Example #1
0
    def __init__(self, truth='truth', width=30, height=30, classifier=None):
        super(LabelerWindow, self).__init__()

        self.dataset = DataSet(truth, width, height)
        """ The ground truth images
        :type: labeler.dataset.DataSet
        """

        self.classifier = classifier or Classifier('cars', (width, height))
        """ The classifier we are building"""

        self.raster = None
        """The GDAL dataset we are viewing.
        :type ds: gdal.Dataset
        """

        self.geo_x = None
        """ The geographic x (longitude) of the center of the view """

        self.geo_y = None
        """ The geographic y (latitude) of the center of the view """

        self.scale = 1.0
        """ The number of meters per pixel in the view """

        self.buffer = None
        """ The raster data in the visible region (possibly padded with zeros)
        :type buffer: numpy.ndarray
        """

        self.random_walk = True
        """ Whether to look for the next sample within the current window (True) or within the entire raster (False)
        :type: Boolean
        """

        self.mode = MODE_POSITIVES
Example #2
0
    def __init__(self, truth='truth', width=30, height=30, classifier = None):
        super(LabelerWindow, self).__init__()

        self.dataset = DataSet(truth, width, height)
        """ The ground truth images
        :type: labeler.dataset.DataSet
        """

        self.classifier = classifier or Classifier('cars', (width, height))
        """ The classifier we are building"""

        self.raster = None
        """The GDAL dataset we are viewing.
        :type ds: gdal.Dataset
        """

        self.geo_x = None
        """ The geographic x (longitude) of the center of the view """

        self.geo_y = None
        """ The geographic y (latitude) of the center of the view """

        self.scale = 1.0
        """ The number of meters per pixel in the view """

        self.buffer = None
        """ The raster data in the visible region (possibly padded with zeros)
        :type buffer: numpy.ndarray
        """

        self.random_walk = True
        """ Whether to look for the next sample within the current window (True) or within the entire raster (False)
        :type: Boolean
        """

        self.mode = MODE_POSITIVES
Example #3
0
class LabelerWindow(QtGui.QWidget):
    def __init__(self, truth='truth', width=30, height=30, classifier = None):
        super(LabelerWindow, self).__init__()

        self.dataset = DataSet(truth, width, height)
        """ The ground truth images
        :type: labeler.dataset.DataSet
        """

        self.classifier = classifier or Classifier('cars', (width, height))
        """ The classifier we are building"""

        self.raster = None
        """The GDAL dataset we are viewing.
        :type ds: gdal.Dataset
        """

        self.geo_x = None
        """ The geographic x (longitude) of the center of the view """

        self.geo_y = None
        """ The geographic y (latitude) of the center of the view """

        self.scale = 1.0
        """ The number of meters per pixel in the view """

        self.buffer = None
        """ The raster data in the visible region (possibly padded with zeros)
        :type buffer: numpy.ndarray
        """

        self.random_walk = True
        """ Whether to look for the next sample within the current window (True) or within the entire raster (False)
        :type: Boolean
        """

        self.mode = MODE_POSITIVES

    def open_raster(self, datasource):
        """Load a raster dataset to display it in this window.

        This can be a single GeoTIFF (or other GDAL file) or a VRT file that mosaics several rasters.

        :param datasource: The GDAL datasource, or a description (filename)
        :type datasource: str | gdal.DataSet
        """

        if isinstance(datasource, gdal.Dataset):
            self.raster = datasource
        else:
            self.raster = gdal.Open(datasource)

    def visible_region(self, geo_x=None, geo_y=None, width=None, height=None, scale=None):
        if self.raster is None: return
        if geo_x is None: geo_x = self.geo_x
        if geo_y is None: geo_y = self.geo_y
        if width is None: width = self.width()
        if height is None: height = self.height()
        if scale is None: scale = self.scale

        assert geo_x is not None and geo_y is not None

        geo_transform = self.raster.GetGeoTransform()   # col, row --->  lon, lat
        ok, inverse_geo_transform = gdal.InvGeoTransform(geo_transform)  # lon, lat --->  col, row
        col, row = gdal.ApplyGeoTransform(inverse_geo_transform, self.geo_x, self.geo_y)

        # col, row are now where we are centered in the image
        # I want scale=1 to be viewing the image at 1m per pixel.
        # The image may be sampled at a different resolution, fetch the meters-per-pixel from the geo-transform
        # Also, the pixels generally are not square.
        meters_x = geo_transform[1]
        meters_y = geo_transform[5]

