lambda_planner_list = list()
for idx in range(number_of_beliefs):
# cls_prior_rand_0 = np.random.dirichlet(prior_lambda)
cls_prior_rand_0_lg = np.random.multivariate_normal(lambda_prior, np.diag(lambda_prior_noise_diag))
cls_prior_rand_0_con = np.exp(cls_prior_rand_0_lg) / (1 + np.sum(np.exp(cls_prior_rand_0_lg)))
cls_prior_rand_0 = np.concatenate((cls_prior_rand_0_con, 1 /
(1 + np.sum(np.exp(cls_prior_rand_0_lg)))), axis=None)
cls_prior_rand = cls_prior_rand_0.tolist()
belief_list.append(
HybridBelief(5, geo_model, da_model, cls_model, cls_prior_rand, GT_poses[0],
prior_noise,
cls_enable=cls_enable, pruning_threshold=1000, ML_update=ML_update))
lambda_belief = LambdaBelief(belief_list)
lambda_planner = LambdaPlannerPrimitives(lambda_belief, entropy_lower_limit=entropy_lower_limit,
AVD_mapping=scenario_data, AVD_poses=GT_pose)
if Lambda_BSP_mode == 2:
lambda_belief = gaussianb_jlp.JLPBelief(geo_model, da_model, cls_model, GT_poses[0], prior_noise,
lambda_prior_mean=lambda_prior,
lambda_prior_noise=np.diag(lambda_prior_noise_diag),
cls_enable=cls_enable)
lambda_planner = JLPPLannerPrimitives(lambda_belief, entropy_lower_limit=entropy_lower_limit,
AVD_mapping=scenario_data, AVD_poses=GT_pose)
# ACTION GENERATOR
def action_generator(action, action_noise_diag, no_noise=False):
# Object GT
GT_objects = list()
GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(math.pi/2, 0.0, 0.0), np.array([1.0, 0.5, 0.0])))
GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(-math.pi/2, 0.0, 0.0), np.array([1.0, -0.5, 0.0])))
GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(math.pi/4, 0.0, 0.0), np.array([0.0, 0.5, 0.0])))
#GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(-math.pi/4, 0.0, 0.0), np.array([-.0, -0.5, 0.0])))
#GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(math.pi/2, 0.0, 0.0), np.array([1.0, 1.5, 0.0])))
#GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(-math.pi/2, 0.0, 0.0), np.array([1.0, -1.5, 0.0])))
# Belief initializations
belief_list = list()
for idx in range(num_of_beliefs):
belief_list.append(HybridBelief(2, geo_model, da_model, cls_model, cls_prior, prior, prior_noise, cls_enable=cls_enable,
pruning_threshold=50, ML_update=ML_update))
lambda_belief = LambdaBelief(belief_list)
# Sem measurement generator
def sem_measurement_generator():
sample = np.random.normal(sem_exp, sem_cov)
sample_cpv = list()
sample_cpv.append(np.exp(sample) / (1 + np.exp(sample)))
sample_cpv.append(1 / (1 + np.exp(sample)))
return sample_cpv
# Measurement and action generation
def geo_measurement_generator(relative_pose, meas_cov, no_noise=False):
# Break down pose to components
pose_pos = [relative_pose.x(), relative_pose.y(), relative_pose.z()]
belief_list.append(
HybridBelief(2,
geo_model,
da_model,
cls_model,
cls_prior_rand,
Init_poses[idx // number_of_beliefs],
prior_noise,
cls_enable=cls_enable,
pruning_threshold=7,
ML_update=ML_update))
for idx_1 in range(len(sequence)):
lambda_belief_list.append(
LambdaBelief(belief_list[number_of_beliefs *
idx_1:number_of_beliefs * (idx_1 + 1)]))
lambda_planner_list.append(
LambdaPlannerPrimitives(lambda_belief_list[-1]))
if Lambda_BSP_mode == 2:
for idx_1 in range(len(sequence)):
lambda_belief_list.append(
gaussianb_jlp.JLPBelief(geo_model,
da_model,
cls_model,
Init_poses[idx_1],
prior_noise,
lambda_prior_mean=lambda_prior,
lambda_prior_noise=lambda_prior_noise_diag,
cls_enable=cls_enable))
lambda_planner_list.append(JLPPLannerPrimitives(
def motion_primitive_planning(seed, Lambda_BSP_mode, reward_mode, cls_model, number_of_beliefs, random_objects=True):
# Initializations ----------------------------------------------------
sample_use_flag = True
ML_planning_flag = False
track_length = 20
horizon = 5
ML_update = True
MCTS_flag = True
MCTS_branches = 4
cls_enable = True
display_graphs = True
measurement_radius_limit = 10
measurement_radius_minimum = 0
com_radius = 100000
class_GT = {1: 1, 2: 1, 3: 2, 4: 2, 5: 1}#, 6: 2}#, 7: 1, 8: 1, 9: 2}#, 10: 1}
np.random.seed(seed)
measurements_enabler = True
opening_angle = 60
opening_angle_rad = opening_angle * math.pi / 180
num_samp = 50
CVaR_flag = True
start_time = time.time()
entropy_lower_limit = None
