def test_rotate_2():
"""
left, left, rotate, rotate, right, right, right, rotate, rotate
"""
trajactory_logger = envs.logger.TrajectoryLogger(log_dir=sys.argv[1],
log_action_csv_freq=1,
log_state_csv_freq=1,
log_state_render_freq=1)
probe = Probe(
pos=np.array([0 / 1000, 0, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=50 / 1000)
probe_generator = ConstProbeGenerator(probe)
env = plane_task_env_fn(trajactory_logger,
probe_generator=probe_generator,
rot_deg=10,
step_size=5 / 1000)
env.reset()
env.step(1)
env.step(1)
env.step(4)
env.step(4)
env.step(2)
env.step(2)
env.step(2)
env.step(3)
env.step(3)
def test_random_no_dislocation_2():
"""
Check if dislocations are drawn, and are properly applicated (
should not impact the last reward, should be observable in next state).
"""
trajactory_logger = envs.logger.TrajectoryLogger(log_dir=sys.argv[1],
log_action_csv_freq=1,
log_state_csv_freq=1,
log_state_render_freq=1)
probe = Probe(
pos=np.array([0 / 1000, 0, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=50 / 1000)
probe_generator = ConstProbeGenerator(probe)
env = focal_point_env_fn(trajactory_logger,
probe_generator=probe_generator,
probe_dislocation_prob=.5,
dislocation_seed=None,
max_probe_dislocation=2,
step_size=5 / 1000)
env.reset()
env.step(1)
env.step(1)
env.step(2)
env.step(2)
env.step(1)
env.step(1)
env.step(2)
env.step(2)
def test_random_dislocation_1():
"""
Just check if dislocation are drawn for this env.
"""
trajactory_logger = envs.logger.TrajectoryLogger(log_dir=sys.argv[1],
log_action_csv_freq=1,
log_state_csv_freq=1,
log_state_render_freq=1)
probe = Probe(
pos=np.array([0 / 1000, 0, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=50 / 1000)
probe_generator = ConstProbeGenerator(probe)
env = focal_point_env_fn(trajactory_logger,
probe_generator=probe_generator,
probe_dislocation_prob=.5,
dislocation_seed=42,
max_probe_dislocation=2)
env.reset()
env.step(0)
env.step(0)
env.step(0)
env.step(0)
env.step(0)
env.step(0)
env.step(0)
env.step(0)
env.step(0)
def test_deep_focus():
trajactory_logger = envs.logger.TrajectoryLogger(log_dir=sys.argv[1],
log_action_csv_freq=1,
log_state_csv_freq=1,
log_state_render_freq=1)
probe = Probe(
pos=np.array([0 / 1000, 0, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=0 / 1000)
probe_generator = ConstProbeGenerator(probe)
env = focal_point_env_fn(trajactory_logger,
probe_generator=probe_generator)
env.reset()
env.step(4) # down - 10
env.step(4) # 20
env.step(4) # 30
env.step(4) # 40
env.step(4) # 50
env.step(4) # 60
env.step(4) # 70
env.step(4) # 80
env.step(4) # 90
def test_cannot_move_probe_outside_phantom_area():
trajactory_logger = envs.logger.TrajectoryLogger(log_dir=sys.argv[1],
log_action_csv_freq=10,
log_state_csv_freq=10,
log_state_render_freq=10)
probe = Probe(
pos=np.array([-20 / 1000, 0, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=10 / 1000)
probe_generator = ConstProbeGenerator(probe)
env = focal_point_env_fn(trajactory_logger,
probe_generator=probe_generator)
env.reset()
env.step(1) # left - BUMP
env.step(2) # right # -10
env.step(2) # right # 0
env.step(2) # right # 10
env.step(2) # right # 20
env.step(2) # right # 20 - BUMP
env.step(3) # up # 0
env.step(3) # up # 0 - BUMP
env.step(4) # down # 10
env.step(4) # down # 20
env.step(4) # down # 30
env.step(4) # down # 40
env.step(4) # down # 50
env.step(4) # down # 60
env.step(4) # down # 70
env.step(4) # down # 80
env.step(4) # down # 90
env.step(4) # down # 90 - BUMP
def test_random_probe_generator_with_angle():
trajactory_logger = envs.logger.TrajectoryLogger(log_dir=sys.argv[1],
log_action_csv_freq=1,
log_state_csv_freq=1,
log_state_render_freq=1)
probe = Probe(