        # Determine the size and offset within the raster
        x_size = abs(int(width * meters_x / scale))
        y_size = abs(int(height * meters_y / scale))
        x_off = int(col - x_size/2)
        y_off = int(row - y_size/2)

        return x_off, y_off, x_size, y_size

    def load_buffer(self, geo_x=None, geo_y=None, width=None, height=None, scale=None):
        if self.raster is None: return
        x_off, y_off, x_size, y_size = self.visible_region(geo_x, geo_y, width, height, scale)

        # Load the data (gdal may keep it cached / memory mapped for us)
        clipped_x = max(0, -x_off)
        clipped_y = max(0, -y_off)
        clipped_xmax = min(self.raster.RasterXSize, x_off + x_size)
        clipped_ymax = min(self.raster.RasterYSize, y_off + y_size)
        clipped_width = clipped_xmax - clipped_x - x_off
        clipped_height = clipped_ymax - clipped_y - y_off

        if clipped_width < 0 or clipped_height < 0 or clipped_x >= x_size or clipped_y >= y_size:
            return numpy.zeros((y_size, x_size, self.raster.RasterCount), dtype=numpy.uint8)

        data = self.raster.ReadAsArray(x_off + clipped_x, y_off + clipped_y, clipped_width, clipped_height) \

        # Convert data into visible representation
        data = data.transpose(1, 2, 0)
        if not data.dtype == numpy.uint8:
            data += data.min()
            data *= 255/data.max()
            data = data.astype(numpy.uint8)

        if not data.shape[:2] == (y_size, x_size):
            padding = numpy.zeros((y_size, x_size, self.raster.RasterCount), dtype=numpy.uint8)
            padding[clipped_y:clipped_y+clipped_height, clipped_x:clipped_x+clipped_width, :] = data
            data = padding

        return data

    def center_of_raster(self):
        geo_transform = self.raster.GetGeoTransform()   # col, row --->  lon, lat
        x, y = gdal.ApplyGeoTransform(geo_transform, self.raster.RasterXSize / 2, self.raster.RasterYSize / 2)
        return x, y

    def look_at(self, geo_x, geo_y, scale=None):
        self.geo_x = geo_x
        self.geo_y = geo_y
        if scale is not None: self.scale = scale

        self.update_raster()

    def window_to_raster(self, x, y):
        rx, ry, rw, rh = self.visible_region()
        x = rx + rw*x/self.width()
        y = ry + rh*y/self.height()
        return x, y

    def raster_to_window(self, x, y):
        rx, ry, rw, rh = self.visible_region()
        x = -rx + x*self.width()/rw
        y = -ry + y*self.height()/rh
        return x, y

    def raster_to_geo(self, x, y):
        geo_transform = self.raster.GetGeoTransform()   # col, row --->  lon, lat
        x, y = gdal.ApplyGeoTransform(geo_transform, x, y)
        return x, y

    def geo_to_raster(self, x, y):
        geo_transform = self.raster.GetGeoTransform()   # col, row --->  lon, lat
        inv_transform = gdal.InvGeoTransform(geo_transform)
        x, y = gdal.ApplyGeoTransform(inv_transform, x, y)
        return x, y

    def geo_to_window(self, x, y):
        return self.raster_to_window(self.geo_to_raster(x, y))

    def window_to_geo(self, x, y):
        return self.raster_to_geo(*self.window_to_raster(x,y))

    def update_raster(self):
        self.buffer = self.load_buffer()
        self.update()

    def load_classifier(self):
        try:
            if os.path.exists('training.pkl'):
                with open('training.pkl', 'rb') as f:
                    self.classifier.load(f)
        except:
            self.classifier.rebuild(self.dataset)

    def paintEvent(self, QPaintEvent):
        super(LabelerWindow, self).paintEvent(QPaintEvent)

        p = QtGui.QPainter(self)
        image = ImageQt(Image.fromarray(self.buffer))
        image = image.scaled(self.width(), self.height())
        p.drawImage(0, 0, image)

        # Now for the HUD

        # -> Draw green cross-hairs
        old_pen = p.pen()
        new_pen = QPen()
        new_pen.setColor(Qt.green)
        new_pen.setStyle(Qt.DotLine)
        new_pen.setWidth(1)
        p.setPen(new_pen)
        p.drawLine(0, self.height()/2, self.width(), self.height()/2)
        p.drawLine(self.width()/2, 0, self.width()/2, self.height())
        p.setPen(old_pen)