# Set models ---------------------------------------------------------
np.set_printoptions(precision=3)
plt.rcParams.update({'font.size': 16})
prior_lambda = (1, 1)
lambda_prior = np.array([special.digamma(prior_lambda[0]) - special.digamma(prior_lambda[1])]) #
lambda_prior_noise_diag = np.matrix(special.polygamma(1, prior_lambda[0]) + special.polygamma(1, prior_lambda[1]))
lambda_prior_noise = gtsam.noiseModel.Diagonal.Variances(lambda_prior_noise_diag)
da_model = damodel.DAModel(camera_fov_angle_horizontal=opening_angle_rad, range_limit=measurement_radius_limit,
range_minimum=measurement_radius_minimum)
geo_model_noise_diag = np.array([0.00001, 0.00001, 0.001, 0.0001, 0.0001, 0.001])
geo_model_noise = gtsam.noiseModel.Diagonal.Variances(geo_model_noise_diag)
geo_model = geomodel_proj.GeoModel(geo_model_noise)
# DEFINE GROUND TRUTH -------------------------------------------------
# Objects
GT_objects = list()
# GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(0.0, 0.0, 0.0), np.array([0.0, -2.0, 0.0])))
# GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(-math.pi/2, 0.0, 0.0), np.array([1.0, 2.0, 0.0])))
# GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(math.pi/2, 0.0, 0.0), np.array([-2.5, 3.5, 0.0])))
# GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(-3*math.pi/4, 0.0, 0.0), np.array([1.0, 4.0, 0.0])))
# GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(0.0, 0.0, 0.0), np.array([-6.0, -3.0, 0.0])))
# GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(math.pi/4, 0.0, 0.0), np.array([3.0, -2.0, 0.0])))
# GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(-3*math.pi/2, 0.0, 0.0), np.array([1.5,-6.0, 0.0])))
# GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(math.pi, 0.0, 0.0), np.array([-1.0, -4.0, 0.0])))
# GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(-math.pi, 0.0, 0.0 / 2), np.array([-1.5, -1.0, 0.0])))
# GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(3.141, 0.0, 0.0), np.array([-6.5, 1.0, 0.0])))
if random_objects is False:
# GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(0.0, 0.0, 0.0), np.array([2.5, -4.0, 0.0])))
# GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(3.141/2, 0.0, 0.0), np.array([4, -7.0, 0.0])))
# GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(-3.141/2, 0.0, 0.0), np.array([4.5, -1.0, 0.0])))
GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(-3.141 / 4, 0.0, 0.0), np.array([1.0, -4.0, 0.0])))
# GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(0*3.141, 0.0, 0.0), np.array([7.5, 4.0, 0.0])))
GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(-3.141 / 4, 0.0, 0.0), np.array([2, -2, 0.0])))
GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(-3.141 / 2, 0.0, 0.0), np.array([8.5, 4.7, 0.0])))
GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(-3.141 / 4, 0.0, 0.0), np.array([11.5, 1.0, 0.0])))
GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(-2 * 3.141 / 4, 0.0, 0.0), np.array([12, -6.5, 0.0])))
# GT_objects.append(gtsam.Pose3(gtsam.Rot3.Ypr(-2*3.141/4, 0.0, 0.0), np.array([14.5, 2.7, 0.0])))
elif random_objects is True:
for idx in range(len(class_GT)):
GT_objects.append(gtsam.Pose3(gtsam.Pose2(np.random.uniform(0, 10, 1),
np.random.uniform(-8, 8, 1),
np.random.uniform(-3.141, 3.141, 1))))
# Init poses
Init_poses = list()
Init_poses.append(gtsam.Pose3(gtsam.Rot3.Ypr(0.0, 0.0, 0.0), np.array([-8.0, 0.2, 0.0])))
Init_poses.append(gtsam.Pose3(gtsam.Rot3.Ypr(0.0, 0.0, 0.0), np.array([-8.0, 0.1, 0.0])))
Init_poses.append(gtsam.Pose3(gtsam.Rot3.Ypr(0.0, 0.0, 0.0), np.array([-8.0, -0.1, 0.0])))
Init_poses.append(gtsam.Pose3(gtsam.Rot3.Ypr(0.0, 0.0, 0.0), np.array([-8.0, -0.3, 0.0])))
Init_poses.append(gtsam.Pose3(gtsam.Rot3.Ypr(0.0, 0.0, 0.0), np.array([-8.0, -0.4, 0.0])))
Init_poses.append(gtsam.Pose3(gtsam.Rot3.Ypr(0.0, 0.0, 0.0), np.array([-8.0, -0.5, 0.0])))
# Robot poses
GT_poses = list()
GT_poses.append(gtsam.Pose3(gtsam.Rot3.Ypr(-0*math.pi/2, 0.0, 0.0), np.array([-4.0, 0.0, 0.0])))
# DEFINE ACTION PRIMITIVES ----------------------------------------------
stride_length = 1.0
motion_primitives = list()
motion_primitives.append(gtsam.Pose3(gtsam.Rot3.Ypr(-0.00, 0.0, 0.0), np.array([stride_length, 0.0, 0.0])))
