")
else:
rsol = r.section("solution")
rsol.text("plan", "Plan: %s" % str(result.plan))
y0 = tc.y0
y1 = tc.y1
y1plan = discdds.predict(y0, result.plan)
mismatch = np.abs(y1.get_values() - y1plan.get_values()).sum(axis=2)
f = rsol.figure(cols=4)
zoom = lambda x: rgb_zoom(x, 8)
f.data_rgb("y1plan", zoom(y1plan.get_rgb()), caption="plan prediction (certain)")
f.data_rgb("y1plan_certain", zoom(y1plan.get_rgb_uncertain()), caption="certainty of prediction")
f.data_rgb(
"mismatch",
zoom(scale(mismatch)),
caption="Mismatch value pixel by pixel " "(zero for synthetic testcases...)",
)
algo.plan_report(r.section("planning"), result, tc)
extra = result.extra
write_log_lines(r, extra)
return r
def visualize_result(id_tc, id_algo, stats):
""" Returns a report """
result = stats['result']
r = Report('%s-%s' % (id_tc, id_algo))
# tc = config.testcases.instance(id_tc)
# discdds = config.discdds.instance(tc.id_discdds)
algo = stats['algo']
tc = stats['tc']
discdds = algo.get_dds()
tc.display(r.section('testcase'), discdds=discdds)
if not result.success:
r.text('warning', 'Plannning unsuccesful')
else:
rsol = r.section('solution')
rsol.text('plan', 'Plan: %s' % str(result.plan))
y0 = tc.y0
y1 = tc.y1
y1plan = discdds.predict(y0, result.plan)
mismatch = np.abs(y1.get_values() - y1plan.get_values()).sum(axis=2)
f = rsol.figure(cols=4)
zoom = lambda x: rgb_zoom(x, 8)
f.data_rgb('y1plan', zoom(y1plan.get_rgb()),
caption='plan prediction (certain)')
f.data_rgb('y1plan_certain', zoom(y1plan.get_rgb_uncertain()),
caption='certainty of prediction')
f.data_rgb('mismatch', zoom(scale(mismatch)),
caption='Mismatch value pixel by pixel '
'(zero for synthetic testcases...)')
algo.plan_report(r.section('planning'), result, tc)
extra = result.extra
write_log_lines(r, extra)
return r
def report_for_one(r, events, coords):
f = r.figure(caption='For coordinate %s' % str(coords))
h = aer_histogram(events).astype('float')
h[coords[0], coords[1]] = np.nan
one = get_for_one(events, coords)
min_f = 20.0
max_f = 5000.0
min_d = 1.0 / max_f
max_d = 1.0 / min_f
f.data_rgb('where', scale(h))
if False:
with f.plot('frequency') as pylab:
fbins = np.linspace(min_f, max_f, 1000)
pylab.hist(one['frequency'], bins=fbins)
pylab.xlabel('1/interval (Hz)')
with f.plot('delta') as pylab:
dbins = (1.0 / fbins)[::-1]
pylab.hist(one['delta'], bins=dbins)
ticks = np.linspace(min_d, max_d, 10)
labels = ['%d' % (x * 1000000) for x in ticks]
pylab.xticks(ticks, labels)
pylab.xlabel('interval (microseconds)')
time = one['timestamp']
time = time - time[0]
with f.plot('history') as pylab:
plus = one['sign'] == 1
minus = one['sign'] == -1
ones = np.ones(one.size)
pylab.plot(time[plus], 1 * ones[plus], 'rs')
pylab.plot(time[minus], -1 * ones[minus], 'bs')
t0 = time[0]
delta = 0.01
pylab.axis((t0, t0 + delta, -1.2, 1.2))
def report_for_one(r, events, coords):
f = r.figure(caption='For coordinate %s' % str(coords))
h = aer_histogram(events).astype('float')
h[coords[0], coords[1]] = np.nan
one = get_for_one(events, coords)
min_f = 20.0
max_f = 5000.0
min_d = 1.0 / max_f