        # -> Show help for keystrokes
        help = "[X] Pos. [C] Neg. [UP] Zoom in [DN] Zoom Out [LT] Undo Last [RT] Ignore [LMB] Move "
        p.fillRect(0, 0, self.width(),  p.fontMetrics().height()*1.5, Qt.gray)
        p.drawText(0, p.fontMetrics().height(),  help)

    def resizeEvent(self, QResizeEvent):
        self.update_raster()

    def get_sample(self):
        s = self.load_buffer(width=self.dataset.width, height=self.dataset.height, scale=0.25).astype(float)/255.0
        return s

    def geo_xy(self):
        return self.geo_x, self.geo_y

    def goto_next_sample(self):
        if self.mode == MODE_POSITIVES:
            self.goto_next_positive()
        elif self.mode == MODE_NEGATIVES:
            self.goto_next_negative()
        else:
            self.goto_next_uncertain()

    def get_random_xys(self, n):
        if self.random_walk:
            return self.get_random_in_view(n)
        else:
            return self.get_random_in_raster(n)

    def get_random_in_raster(self, n):
        width, height = self.classifier.shape
        x = numpy.random.random_integers(int(ceil(width/2)), int(floor(self.raster.RasterXSize - width / 2)), n)
        y = numpy.random.random_integers(int(ceil(height/2)), int(floor(self.raster.RasterYSize - height / 2)), n)

        return zip(x, y)

    def get_random_in_view(self, n):
        x0, y0, w, h = self.visible_region()
        x1, y1 = x0+w, y0+h
        width, height = self.classifier.shape
        rx, ry = width / 2, height/2
        x0 = int(ceil(max(x0, rx)))
        y0 = int(ceil(max(y0, ry)))
        x1 = int(floor(min(self.raster.RasterXSize-rx, x1)))
        y1 = int(floor(min(self.raster.RasterYSize-ry, y1)))
        x = numpy.random.random_integers(x0, x1, n)
        y = numpy.random.random_integers(y0, y1, n)
        return zip(x, y)



    def goto_next_uncertain(self):
        x, y = zip(*self.get_random_xys(100))
        samples = []
        for i in range(len(x)):
            self.look_at(*self.raster_to_geo(x[i], y[i]))
            s = self.get_sample()
            samples.append(s)
        i, w = self.classifier.find_least_certain(samples)

        print "Least confident:", w
        self.look_at(*self.raster_to_geo(x[i], y[i]))

    def goto_next_positive(self, thresh=-1):
        best = -1
        best_x, best_y = self.geo_x, self.geo_y

        for i, (x, y) in enumerate(self.get_random_xys(100)):
            self.look_at(*self.raster_to_geo(x, y))
            s = self.get_sample()
            w = self.classifier.classify(s)
            if w > thresh:
                best = i
                best_x, best_y = x, y
                thresh = w
        self.look_at(*self.raster_to_geo(best_x, best_y))


    def goto_next_negative(self, thresh=0.5):
        for i, (x, y) in enumerate(self.get_random_xys(100)):
            self.look_at(*self.raster_to_geo(x, y))
            s = self.get_sample()
            w = self.classifier.classify(s)
            if w < thresh:
                print "Negative sample", w
                break

    def keyPressEvent(self, QKeyEvent):
        key = QKeyEvent.key()

        x, y = self.geo_x, self.geo_y

        def undo_positive():
            self.look_at(x, y)
            self.dataset.delete(self.get_sample(), label='positive')
            self.classifier.positives.pop()
            self.classifier.save()

        def undo_negative():
            self.look_at(x, y)
            self.dataset.delete(self.get_sample(), label='negative')
            self.classifier.negatives.pop()
            self.classifier.save()