motion_primitives.append(gtsam.Pose3(gtsam.Rot3.Ypr(+math.pi/4, 0.0, 0.0), np.array([stride_length, stride_length, 0.0])))
motion_primitives.append(gtsam.Pose3(gtsam.Rot3.Ypr(-math.pi/4, 0.0, 0.0), np.array([stride_length, -stride_length, 0.0])))
motion_primitives.append(gtsam.Pose3(gtsam.Rot3.Ypr(+math.pi/2, 0.0, 0.0), np.array([0.0, stride_length, 0.0])))
motion_primitives.append(gtsam.Pose3(gtsam.Rot3.Ypr(-math.pi/2, 0.0, 0.0), np.array([0.0, -stride_length, 0.0])))
#------------------------------------------------ PRIORS
# Robot priors
#prior = gtsam.Pose3(gtsam.Rot3.Ypr(0.0, 0.0, 0.0), np.array([0.0, 0.0, 0.0]))
prior = GT_poses[0]
prior_noise_diag = np.array([00.000001, 0.000001, 0.0000038, 00.00002, 00.0000202, 0.000001])
prior_noise = gtsam.noiseModel.Diagonal.Variances(prior_noise_diag)
prior_noise_cov = np.diag(prior_noise_diag)
# Create belief based on the switch
if Lambda_BSP_mode == 1:
belief_list = list()
lambda_planner_list = list()
for idx in range(number_of_beliefs):
# cls_prior_rand_0 = np.random.dirichlet(prior_lambda)
cls_prior_rand_0_lg = np.random.multivariate_normal(lambda_prior, lambda_prior_noise_diag)
cls_prior_rand_0_con = np.exp(cls_prior_rand_0_lg) / (1 + np.sum(np.exp(cls_prior_rand_0_lg)))
cls_prior_rand_0 = np.concatenate((cls_prior_rand_0_con, 1 /
(1 + np.sum(np.exp(cls_prior_rand_0_lg)))), axis=None)
cls_prior_rand = cls_prior_rand_0.tolist()
belief_list.append(
HybridBelief(2, geo_model, da_model, cls_model, cls_prior_rand, GT_poses[0],
prior_noise,
cls_enable=cls_enable, pruning_threshold=250, ML_update=ML_update))
lambda_belief = LambdaBelief(belief_list)
lambda_planner = LambdaPlannerPrimitives(lambda_belief)
if Lambda_BSP_mode == 2:
lambda_belief = gaussianb_jlp.JLPBelief(geo_model, da_model, cls_model, GT_poses[0], prior_noise,
lambda_prior_mean=lambda_prior,
lambda_prior_noise=lambda_prior_noise_diag,
cls_enable=cls_enable)
lambda_planner = JLPPLannerPrimitives(lambda_belief, entropy_lower_limit=entropy_lower_limit)
# Plot all the GT sequences
# fig = plt.figure(0)
# ax = fig.gca()
# plotterdaac2d.GT_plotter_line(GT_poses, GT_objects, color=(0.8, 0.4, 0.4),
# limitx=[-10, 7], limity=[-8, 8], show_plot=False, ax=ax,
# start_pose=GT_poses[0])
# ax.set_xlabel('X axis [m]')
# ax.set_ylabel('Y axis [m]')
# plt.tight_layout()
# plt.show()
# SEMANTIC MEASUREMENT GENERATION FUNCTION-----------------------------------------------------
def sem_measurements_generator(relative_pose, no_noise=False):
radius = np.sqrt(relative_pose.x()**2 + relative_pose.y()**2)
psi = np.arctan2(relative_pose.y(), relative_pose.x())
theta = np.arctan2(-relative_pose.z(), radius)
K = 2
Alpha = 0.5
R = K * (0.7 + 0.3 * np.cos(psi + theta))
Sigma = 1 / R ** 2
f = Alpha * np.cos(2 * psi + 2 * theta) + Alpha
sem_gen = -1
if no_noise is False:
sem_gen = np.random.normal(f, Sigma)
else:
sem_gen = f
sem_gen_vector = [ np.exp(sem_gen) / (1 + np.exp(sem_gen)), 1 / (1 + np.exp(sem_gen))]
return sem_gen_vector
def sem_measurements_generator_2(relative_pose, no_noise=False):
radius = np.sqrt(relative_pose.x()**2 + relative_pose.y()**2)
psi = np.arctan2(relative_pose.y(), relative_pose.x())
theta = np.arctan2(-relative_pose.z(), radius)
K = 2
Alpha = -0.5
R = K * (0.7 + 0.3 * np.cos(psi + theta))
Sigma = 1 / R ** 2
f = Alpha * np.cos(2 * psi + 2 * theta) + Alpha
sem_gen = -1
if no_noise is False:
sem_gen = np.random.normal(f, Sigma)
else:
sem_gen = f
sem_gen_vector = [ np.exp(sem_gen) / (1 + np.exp(sem_gen)), 1 / (1 + np.exp(sem_gen))]
return sem_gen_vector
# GEOMETRIC MEASUREMENT GENERATOR -------------------------------------------------------------------
def geo_measurement_generator(relative_pose, meas_cov, no_noise=False):
# Break down pose to components
pose_pos = [relative_pose.x(), relative_pose.y(), relative_pose.z()]
pose_rot = relative_pose.rotation().rpy()
#
pose_total = np.concatenate((pose_rot, pose_pos))
# Create the pose
if no_noise is False:
pose_sample = np.random.multivariate_normal(pose_total, meas_cov)
else:
pose_sample = pose_total
# Transfer to pose3
pose_generated = gtsam.Pose3(gtsam.Rot3.Ypr(pose_sample[2], pose_sample[1], pose_sample[0]),
