def test_basic_u(self):
np.random.seed(401)
z_ref = -1
width = 10
length = 10
# planes
x_planes = []
x_offsets = np.cumsum(np.random.randint(1, 3, 6)) - width / 2
for x in x_offsets:
x_planes.append(models.Plane.from_axis_distance(axis=np.array([1, 0, 0]), distance=x))
y_planes = []
y_offsets = np.cumsum(np.random.randint(1, 3, 5)) - length / 2
for y in y_offsets:
y_planes.append(models.Plane.from_axis_distance(axis=np.array([0, 1, 0]), distance=y))
# boundaries
boundaries = [simulator.rectangle(x_planes[4], x=np.mean([y_offsets[3], y_offsets[2]]), y=0, w=y_offsets[3]-y_offsets[2]-0.3, h=2),
simulator.rectangle(x_planes[5], x=np.mean([y_offsets[4], y_offsets[1]]), y=0, w=y_offsets[4]-y_offsets[1]-0.5, h=2),
simulator.rectangle(y_planes[1], x=-np.mean([x_offsets[5], x_offsets[1]]), y=0, w=x_offsets[5]-x_offsets[1]-0.4, h=2),
simulator.rectangle(y_planes[2], x=-np.mean([x_offsets[4], x_offsets[1]]), y=0, w=x_offsets[4]-x_offsets[1]-0.2, h=2),
simulator.rectangle(y_planes[3], x=-np.mean([x_offsets[4], x_offsets[1]]), y=0, w=x_offsets[4]-x_offsets[1]-0.25, h=2),
simulator.rectangle(y_planes[4], x=-np.mean([x_offsets[5], x_offsets[1]]), y=0, w=x_offsets[5]-x_offsets[1]-0.1, h=2)
]
# evidence
evidence_index = [((2, 2), (1, 1)),
((4, 2), (2, 1)),
((5, 2), (4, 1)),
((5, 4), (4, 2)),
((4, 4), (3, 3)),
((3, 4), (2, 3)),
((2, 4), (1, 3)),
((3, 1), (2, 0))]
evidence = [models.Point(np.array([-2, 3, 0]))]
for ev in evidence_index:
tr_corner = np.array([x_offsets[ev[0][0]], y_offsets[ev[0][1]]])
bl_corner = np.array([x_offsets[ev[1][0]], y_offsets[ev[1][1]]])
diff = tr_corner - bl_corner
center = np.mean(np.array([tr_corner, bl_corner]), axis=0)
ellipse = simulator.ellipse(float(diff[0]) / 2, float(diff[1]) / 2, 3).rigid(np.eye(2), center)
evidence.append(ellipse)
# construct
cell_complex = models.CellComplex2D(z_ref=z_ref, width=width, length=length, evidence=evidence)
# cell_complex = models.CellComplex2D(z_ref=z_ref, width=width, length=length)
for p in x_planes + y_planes:
cell_complex.insert_partition(p)
for b in boundaries:
cell_complex.insert_boundary(b)
speculator = estimators.FloorPlanSpeculator(cell_complex, horizon=1)
scene_graph = speculator.floorplan()
# scene_graph = cell_complex.cell_graph()
cell_complex.draw(scene_graph)
def test_add4_random(self):
cell_complex = models.CellComplex2D(0, 10, 10)
np.random.seed(3)
planes = simulator.random_planes(num_planes=4, max_distance=9, c=0)
for p in planes:
cell_complex.insert_partition(p)
H = cell_complex.cell_graph()
G = nx.to_networkx_graph({
0: [1, 2, 4],
1: [0, 6],
2: [0, 3, 6],
3: [2, 4, 7, 8],
4: [0, 3, 5],
5: [4, 8],
6: [1, 2, 7],
7: [6, 3],
8: [3, 5]
})
self.assertTrue(nx.is_isomorphic(G, H))
cell_complex.draw(scene_graph=H)
def test_multi_add_big(self):
cell_complex = models.CellComplex2D(1, 20, 10)
np.random.seed(12)