pos=np.array([0 / 1000, 0, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=50 / 1000)
teddy = Teddy(
belly_pos=np.array([0 / 1000, 0, 50 / 1000]), # X, Y, Z
scale=12 / 1000,
head_offset=.9)
phantom = ScatterersPhantom(
objects=[teddy],
x_border=(-40 / 1000, 40 / 1000),
y_border=(-40 / 1000, 40 / 1000),
z_border=(0, 90 / 1000),
n_scatterers=int(1e4),
n_bck_scatterers=int(1e3),
seed=42,
)
phantom_generator = ConstPhantomGenerator(phantom)
probe_generator = RandomProbeGenerator(
ref_probe=probe,
object_to_align=teddy,
seed=42,
# x_pos default
# focal_pos default
angle=[340, 350, 0, 10, 20])
env = plane_task_env_fn(
trajactory_logger,
probe_generator=probe_generator,
phantom_generator=phantom_generator,
rot_deg=10,
)
env.reset()
env.step(0) # left
env.reset()
env.step(0)
env.reset()
env.step(4)
env.reset()
env.step(1)
env.reset()
env.step(2)
env.reset()
env.step(3)
def env_fn(trajectory_logger):
probe = Probe(
pos=np.array([-20 / 1000, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=10 / 1000)
teddy = Teddy(belly_pos=np.array([0 / 1000, 0, 50 / 1000]),
scale=12 / 1000,
head_offset=.9)
phantom = ScatterersPhantom(
objects=[teddy],
x_border=(-40 / 1000, 40 / 1000),
y_border=(-40 / 1000, 40 / 1000),
z_border=(0, 90 / 1000),
n_scatterers=int(1e4),
n_bck_scatterers=int(1e3),
seed=42,
)
imaging = ImagingSystem(
c=1540,
fs=100e6,
image_width=40 / 1000,
image_height=90 / 1000,
image_resolution=(40, 90), # [pixels]
median_filter_size=5,
dr_threshold=-200,
dec=1,
no_lines=64)
env = FocalPointTaskUsEnv(
dx_reward_coeff=1,
dz_reward_coeff=1,
imaging=imaging,
phantom_generator=ConstPhantomGenerator(phantom),
probe_generator=RandomProbeGenerator(ref_probe=probe,
object_to_align=teddy,
seed=42,
x_pos=np.arange(-20 / 1000,
24 / 1000,
step=5 / 1000),
focal_pos=[10 / 1000]),
max_steps=N_STEPS_PER_EPISODE,
no_workers=N_WORKERS,
use_cache=True,
trajectory_logger=trajectory_logger,
step_size=5 / 1000,
# probe_dislocation_prob=0,
# max_probe_dislocation=2,
# dislocation_seed=42
)
return env
def test_reset():
"""Test created to check a single observation/env state visualization."""
trajactory_logger = envs.logger.TrajectoryLogger(log_dir=sys.argv[1],
log_action_csv_freq=10,
log_state_csv_freq=10,
log_state_render_freq=10)
probe = Probe(
pos=np.array([0 / 1000, 0, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=30 / 1000)
probe_generator = ConstProbeGenerator(probe)
env = focal_point_env_fn(trajactory_logger,
probe_generator=probe_generator)
env.reset()
def test_caching_works():
trajactory_logger = envs.logger.TrajectoryLogger(log_dir=sys.argv[1],
log_action_csv_freq=10,
log_state_csv_freq=10,
log_state_render_freq=10)
probe = Probe(
pos=np.array([0 / 1000, 0, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=30 / 1000)
probe_generator = ConstProbeGenerator(probe)
env = focal_point_env_fn(trajactory_logger,
probe_generator=probe_generator)
env.reset()
env.step(1) # left
env.step(2) # right (should come from cache)
def test_rotate_1():
"""
rotate in the center of the object 540 degree,
in one direction, in the other direction
"""
trajactory_logger = envs.logger.TrajectoryLogger(log_dir=sys.argv[1],
log_action_csv_freq=1,
log_state_csv_freq=1,
log_state_render_freq=1)
probe = Probe(
pos=np.array([0 / 1000, 0, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=50 / 1000)
probe_generator = ConstProbeGenerator(probe)
env = plane_task_env_fn(trajactory_logger,
probe_generator=probe_generator,
rot_deg=45)
env.reset()
env.step(3) # 45
env.step(3) # 90
env.step(3) # 135
env.step(3) # 180
env.step(3) # 225
env.step(3) # 270
env.step(3) # 315
env.step(3) # 360
env.step(3) # 45
env.step(4) # should use cache
env.step(4)
env.step(4)
env.step(4)
env.step(4)
env.step(4)