np.array([pose_sample[3], pose_sample[4], pose_sample[5]]))
return pose_generated
# ACTION GENERATOR
def action_generator(action, action_noise_diag, no_noise=False):
"""
:type action: gtsam.Pose3
"""
action_noise = np.diag(action_noise_diag)
action_rotation = action.rotation().rpy()
action_vector = np.array([action_rotation[2], action_rotation[1], action_rotation[0],
action.x(), action.y(), action.z()])
generated_action = np.random.multivariate_normal(action_vector, action_noise)
generated_action_pose = gtsam.Pose3(gtsam.Rot3.Ypr(generated_action[0], generated_action[1], generated_action[2]),
np.array([generated_action[3], generated_action[4], generated_action[5]]))
if no_noise is False:
return generated_action_pose
else:
return action
def lambda_entropy_individual_numeric(exp, covariance, number_of_samples=100):
entropy = 0
for idx in range(number_of_samples):
sample = np.random.multivariate_normal(exp, covariance)
sample_aug = np.concatenate((sample, 0), axis=None)
sample_cpv = np.exp(sample_aug)/(np.sum(np.exp(sample_aug)))
log_pdf_value = np.log(stats.multivariate_normal.pdf(sample, exp, covariance)) - \
np.sum(np.log(sample_cpv))
entropy -= log_pdf_value / number_of_samples
return entropy
prior_entropy = lambda_entropy_individual_numeric(lambda_prior, lambda_prior_noise_diag)
# INFERENCE
action_noise_diag = np.array([0.0003, 0.0003, 0.0001, 0.0003, 0.00030, 0.001])
action_noise = gtsam.noiseModel.Diagonal.Variances(action_noise_diag)
reward_collections = list()
chosen_action_list = list()
current_entropy_list = list()
current_entropy_list.append(0)
sigma_list = list()
sigma_list.append(0)
time_list = list()
time_list.append(0)
MSDE = list()
MSDE.append(1/4)
#for sequence_idx in range(track_length):
for idx in range(track_length):
step_time = time.time()
# action, reward = lambda_planner.planning_session(action_noise, np.diag(geo_model_noise_diag), horizon=horizon, reward_print=True,
# enable_MCTS=MCTS_flag, MCTS_braches_per_action=MCTS_branches,
# ML_planning=ML_planning_flag, sample_use_flag=sample_use_flag,
# reward_mode=reward_mode, motion_primitives=motion_primitives)
# action = motion_primitives[0]
if idx < 5:
action = gtsam.Pose3(gtsam.Pose2(1.0, 0.0, -np.pi / 16))
elif idx < 15:
action = gtsam.Pose3(gtsam.Pose2(1.0, 0.0, np.pi / 16))
else:
action = gtsam.Pose3(gtsam.Pose2(1.0, 0.0, -np.pi / 16))
chosen_action_list.append(action)
# action = motion_primitives[0]
print('----------------------------------------------------------------------------')
print('Action:\n' + str(action))
# print('Reward: ' + str(reward))
GT_poses.append(GT_poses[idx].compose(action))
action_generated = action_generator(action, action_noise_diag, no_noise=True)
print('idx ' + str(idx))
lambda_belief.action_step(action_generated, action_noise) #TODO: see if belief within the planner is update
# Defining opening angle
geo_measurements = list()
sem_measurements = list()
for lambda_real in range(num_samp):
sem_measurements.append(list())
GT_DA = list()
# Generate measurements and forward the beliefs
for j in range(len(GT_objects)):
# Check if the object is seen
xy_angle = np.arctan2(GT_objects[j].y() - GT_poses[idx + 1].y(),
GT_objects[j].x() - GT_poses[idx + 1].x())
angles = GT_poses[idx + 1].rotation().matrix()
psi = np.arctan2(angles[1, 0], angles[0, 0])
geo_part = GT_poses[idx + 1].between(GT_objects[j])
geo_radius = np.sqrt(geo_part.x() ** 2 + geo_part.y() ** 2 + geo_part.z() ** 2)
# if np.abs(xy_angle - psi) <= opening_angle_rad and geo_radius <= measurement_radius_limit and \
# geo_radius >= measurement_radius_minimum:
if da_model.object_observation_3d(GT_poses[idx + 1], GT_objects[j]) is 1:
GT_DA.append(j + 1)
geo_cov = np.diag(geo_model_noise_diag)
meas_relative_pose = geo_measurement_generator(geo_part, geo_cov, no_noise=False)
geo_measurements.append(meas_relative_pose)
# print(geo_measurements)
for lambda_real in range(num_samp):
if class_GT[j + 1] == 2:
sem_part = sem_measurements_generator_2(GT_objects[j].between(GT_poses[idx + 1]),
no_noise=False)
#print('Object: ' + str(j + 1) + ',sem: ' + str(sem_part) + ',robot ' + robot_id + ',Class 2')
else:
sem_part = sem_measurements_generator(GT_objects[j].between(GT_poses[idx + 1]),
no_noise=False)
sem_measurements[lambda_real].append(sem_part) # GENERATED
# -------------------------------###
if Lambda_BSP_mode == 1:
lambda_belief.add_measurements(geo_measurements, sem_measurements, da_current_step=GT_DA,
number_of_samples=num_samp, new_input_object_prior=None,
new_input_object_covariance=None)
# -------------------------------###
if Lambda_BSP_mode == 2:
sem_measurements_exp = list()
sem_measurements_cov = list()
obj_idx_running = 0
# Go over all objects
for obj_idx in GT_DA:
obj_data = np.zeros((num_samp, len(prior_lambda)))
for b_idx in range(num_samp):
obj_data[b_idx, :] = sem_measurements[b_idx][obj_idx_running]
#obj_data = np.array(sem_measurements[obj_idx - 1])
obj_data_logit = np.array(np.log(obj_data[:, 0] / obj_data[:, 1]))
sem_measurements_exp.append([np.sum(obj_data_logit, axis=0) / num_samp])
sem_measurements_cov.append(np.matrix(np.dot(np.transpose(obj_data_logit - sem_measurements_exp[-1]),
obj_data_logit - sem_measurements_exp[-1]) / (num_samp - 1)))
obj_idx_running += 1
lambda_belief.add_measurements(geo_measurements, sem_measurements_exp, sem_measurements_cov,
GT_DA)
lambda_belief.print_lambda_lg_params()
entropy_collector = 0
sigma_collector = 0
if Lambda_BSP_mode == 1:
for belief in lambda_belief.belief_list:
object_list = belief.obj_realization
break
for obj in object_list:
entropy_collector -= lambda_belief.entropy(obj)
sigma_collector += 2 * np.sqrt(lambda_belief.lambda_covariance(obj)[0, 0]) / len(object_list)
if Lambda_BSP_mode == 2:
for obj in lambda_belief.object_lambda_dict:
entropy_collector -= lambda_belief.\
lambda_entropy_individual_numeric(lambda_belief.object_lambda_dict[obj])
sigma_collector += 2 * np.sqrt(lambda_belief.
lambda_covariance_numeric(
lambda_belief.object_lambda_dict[obj])[0, 0]) / len(lambda_belief.object_lambda_dict)
current_entropy_list.append(entropy_collector)
MSDE.append(lambda_belief.MSDE_expectation(class_GT))
sigma_list.append(sigma_collector)
time_list.append(time.time() - step_time)
print(chosen_action_list)
return current_entropy_list, MSDE, sigma_list, time.time() - start_time, time_list
def motion_primitive_planning(seed,
Lambda_BSP_mode,
reward_mode,
cls_model,
number_of_beliefs,
random_objects=True,
use_bounds=False,
plt_ax=None,
bar_ax=None,
initial_image='000510000250101.jpg'):
## --------------- PRLIMINARIES: NETWORK AND SCENARIO SETUP
# Find the corresponding depth image to the jpg
def depth_image_find(image_address):
depth_address = image_address[0:-5]
depth_address += '3.png'
return depth_address
# Load json file
actions = [
'forward', 'rotate_cw', 'rotate_ccw', 'backward', 'left', 'right'
]
# action_sequence = ['forward', 'forward', 'forward', 'rotate_cw', 'rotate_cw', 'rotate_cw', 'rotate_cw',
# 'rotate_cw', 'rotate_cw', 'forward', 'rotate_cw', 'forward', 'forward', 'forward', 'forward',
# 'forward', 'rotate_cw', 'rotate_cw', 'rotate_cw', 'rotate_cw']
scenario_file = open('home_005_data/annotations.json')
scenario_data = json.load(scenario_file)
classification_file = open('home_005_data/classification_data_vgg.json')
classification_data = json.load(classification_file)
#------------------------------------- EXTRACT GROUND TRUTH
detailed_GT_file = scipy.io.loadmat('home_005_data/image_structs.mat')
GT_pose = dict()
x_pos = list()
y_pos = list()
z_pos = list()
for location in detailed_GT_file['image_structs']['world_pos'][0]:
x_pos.append(float(location[0]))
y_pos.append(float(location[2]))
z_pos.append(float(location[1]))
psi = list()
theta = list()
for rotation in detailed_GT_file['image_structs']['direction'][0]:
psi.append(math.atan2(rotation[2], rotation[0]) * 180 / np.pi)
theta.append(
math.atan2(rotation[1], np.sqrt(rotation[2]**2 + rotation[0]**2)) *
180 / np.pi)
idx = int(0)
for name in detailed_GT_file['image_structs']['image_name'][0]:
GT_pose[name[0]] = gtsam.Pose3(
gtsam.Rot3.Ypr(psi[idx] * np.pi / 180,
theta[idx] * np.pi / 180, 0.0),
np.array([x_pos[idx], y_pos[idx], z_pos[idx]]))
idx += 1
scenario_file.close()
classification_file.close()
# Initializations ----------------------------------------------------
conf_flag = False
sample_use_flag = True