        if key == Qt.Key_X:
            print "Mark Pos. ", self.raster.GetDescription(), self.geo_xy()
            self.classifier.add_positive(self.get_sample())
            self.dataset.create(self.get_sample(), label='positive', meta=dict(pos=self.geo_xy())).save()
            self.classifier.save()
            undos.append(undo_positive)
            self.goto_next_sample()
        elif key == Qt.Key_C:
            print "Mark Neg. ", self.raster.GetDescription(), self.geo_xy()
            self.classifier.add_negative(self.get_sample())
            self.dataset.create(self.get_sample(), label='negative', meta=dict(pos=self.geo_xy())).save()
            self.classifier.save()
            undos.append(undo_negative)
            self.goto_next_sample()
        elif key == Qt.Key_Left:
            print len(undos)
            if len(undos) > 0:
                undos[-1]()
                undos.pop()
        elif key == Qt.Key_Right:
            print "Next Sample (do not save current)"
            self.goto_next_sample()
        elif key == Qt.Key_Up:
            self.scale *= sqrt(2.)
            self.update_raster()
        elif key == Qt.Key_Down:
            self.scale /= sqrt(2.)
            self.update_raster()
        elif key == Qt.Key_S:
            self.save_classifier()
        elif key == Qt.Key_R:
            self.classifier.rebuild(self.dataset)
            self.save_classifier()
            self.goto_next_sample()
        elif key == Qt.Key_L:
            self.load_classifier()
        elif key == Qt.Key_P:
            self.mode = MODE_POSITIVES
            self.goto_next_sample()
        elif key == Qt.Key_N:
            self.mode = MODE_NEGATIVES
            self.goto_next_sample()
        elif key == Qt.Key_U:
            self.mode = MODE_UNCERTAIN
            self.goto_next_sample()
        elif key == Qt.Key_V:
            s = self.get_sample()
            self.visualize_classification(s)

    def save_classifier(self):
        self.classifier.save(file('training.pkl', 'wb'))

    def visualize_classification(self, s):
        import pylab
        i_p, w_p = self.classifier.find_similar_positive(s)
        i_n, w_n = self.classifier.find_similar_negative(s)
        pylab.figure()
        pylab.subplot(231)
        if i_n >= 0:
            pylab.imshow(self.classifier.negatives[i_n])
        pylab.title('negative')
        pylab.subplot(232)
        pylab.imshow(s)
        pylab.title('query')
        pylab.subplot(233)
        if i_p >= 0:
            pylab.imshow(self.classifier.positives[i_p])
        pylab.title('positive')
        pylab.subplot(234)
        if i_n >= 0:
            pylab.imshow((abs(self.classifier.negatives[i_n].astype(float) - s) ** 2).mean(2), cmap=pylab.cm.gray,
                         vmax=255 ** 2)
        pylab.subplot(236)
        if i_p >= 0:
            pylab.imshow((abs(self.classifier.positives[i_p].astype(float) - s) ** 2).mean(2), cmap=pylab.cm.gray,
                         vmax=255 ** 2)
        pylab.show()

    def mousePressEvent(self, QMouseEvent):
        x, y = QMouseEvent.x(), QMouseEvent.y()
        button = QMouseEvent.button()

        if button == Qt.LeftButton:
            rx, ry = self.window_to_raster(x, y)
            gx, gy = self.raster_to_geo(rx, ry)
            self.look_at(gx, gy)
            QtGui.QCursor.setPos(self.mapToGlobal(self.rect().center()))
Example #4
0
class LabelerWindow(QtGui.QWidget):
    def __init__(self, truth='truth', width=30, height=30, classifier=None):
        super(LabelerWindow, self).__init__()

        self.dataset = DataSet(truth, width, height)
        """ The ground truth images
        :type: labeler.dataset.DataSet
        """

        self.classifier = classifier or Classifier('cars', (width, height))
        """ The classifier we are building"""

        self.raster = None
        """The GDAL dataset we are viewing.
        :type ds: gdal.Dataset
        """

        self.geo_x = None
        """ The geographic x (longitude) of the center of the view """

        self.geo_y = None
        """ The geographic y (latitude) of the center of the view """

        self.scale = 1.0
        """ The number of meters per pixel in the view """

        self.buffer = None
        """ The raster data in the visible region (possibly padded with zeros)
        :type buffer: numpy.ndarray
        """

        self.random_walk = True
        """ Whether to look for the next sample within the current window (True) or within the entire raster (False)
        :type: Boolean
        """

        self.mode = MODE_POSITIVES

    def open_raster(self, datasource):
        """Load a raster dataset to display it in this window.

        This can be a single GeoTIFF (or other GDAL file) or a VRT file that mosaics several rasters.