planes = simulator.random_planes(num_planes=60, max_distance=9, c=0)
for p in planes:
cell_complex.insert_partition(p)
def test_add1(self):
cell_complex = models.CellComplex2D(0, 20, 10)
cutting_plane = models.Plane.from_axis_distance(np.array([1, 1, 0]), 1)
cell_complex.insert_partition(cutting_plane)
G = nx.to_networkx_graph({0: [1], 1: [0]})
H = cell_complex.cell_graph()
self.assertTrue(nx.is_isomorphic(G, H))
self.assertEqual(6, len(cell_complex.vertices))
def test_partition_with_boundary2(self):
cell_complex = models.CellComplex2D(0, 20, 10)
cutting_plane = models.Plane.from_axis_distance(np.array([1, 1, 0]), 1)
boundary = simulator.rectangle(cutting_plane, 2, 1, 4, 2)
cell_complex.insert_partition(cutting_plane)
cell_complex.insert_boundary(boundary)
G = nx.to_networkx_graph({0: [1], 1: [0]})
H = cell_complex.cell_graph(coverage_threshold=4.1)
self.assertTrue(nx.is_isomorphic(G,
utilities.filter_boundary_edges(H)))
self.assertEqual(6, len(cell_complex.vertices))
cell_complex.draw(scene_graph=H)
def test_partition_with_evidence_simple(self):
evidence = [simulator.ellipse(5, 3, 4, -3)]
cell_complex = models.CellComplex2D(-3, 20, 10, evidence=evidence)
cutting_plane = models.Plane.from_axis_distance(np.array([1, 1, 0]), 1)
cell_complex.insert_partition(cutting_plane)
G = nx.to_networkx_graph({0: [1], 1: [0]})
H = cell_complex.cell_graph()
self.assertTrue(nx.is_isomorphic(G, H))
self.assertEqual(6, len(cell_complex.vertices))
node_evidence_edges = 0
for node in H.nodes:
self.assertTrue(len(node.evidence) == 1)
node_evidence_edges += len(node.evidence[0].edges)
self.assertEqual(len(evidence[0].edges), node_evidence_edges - 4)
cell_complex.draw(scene_graph=H)
def test_add3(self):
cell_complex = models.CellComplex2D(0, 20, 10)
cp1 = models.Plane.from_axis_distance(np.array([1, 1, 0]), 1)
cp2 = models.Plane.from_axis_distance(np.array([1, 1, 0]), 2)
cp3 = models.Plane.from_axis_distance(np.array([-1, 1, 0]), 1)
cell_complex.insert_partition(cp1)
cell_complex.insert_partition(cp2)
cell_complex.insert_partition(cp3)
G = nx.to_networkx_graph({
0: [1, 2],
1: [0, 3],
2: [0, 3, 4],
3: [1, 2, 5],
4: [2, 5],
5: [3, 4]
})
H = cell_complex.cell_graph()
self.assertTrue(nx.is_isomorphic(G, H))
self.assertEqual(12, len(cell_complex.vertices))
self.assertEqual(17, len(cell_complex.edges))
def test_multi_add_small(self):
cell_complex = models.CellComplex2D(0, 10, 10)
np.random.seed(1)
planes = simulator.random_planes(num_planes=5, max_distance=9, c=0)
for p in planes:
cell_complex.insert_partition(p)
G = nx.to_networkx_graph({
0: [1],
1: [0, 2],
2: [1, 3, 5, 7],
3: [2, 4],
4: [3, 5],
5: [2, 4, 6],
6: [5, 7],
7: [6, 2]
})
H = cell_complex.cell_graph()
self.assertTrue(nx.is_isomorphic(G, H))
self.assertEqual(16, len(cell_complex.vertices))
self.assertEqual(23, len(cell_complex.edges))