ML_planning_flag = True
track_length = 20
horizon = 1
ML_update = True
MCTS_flag = True
MCTS_branches = 3
cls_enable = True
display_graphs = True
measurement_radius_limit = 10
measurement_radius_minimum = 0
com_radius = 100000
# class_GT = {1: 1, 2: 1, 3: 2, 4: 2, 5: 1, 6: 1, 7: 1, 8: 1, 9: 2}#, 10: 1}
# GT_cls_realization = ((1, 1), (2, 2), (3, 1), (4, 1), (5, 1), (6, 2), (7, 1), (8, 1))
np.random.seed(seed)
measurements_enabler = True
opening_angle = 50
opening_angle_rad = opening_angle * math.pi / 180
num_samp = 50
CVaR_flag = True
start_time = time.time()
entropy_lower_limit = -500
random_object_location_flag = False
# Set models ---------------------------------------------------------
np.set_printoptions(precision=3)
plt.rcParams.update({'font.size': 16})
prior_lambda = (1, 1, 1, 1, 1)
lambda_prior = np.array([
special.digamma(prior_lambda[0]) - special.digamma(prior_lambda[4]),
special.digamma(prior_lambda[1]) - special.digamma(prior_lambda[4]),
special.digamma(prior_lambda[2]) - special.digamma(prior_lambda[4]),
special.digamma(prior_lambda[3]) - special.digamma(prior_lambda[4])
]) #
lambda_prior_noise_diag = np.array([
special.polygamma(1, prior_lambda[0]) +
special.polygamma(1, prior_lambda[4]),
special.polygamma(1, prior_lambda[1]) +
special.polygamma(1, prior_lambda[4]),
special.polygamma(1, prior_lambda[2]) +
special.polygamma(1, prior_lambda[4]),
special.polygamma(1, prior_lambda[3]) +
special.polygamma(1, prior_lambda[4])
])
lambda_prior_noise = gtsam.noiseModel.Diagonal.Variances(
lambda_prior_noise_diag)
da_model = damodel.DAModel(camera_fov_angle_horizontal=opening_angle_rad,
range_limit=measurement_radius_limit,
range_minimum=measurement_radius_minimum)
geo_model_noise_diag = np.array(
[0.00001, 0.00001, 30.001, 0.05, 0.05, 0.05])
geo_model_noise = gtsam.noiseModel.Diagonal.Variances(geo_model_noise_diag)
geo_model = geomodel_proj.GeoModel(geo_model_noise)
# Robot poses GT
current_image = initial_image
GT_poses = list()
GT_poses.append(GT_pose[initial_image])
#------------------------------------------------ PRIORS
prior = GT_poses[0]
prior_noise_diag = np.array(
[00.000001, 0.000001, 0.0000038, 00.00002, 00.0000202, 0.000001])
prior_noise = gtsam.noiseModel.Diagonal.Variances(prior_noise_diag)
prior_noise_cov = np.diag(prior_noise_diag)
# Create belief based on the switch
if Lambda_BSP_mode == 1: #TODO: complete this side
belief_list = list()
lambda_planner_list = list()
for idx in range(number_of_beliefs):
# cls_prior_rand_0 = np.random.dirichlet(prior_lambda)
cls_prior_rand_0_lg = np.random.multivariate_normal(
lambda_prior, np.diag(lambda_prior_noise_diag))
cls_prior_rand_0_con = np.exp(cls_prior_rand_0_lg) / (
1 + np.sum(np.exp(cls_prior_rand_0_lg)))
cls_prior_rand_0 = np.concatenate(
(cls_prior_rand_0_con, 1 /
(1 + np.sum(np.exp(cls_prior_rand_0_lg)))),
axis=None)
cls_prior_rand = cls_prior_rand_0.tolist()
belief_list.append(
HybridBelief(5,
geo_model,
da_model,
cls_model,
cls_prior_rand,
GT_poses[0],
prior_noise,
cls_enable=cls_enable,
pruning_threshold=3.5,
ML_update=ML_update))
lambda_belief = LambdaBelief(belief_list)
lambda_planner = LambdaPlannerPrimitives(
lambda_belief,
entropy_lower_limit=entropy_lower_limit,
AVD_mapping=scenario_data,
AVD_poses=GT_pose)
if Lambda_BSP_mode == 2:
lambda_belief = gaussianb_jlp.JLPBelief(
geo_model,
da_model,
cls_model,
GT_poses[0],
prior_noise,
lambda_prior_mean=lambda_prior,
lambda_prior_noise=np.diag(lambda_prior_noise_diag),
cls_enable=cls_enable)
lambda_planner = JLPPLannerPrimitives(
lambda_belief,
entropy_lower_limit=entropy_lower_limit,
AVD_mapping=scenario_data,
AVD_poses=GT_pose)
# ACTION GENERATOR
def action_generator(action, action_noise_diag, no_noise=False):
"""
:type action: gtsam.Pose3
"""
action_noise = np.diag(action_noise_diag)
action_rotation = action.rotation().rpy()
action_vector = np.array([
action_rotation[2], action_rotation[1], action_rotation[0],
action.x(),
action.y(),
action.z()
])
generated_action = np.random.multivariate_normal(
action_vector, action_noise)
generated_action_pose = gtsam.Pose3(
gtsam.Rot3.Ypr(generated_action[0], generated_action[1],
generated_action[2]),
np.array([