max_d = 1.0 / min_f
f.data_rgb('where', scale(h))
if False:
with f.plot('frequency') as pylab:
fbins = np.linspace(min_f, max_f, 1000)
pylab.hist(one['frequency'], bins=fbins)
pylab.xlabel('1/interval (Hz)')
with f.plot('delta') as pylab:
dbins = (1.0 / fbins)[::-1]
pylab.hist(one['delta'], bins=dbins)
ticks = np.linspace(min_d, max_d, 10)
labels = ['%d' % (x * 1000000) for x in ticks]
pylab.xticks(ticks, labels)
pylab.xlabel('interval (microseconds)')
time = one['timestamp']
time = time - time[0]
with f.plot('history') as pylab:
plus = one['sign'] == 1
minus = one['sign'] == -1
ones = np.ones(one.size)
pylab.plot(time[plus], 1 * ones[plus], 'rs')
pylab.plot(time[minus], -1 * ones[minus], 'bs')
t0 = time[0]
delta = 0.01
pylab.axis((t0, t0 + delta, -1.2, 1.2))
def _nmapobs_to_rgb(m):
print m.shape
m = m.T
rgb = scale(m, min_value=0, max_value=1, nan_color=[0.6, 1, 0.6])
return rgb_zoom(rgb, 4)
def info2rgb(x):
return scale(x, max_value=1, min_value=0,
min_color=[1, 0, 0], max_color=[0, 1, 0])
def info2rgb(x):
return scale(x,
max_value=1,
min_value=0,
min_color=[1, 0, 0],
max_color=[0, 1, 0])
def main():
sigma_deg = 6
kernel1 = get_contrast_kernel(sigma_deg=sigma_deg, eyes_interact=True)
kernel2 = get_contrast_kernel(sigma_deg=sigma_deg, eyes_interact=False) # better
kernel1 = kernel1.astype('float32')
kernel2 = kernel2.astype('float32')
meany = Expectation()
ex1 = Expectation()
ex2 = Expectation()
cp = ClientProcess()
cp.config_use_white_arena()
cp.config_stimulus_xml(example_stim_xml)
#position = [0.15, 0.5, 0.25]
position = [0.35, 0.5, 0.25]
linear_velocity_body = [0, 0, 0]
angular_velocity_body = [0, 0, 0]
#from flydra_render.contrast import intrinsic_contrast
from fast_contrast import intrinsic_contrast #@UnresolvedImport
N = 360
pb = progress_bar('Computing contrast', N)
orientation = numpy.linspace(0, 2 * numpy.pi, N)
for i, theta in enumerate(orientation):
attitude = rotz(theta)
pb.update(i)
res = cp.render(position, attitude,
linear_velocity_body, angular_velocity_body)
y = numpy.array(res['luminance']).astype('float32')
meany.update(y)
#y = numpy.random.rand(1398)
c1 = intrinsic_contrast(y, kernel1)
c2 = intrinsic_contrast(y, kernel2)
ex1.update(c1)
ex2.update(c2)
r = Report()
r.data_rgb('meany', scale(values2retina(meany.get_value())))
r.data_rgb('mean1', plot_contrast(ex1.get_value()))
r.data_rgb('mean2', plot_contrast(ex2.get_value()))
r.data_rgb('one-y', (plot_luminance(y)))
r.data_rgb('one-c1', plot_contrast(c1))
r.data_rgb('one-c2', plot_contrast(c2))
r.data_rgb('kernel', scale(values2retina(kernel2[100, :])))
f = r.figure(shape=(2, 3))
f.sub('one-y', 'One random image')
f.sub('one-c1', 'Contrast of random image')
f.sub('one-c2', 'Contrast of random image')
f.sub('meany', 'Mean luminance')
f.sub('mean1', 'Mean over %s samples' % N)
f.sub('mean2', 'Mean over %s samples' % N)
f.sub('kernel')
filename = 'compute_contrast_demo.html'
print("Writing on %s" % filename)
r.to_html(filename)
def display(self, report):
if not self.initialized():
report.text('notice', 'Cannot display() because not initialized.')