        :param datasource: The GDAL datasource, or a description (filename)
        :type datasource: str | gdal.DataSet
        """

        if isinstance(datasource, gdal.Dataset):
            self.raster = datasource
        else:
            self.raster = gdal.Open(datasource)

    def visible_region(self,
                       geo_x=None,
                       geo_y=None,
                       width=None,
                       height=None,
                       scale=None):
        if self.raster is None: return
        if geo_x is None: geo_x = self.geo_x
        if geo_y is None: geo_y = self.geo_y
        if width is None: width = self.width()
        if height is None: height = self.height()
        if scale is None: scale = self.scale

        assert geo_x is not None and geo_y is not None

        geo_transform = self.raster.GetGeoTransform(
        )  # col, row --->  lon, lat
        ok, inverse_geo_transform = gdal.InvGeoTransform(
            geo_transform)  # lon, lat --->  col, row
        col, row = gdal.ApplyGeoTransform(inverse_geo_transform, self.geo_x,
                                          self.geo_y)

        # col, row are now where we are centered in the image
        # I want scale=1 to be viewing the image at 1m per pixel.
        # The image may be sampled at a different resolution, fetch the meters-per-pixel from the geo-transform
        # Also, the pixels generally are not square.
        meters_x = geo_transform[1]
        meters_y = geo_transform[5]

        # Determine the size and offset within the raster
        x_size = abs(int(width * meters_x / scale))
        y_size = abs(int(height * meters_y / scale))
        x_off = int(col - x_size / 2)
        y_off = int(row - y_size / 2)

        return x_off, y_off, x_size, y_size

    def load_buffer(self,
                    geo_x=None,
                    geo_y=None,
                    width=None,
                    height=None,
                    scale=None):
        if self.raster is None: return
        x_off, y_off, x_size, y_size = self.visible_region(
            geo_x, geo_y, width, height, scale)

        # Load the data (gdal may keep it cached / memory mapped for us)
        clipped_x = max(0, -x_off)
        clipped_y = max(0, -y_off)
        clipped_xmax = min(self.raster.RasterXSize, x_off + x_size)
        clipped_ymax = min(self.raster.RasterYSize, y_off + y_size)
        clipped_width = clipped_xmax - clipped_x - x_off
        clipped_height = clipped_ymax - clipped_y - y_off

        if clipped_width < 0 or clipped_height < 0 or clipped_x >= x_size or clipped_y >= y_size:
            return numpy.zeros((y_size, x_size, self.raster.RasterCount),
                               dtype=numpy.uint8)

        data = self.raster.ReadAsArray(x_off + clipped_x, y_off + clipped_y, clipped_width, clipped_height) \

        # Convert data into visible representation
        data = data.transpose(1, 2, 0)
        if not data.dtype == numpy.uint8:
            data += data.min()
            data *= 255 / data.max()
            data = data.astype(numpy.uint8)

        if not data.shape[:2] == (y_size, x_size):
            padding = numpy.zeros((y_size, x_size, self.raster.RasterCount),
                                  dtype=numpy.uint8)
            padding[clipped_y:clipped_y + clipped_height,
                    clipped_x:clipped_x + clipped_width, :] = data
            data = padding

        return data

    def center_of_raster(self):
        geo_transform = self.raster.GetGeoTransform(
        )  # col, row --->  lon, lat
        x, y = gdal.ApplyGeoTransform(geo_transform,
                                      self.raster.RasterXSize / 2,
                                      self.raster.RasterYSize / 2)
        return x, y

    def look_at(self, geo_x, geo_y, scale=None):
        self.geo_x = geo_x
        self.geo_y = geo_y
        if scale is not None: self.scale = scale

        self.update_raster()

    def window_to_raster(self, x, y):
        rx, ry, rw, rh = self.visible_region()
        x = rx + rw * x / self.width()
        y = ry + rh * y / self.height()
        return x, y

    def raster_to_window(self, x, y):
        rx, ry, rw, rh = self.visible_region()
        x = -rx + x * self.width() / rw
        y = -ry + y * self.height() / rh
        return x, y

    def raster_to_geo(self, x, y):
        geo_transform = self.raster.GetGeoTransform(
        )  # col, row --->  lon, lat
        x, y = gdal.ApplyGeoTransform(geo_transform, x, y)
        return x, y