generated_action[3], generated_action[4], generated_action[5]
]))
if no_noise is False:
return generated_action_pose
else:
return action
def lambda_entropy_individual_numeric(exp,
covariance,
number_of_samples=100):
entropy = 0
for idx in range(number_of_samples):
sample = np.random.multivariate_normal(exp, covariance)
sample_aug = np.concatenate((sample, 0), axis=None)
sample_cpv = np.exp(sample_aug) / (np.sum(np.exp(sample_aug)))
log_pdf_value = np.log(stats.multivariate_normal.pdf(sample, exp, covariance)) - \
np.sum(np.log(sample_cpv))
entropy -= log_pdf_value / number_of_samples
return entropy
prior_entropy = lambda_entropy_individual_numeric(
lambda_prior, np.diag(lambda_prior_noise_diag))
# INFERENCE
action_noise_diag = np.array(
[0.0003, 0.0003, 0.0001, 0.0003, 0.00030, 0.001])
action_noise = gtsam.noiseModel.Diagonal.Variances(action_noise_diag)
class_GT = {
15: 2,
4: 3,
14: 2,
3: 2,
17: 3,
19: 2,
20: 2,
23: 5,
29: 2,
2: 2,
5: 2
}
bars_list_of_objects = [15, 4, 14, 3, 17, 19, 23, 20, 29, 2, 10, 2, 5]
reward_collections = list()
chosen_action_list = list()
current_entropy_list = list()
current_entropy_list.append(0)
current_R2_list = list()
current_R2_list.append(-len(class_GT) * np.log(0.5))
sigma_list = list()
sigma_list.append(0)
time_list = list()
time_list.append(0)
MSDE = list()
MSDE.append(4 / 25)
current_entropy_list_per_object = dict()
current_MSDE_list_per_object = dict()
for obj in class_GT:
current_entropy_list_per_object[obj] = list()
current_entropy_list_per_object[obj].append(0)
current_MSDE_list_per_object[obj] = list()
current_MSDE_list_per_object[obj].append(4 / 25)
MSDE_per_object = list()
sigma_list = list()
#for sequence_idx in range(track_length):
for idx in range(track_length):
step_time = time.time()
# action_name, reward = lambda_planner.planning_session(action_noise, np.diag(geo_model_noise_diag), horizon=horizon,
# reward_print=True,
# enable_MCTS=MCTS_flag, MCTS_braches_per_action=MCTS_branches,
# ML_planning=ML_planning_flag, sample_use_flag=sample_use_flag,
# reward_mode=reward_mode, return_index_flag=True,
# number_of_samples=number_of_beliefs,
# use_lower_bound=use_bounds,
# current_location_name=current_image)
#action_name = action_sequence[idx]
if scenario_data[current_image]['forward'] != '':
action_name = 'forward'
else:
action_name = 'rotate_ccw'
action = GT_pose[current_image].between(
GT_pose[scenario_data[current_image][action_name]])
action = action_generator(action, action_noise_diag, no_noise=True)
# action = motion_primitives[0]
print(
'----------------------------------------------------------------------------'
)
print('Action:\n' + action_name)
print('idx ' + str(idx))
GT_poses.append(GT_poses[idx].compose(action))
lambda_belief.action_step(action, action_noise)
current_image = scenario_data[current_image][action_name]
# Create the ground truth data association
GT_DA = list()
geo_measurements = list()
sem_measurements = list()
sem_measurements_exp = list()
sem_measurements_cov = list()
idx_range = 0
for angle in classification_data[current_image]['Angles']:
if classification_data[current_image]['Range'][
idx_range] != 0 and classification_data[current_image][
'DA'][idx_range][
0] != 10: #TODO:SECOND TEMPORARY CONDITION
GT_DA.append(
classification_data[current_image]['DA'][idx_range][0])
# geo_measurements.append([angle[0], angle[1], classification_data[current_image]['Range'][idx_range]])
geo_measurements.append([
angle[0], -0.0,
classification_data[current_image]['Range'][idx_range]
])
if Lambda_BSP_mode == 1:
sem_measurements.append(
classification_data[current_image]['CPV'][idx_range]
) #TODO: If MH needs more than 1 measurement change it
if Lambda_BSP_mode == 2:
sem_measurements_exp.append(
np.array(classification_data[current_image]
['LG expectation'][idx_range]))
sem_measurements_cov.append(
cls_model.unflatten_cov(
np.array(classification_data[current_image]
['LG covariance'][idx_range])))
idx_range += 1
sem_measurements = [sem_measurements]
if Lambda_BSP_mode == 1:
lambda_belief.add_measurements(geo_measurements,
sem_measurements,
da_current_step=GT_DA,
number_of_samples=num_samp,
new_input_object_prior=None,
new_input_object_covariance=None)