return
report.text('estimator', type(self).__name__)
report.data('num_samples', self.num_samples)
score = self._get_score()
flattening = self.flat_structure.flattening
min_score = flattening.flat2rect(np.min(score, axis=1))
max_score = flattening.flat2rect(np.max(score, axis=1))
caption = 'minimum and maximum score per pixel across neighbors'
f = report.figure('scores', caption=caption)
f.data('min_score', min_score).display('scale')
f.data('max_score', max_score).display('scale')
f = report.figure(cols=4)
def make_best(x):
return x == np.min(x, axis=1)
max_d = int(
np.ceil(
np.hypot(np.floor(self.area[0] / 2.0),
np.floor(self.area[1] / 2.0))))
safe_d = int(np.floor(np.min(self.area) / 2.0))
def plot_safe(pylab):
plot_vertical_line(pylab, safe_d, 'g--')
plot_vertical_line(pylab, max_d, 'r--')
if self.shape[0] <= 64:
as_grid = self.make_grid(score)
f.data_rgb('grid', rgb_zoom(scale(as_grid), 4))
else:
report.text('warn', 'grid visualization not done because too big')
distance_to_border = distance_to_border_for_best(
self.flat_structure, score)
distance_to_center = distance_from_center_for_best(
self.flat_structure, score)
bdist_scale = dict(min_value=0, max_value=max_d, max_color=[0, 1, 0])
d = report.data('distance_to_border',
distance_to_border).display('scale', **bdist_scale)
d.add_to(
f,
caption='Distance to border of best guess, white=0, green=%d' %
max_d)
cdist_scale = dict(min_value=0, max_value=max_d, max_color=[1, 0, 0])
d = report.data('distance_to_center',
distance_to_center).display('scale', **cdist_scale)
d.add_to(f,
caption='Distance to center of best guess, white=0, red=%d' %
max_d)
bins = np.array(range(max_d + 2))
# values will be integers (0, 1, 2, ...), center bins appropriately
bins = bins - 0.5
with f.plot('distance_to_border_hist') as pylab:
pylab.hist(distance_to_border.flat, bins)
caption = 'Red line: on border; Green line (red-1): safe to be here.'
with f.plot('distance_to_center_hist', caption=caption) as pylab:
pylab.hist(distance_to_center.flat, bins)
plot_safe(pylab)
def find_background(video, whens, debug=False, tmp_path=None):
if not os.path.exists(video):
msg = 'Filename does not exist: %s' % friendly_path(video)
raise ValueError(msg)
id_video = splitext(basename(video))[0]
if tmp_path is None:
tmp_path = join(dirname(video), 'find_background-%s' % id_video)
if not exists(tmp_path):
os.makedirs(tmp_path)
@contract(rgb='array[HxWx3](uint8)')
def write_debug(rgb, id_image):
if debug:
f = join(tmp_path, '%s.png' % id_image)
# print('Writing %s' % f)
imwrite(rgb, f)
frames = []
for i, when in enumerate(whens):
frame = get_frame(video, when)
write_debug(frame, 'frame-%s-t%4.2f' % (i, when))
frames.append(frame.astype('float32'))
n = len(frames)
errs = {}
for i, j in product(range(n), range(n)):
if i == j:
continue
diff = np.abs(frames[i] - frames[j])
errs[(i, j)] = np.mean(diff, axis=2)
write_debug(scale(errs[(i, j)]), 'errs-%s-%s' % (i, j))
mm = np.dstack(tuple(errs.values()))
s = np.mean(mm, axis=2)
write_debug(scale(s), 's')
# print('computing moving stuff')
moving = []
bgshade = []
for i in range(n):
its = np.dstack([errs[(i, j)] for j in range(n) if i != j])
moving_i = np.min(its, axis=2)
moving.append(moving_i)
bgshade_i = assemble_transp(frames[i], 1.0 / (moving_i + 10))
bgshade.append(bgshade_i)
write_debug(scale(moving_i), 'moving-%d' % i)
write_debug(bgshade_i, 'bgshade-%d' % i)
avg = TransparentImageAverage()
for i in range(n):
avg.update(bgshade[i])
bg_rgb = avg.get_rgb()
write_debug(bg_rgb, 'background')
return {'background': bg_rgb}
def diffeo_to_rgb_norm(D, max_value=None):
stats = diffeo_stats(D)
return scale(stats.norm, min_value=0, max_value=max_value,
min_color=[1, 1, 1],
max_color=[0, 0, 1])
def publish_ros_sensels(self, obs):
from reprep import scale
obs2d = reshape_smart(obs)
obs2d_image = scale(obs2d)
ros_image = numpy_to_imgmsg(obs2d_image, stamp=None)
self.pub_sensels_image.publish(ros_image)