    def geo_to_raster(self, x, y):
        geo_transform = self.raster.GetGeoTransform(
        )  # col, row --->  lon, lat
        inv_transform = gdal.InvGeoTransform(geo_transform)
        x, y = gdal.ApplyGeoTransform(inv_transform, x, y)
        return x, y

    def geo_to_window(self, x, y):
        return self.raster_to_window(self.geo_to_raster(x, y))

    def window_to_geo(self, x, y):
        return self.raster_to_geo(*self.window_to_raster(x, y))

    def update_raster(self):
        self.buffer = self.load_buffer()
        self.update()

    def load_classifier(self):
        try:
            if os.path.exists('training.pkl'):
                with open('training.pkl', 'rb') as f:
                    self.classifier.load(f)
        except:
            self.classifier.rebuild(self.dataset)

    def paintEvent(self, QPaintEvent):
        super(LabelerWindow, self).paintEvent(QPaintEvent)

        p = QtGui.QPainter(self)
        image = ImageQt(Image.fromarray(self.buffer))
        image = image.scaled(self.width(), self.height())
        p.drawImage(0, 0, image)

        # Now for the HUD

        # -> Draw green cross-hairs
        old_pen = p.pen()
        new_pen = QPen()
        new_pen.setColor(Qt.green)
        new_pen.setStyle(Qt.DotLine)
        new_pen.setWidth(1)
        p.setPen(new_pen)
        p.drawLine(0, self.height() / 2, self.width(), self.height() / 2)
        p.drawLine(self.width() / 2, 0, self.width() / 2, self.height())
        p.setPen(old_pen)

        # -> Show help for keystrokes
        help = "[X] Pos. [C] Neg. [UP] Zoom in [DN] Zoom Out [LT] Undo Last [RT] Ignore [LMB] Move "
        p.fillRect(0, 0, self.width(), p.fontMetrics().height() * 1.5, Qt.gray)
        p.drawText(0, p.fontMetrics().height(), help)

    def resizeEvent(self, QResizeEvent):
        self.update_raster()

    def get_sample(self):
        s = self.load_buffer(width=self.dataset.width,
                             height=self.dataset.height,
                             scale=0.25).astype(float) / 255.0
        return s

    def geo_xy(self):
        return self.geo_x, self.geo_y

    def goto_next_sample(self):
        if self.mode == MODE_POSITIVES:
            self.goto_next_positive()
        elif self.mode == MODE_NEGATIVES:
            self.goto_next_negative()
        else:
            self.goto_next_uncertain()

    def get_random_xys(self, n):
        if self.random_walk:
            return self.get_random_in_view(n)
        else:
            return self.get_random_in_raster(n)

    def get_random_in_raster(self, n):
        width, height = self.classifier.shape
        x = numpy.random.random_integers(
            int(ceil(width / 2)),
            int(floor(self.raster.RasterXSize - width / 2)), n)
        y = numpy.random.random_integers(
            int(ceil(height / 2)),
            int(floor(self.raster.RasterYSize - height / 2)), n)

        return zip(x, y)

    def get_random_in_view(self, n):
        x0, y0, w, h = self.visible_region()
        x1, y1 = x0 + w, y0 + h
        width, height = self.classifier.shape
        rx, ry = width / 2, height / 2
        x0 = int(ceil(max(x0, rx)))
        y0 = int(ceil(max(y0, ry)))
        x1 = int(floor(min(self.raster.RasterXSize - rx, x1)))
        y1 = int(floor(min(self.raster.RasterYSize - ry, y1)))
        x = numpy.random.random_integers(x0, x1, n)
        y = numpy.random.random_integers(y0, y1, n)
        return zip(x, y)

    def goto_next_uncertain(self):
        x, y = zip(*self.get_random_xys(100))
        samples = []
        for i in range(len(x)):
            self.look_at(*self.raster_to_geo(x[i], y[i]))
            s = self.get_sample()
            samples.append(s)
        i, w = self.classifier.find_least_certain(samples)

        print "Least confident:", w
        self.look_at(*self.raster_to_geo(x[i], y[i]))

    def goto_next_positive(self, thresh=-1):
        best = -1
        best_x, best_y = self.geo_x, self.geo_y

        for i, (x, y) in enumerate(self.get_random_xys(100)):
            self.look_at(*self.raster_to_geo(x, y))
            s = self.get_sample()
            w = self.classifier.classify(s)
            if w > thresh:
                best = i
                best_x, best_y = x, y
                thresh = w
        self.look_at(*self.raster_to_geo(best_x, best_y))