if Lambda_BSP_mode == 2:
lambda_belief.add_measurements(geo_measurements,
sem_measurements_exp,
sem_measurements_cov, GT_DA)
lambda_belief.print_lambda_lg_params()
for obj in class_GT:
current_entropy_list_per_object[obj].append(0)
current_MSDE_list_per_object[obj].append(4 / 25)
entropy_collector = 0
sigma_collector = 0
if Lambda_BSP_mode == 1:
for belief in lambda_belief.belief_list:
object_list = belief.obj_realization
break
for obj in object_list:
current_entropy_list_per_object[obj][
-1] = lambda_belief.entropy(
obj, entropy_lower_limit=entropy_lower_limit)
current_MSDE_list_per_object[obj][-1] = lambda_belief.MSDE_obj(
obj, class_GT[obj])
entropy_collector += current_entropy_list_per_object[obj][-1]
sigma_collector += 2 * np.sqrt(
lambda_belief.lambda_covariance(obj)[0,
0]) / len(object_list)
if Lambda_BSP_mode == 2:
for obj in lambda_belief.object_lambda_dict:
if use_bounds is False:
current_entropy_list_per_object[obj][
-1] = lambda_belief.lambda_entropy_individual_numeric(
lambda_belief.object_lambda_dict[obj],
entropy_lower_limit=entropy_lower_limit)
else:
current_entropy_list_per_object[obj][
-1], _ = lambda_belief.lambda_entropy_individual_bounds(
lambda_belief.object_lambda_dict[obj],
entropy_lower_limit=entropy_lower_limit)
current_MSDE_list_per_object[obj][-1] = lambda_belief.MSDE_obj(
obj, class_GT[obj])
entropy_collector += current_entropy_list_per_object[obj][-1]
sigma_collector += 2 * np.sqrt(
lambda_belief.lambda_covariance_numeric(
lambda_belief.object_lambda_dict[obj])[0, 0]) / len(
lambda_belief.object_lambda_dict)
current_entropy_list.append(entropy_collector)
MSDE.append(lambda_belief.MSDE_expectation(class_GT))
sigma_list.append(sigma_collector)
time_list.append(time.time() - step_time)
print(chosen_action_list)
# if Lambda_BSP_mode == 1:
# ax = lambda_belief.belief_list[0].graph_realizations_in_one(idx + 1, fig_num=0, show_obj=True,
# show_weights=False, show_plot=False,
# show_elipses=False)
# if Lambda_BSP_mode == 2:
# ax = lambda_belief.display_graph(plot_line=True, display_title=False, show_plot=False)
width_offset = -0.36
if reward_mode == 1:
width_offset = -0.36
color_bar = 'red'
elif reward_mode == 2:
width_offset = 0.0
color_bar = 'red'
if Lambda_BSP_mode == 2:
if reward_mode == 1:
width_offset = -0.09
color_bar = 'blue'
elif reward_mode == 2:
width_offset = 0.0
color_bar = 'blue'
elif Lambda_BSP_mode == 1 and number_of_beliefs == 1:
width_offset = 0.09
color_bar = 'green'
# if reward_mode == 1:
# color = 'r'
# elif reward_mode == 2 and number_of_beliefs == 1:
# color = 'g'
# elif reward_mode == 2 and number_of_beliefs != 1:
# color = 'b'
# plotterdaac2d.GT_plotter_line(GT_poses, [], fig_num=0, show_plot=False,
# plt_save_name=None, pause_time=None,
# jpg_save=False, alpha=0.75, color=color_bar, ax=plt_ax)
if Lambda_BSP_mode == 1:
plt_ax = lambda_belief.belief_list[0].graph_realizations_in_one(
idx + 1,
fig_num=0,
show_obj=True,
show_weights=False,
show_plot=False,
show_elipses=True,
plot_line=True,
color=color_bar,
single_plot=True,
show_robot_pose=False,
ax=plt_ax,
enlarge=3)
if Lambda_BSP_mode == 2:
plt_ax = lambda_belief.display_graph(plot_line=True,
display_title=False,
show_plot=False,
color=color_bar,
ax=plt_ax,
enlarge=3)
# plt_ax.set_xlim(-8, 15)
# plt_ax.set_ylim(-10, 10)
lambda_belief.lambda_bar_error_graph_multi(show_plt=False,
ax=bar_ax,
color=color_bar,
width_offset=width_offset,
GT_bar=True,
GT_classes=class_GT)
plt.tight_layout()
return current_entropy_list, MSDE, sigma_list, time.time(
) - start_time, time_list, current_R2_list
axis=None)
cls_prior_rand = cls_prior_rand_0.tolist()
belief_list.append(
HybridBelief(2,
geo_model,
da_model,
cls_model,
cls_prior_rand,
GT_poses[0],
prior_noise,
cls_enable=cls_enable,
pruning_threshold=15,
ML_update=ML_update))
lambda_belief = LambdaBelief(belief_list)
lambda_planner = LambdaPlannerPrimitives(
lambda_belief, entropy_lower_limit=entropy_lower_limit)
if Lambda_BSP_mode == 2:
lambda_belief = gaussianb_jlp.JLPBelief(
geo_model,
da_model,
cls_model,
GT_poses[0],
prior_noise,
lambda_prior_mean=lambda_prior,
lambda_prior_noise=lambda_prior_noise_diag,
cls_enable=cls_enable)
lambda_planner = JLPPLannerPrimitives(