    def goto_next_negative(self, thresh=0.5):
        for i, (x, y) in enumerate(self.get_random_xys(100)):
            self.look_at(*self.raster_to_geo(x, y))
            s = self.get_sample()
            w = self.classifier.classify(s)
            if w < thresh:
                print "Negative sample", w
                break

    def keyPressEvent(self, QKeyEvent):
        key = QKeyEvent.key()

        x, y = self.geo_x, self.geo_y

        def undo_positive():
            self.look_at(x, y)
            self.dataset.delete(self.get_sample(), label='positive')
            self.classifier.positives.pop()
            self.classifier.save()

        def undo_negative():
            self.look_at(x, y)
            self.dataset.delete(self.get_sample(), label='negative')
            self.classifier.negatives.pop()
            self.classifier.save()

        if key == Qt.Key_X:
            print "Mark Pos. ", self.raster.GetDescription(), self.geo_xy()
            self.classifier.add_positive(self.get_sample())
            self.dataset.create(self.get_sample(),
                                label='positive',
                                meta=dict(pos=self.geo_xy())).save()
            self.classifier.save()
            undos.append(undo_positive)
            self.goto_next_sample()
        elif key == Qt.Key_C:
            print "Mark Neg. ", self.raster.GetDescription(), self.geo_xy()
            self.classifier.add_negative(self.get_sample())
            self.dataset.create(self.get_sample(),
                                label='negative',
                                meta=dict(pos=self.geo_xy())).save()
            self.classifier.save()
            undos.append(undo_negative)
            self.goto_next_sample()
        elif key == Qt.Key_Left:
            print len(undos)
            if len(undos) > 0:
                undos[-1]()
                undos.pop()
        elif key == Qt.Key_Right:
            print "Next Sample (do not save current)"
            self.goto_next_sample()
        elif key == Qt.Key_Up:
            self.scale *= sqrt(2.)
            self.update_raster()
        elif key == Qt.Key_Down:
            self.scale /= sqrt(2.)
            self.update_raster()
        elif key == Qt.Key_S:
            self.save_classifier()
        elif key == Qt.Key_R:
            self.classifier.rebuild(self.dataset)
            self.save_classifier()
            self.goto_next_sample()
        elif key == Qt.Key_L:
            self.load_classifier()
        elif key == Qt.Key_P:
            self.mode = MODE_POSITIVES
            self.goto_next_sample()
        elif key == Qt.Key_N:
            self.mode = MODE_NEGATIVES
            self.goto_next_sample()
        elif key == Qt.Key_U:
            self.mode = MODE_UNCERTAIN
            self.goto_next_sample()
        elif key == Qt.Key_V:
            s = self.get_sample()
            self.visualize_classification(s)

    def save_classifier(self):
        self.classifier.save(file('training.pkl', 'wb'))

    def visualize_classification(self, s):
        import pylab
        i_p, w_p = self.classifier.find_similar_positive(s)
        i_n, w_n = self.classifier.find_similar_negative(s)
        pylab.figure()
        pylab.subplot(231)
        if i_n >= 0:
            pylab.imshow(self.classifier.negatives[i_n])
        pylab.title('negative')
        pylab.subplot(232)
        pylab.imshow(s)
        pylab.title('query')
        pylab.subplot(233)
        if i_p >= 0:
            pylab.imshow(self.classifier.positives[i_p])
        pylab.title('positive')
        pylab.subplot(234)
        if i_n >= 0:
            pylab.imshow((abs(self.classifier.negatives[i_n].astype(float) -
                              s)**2).mean(2),
                         cmap=pylab.cm.gray,
                         vmax=255**2)
        pylab.subplot(236)
        if i_p >= 0:
            pylab.imshow((abs(self.classifier.positives[i_p].astype(float) -
                              s)**2).mean(2),
                         cmap=pylab.cm.gray,
                         vmax=255**2)
        pylab.show()

    def mousePressEvent(self, QMouseEvent):
        x, y = QMouseEvent.x(), QMouseEvent.y()
        button = QMouseEvent.button()

        if button == Qt.LeftButton:
            rx, ry = self.window_to_raster(x, y)
            gx, gy = self.raster_to_geo(rx, ry)
            self.look_at(gx, gy)
            QtGui.QCursor.setPos(self.mapToGlobal(self.rect().center()))