def report_statistics(id_sub, stats):
records = stats['records']
distance = records['distance']
delta = records['delta']
order = scale_score(distance)
order = order / float(order.size)
r = Report('stats-%s' % id_sub)
r.data('records', records)
f = r.figure()
with f.plot('scatter') as pylab:
pylab.scatter(delta, distance)
pylab.xlabel('delta')
pylab.ylabel('distance')
pylab.axis((-1, np.max(delta) + 1, -0.05, np.max(distance)))
with f.plot('with_stats', **dp_predstats_fig) as pylab:
fancy_error_display(pylab, delta, distance, 'g')
with f.plot('distance_order', **dp_predstats_fig) as pylab:
fancy_error_display(pylab, delta, order, color='k')
f = r.figure(cols=1)
bins = np.linspace(0, np.max(distance), 100)
for i, d in enumerate(set(delta)):
with f.plot('conditional%d' % i) as pylab:
which = delta == d
pylab.hist(distance[which], bins)
return r
def hist_plots(d):
# TO
vars = [ ('C', d.C, {}),
('y', cov2corr(d.y_cov, False), {}),
('y_dot', cov2corr(d.y_dot_cov, False), {}),
('y_dot_sign', cov2corr(d.y_dot_sign_cov, False), {}) ]
r = Report()
f = r.figure(cols=5)
for var in vars:
label = var[0]
x = var[1]
nid = "hist_%s" % label
with r.data_pylab(nid) as pylab:
pylab.hist(x.flat, bins=128)
f.sub(nid, 'histogram of correlation of %s' % label)
order = scale_score(x)
r.data('order%s' % label, order).display('posneg').add_to(f, 'ordered')
nid = "hist2_%s" % label
with r.data_pylab(nid) as pylab:
pylab.plot(x.flat, order.flat, '.', markersize=0.2)
pylab.xlabel(label)
pylab.ylabel('order')
f.sub(nid, 'histogram of correlation of %s' % label)
h = create_histogram_2d(d.C, x, resolution=128)
r.data('h2d_%s' % label, numpy.flipud(h.T)).display('scale').add_to(f)
return r
def simple_plots(d):
# TO
y_cov = d.y_cov
y_dot_cov = d.y_dot_cov
y_dot_sign_cov = d.y_dot_sign_cov
vars = [ ('y', y_cov, {}),
('y_dot', y_dot_cov, {}),
('y_dot_sign', y_dot_sign_cov, {}) ]
#
# I = numpy.eye(y_cov.shape[0])
#
r = Report()
f = r.figure(cols=3)
for var in vars:
label = var[0]
cov = var[1]
corr = cov2corr(cov, zero_diagonal=False)
corr_z = cov2corr(cov, zero_diagonal=True)
n1 = r.data("cov_%s" % label, cov).display('posneg')
n2 = r.data("corr_%s" % label, corr).display('posneg')
n3 = r.data("corrz_%s" % label, corr_z).display('posneg')
f.sub(n1, 'Covariance of %s' % label)
f.sub(n2, 'Correlation of %s ' % label)
f.sub(n3, 'Correlation of %s (zeroing diagonal)' % label)
return r
def table_by_rows(id_report, samples, rows_field, cols_fields, source_descs):
samples2 = StoreResultsDict(samples)
class Missing(dict):
def __missing__(self, key):
logger.warning('Description for %r missing.' % key)
d = WithDescription(name=key, symbol='\\text{%s}' % key,
desc=None)
self[key] = d
return d
source_descs = Missing(source_descs)
r = Report(id_report)
data_views = [DataView.from_string(x, source_descs) for x in cols_fields]
# data: list of list of list
rows_field, data, reduced, display = summarize_data(samples2, rows_field, data_views)
rows = ['$%s$' % source_descs[x].get_symbol() for x in rows_field]
cols = ['$%s$' % x.get_symbol() for x in data_views]
r.table('table', data=display, cols=cols, rows=rows)
r.data('table_data', data=reduced,
caption="Data without presentation applied.")
r.data('table_data_source', data=data,
caption="Source data, before reduction.")
row_desc = "\n".join(['- $%s$: %s' % (x.get_symbol(), x.get_desc())
for x in map(source_descs.__getitem__, rows_field)])
col_desc = "\n".join(['- $%s$: %s' % (x.get_symbol(), x.get_desc())
for x in data_views])
r.text('row_desc', rst_escape_slash(row_desc), mime=MIME_RST)
r.text('col_desc', rst_escape_slash(col_desc), mime=MIME_RST)
return r
def report_statistics(id_sub, stats):
records = stats['records']
distance = records['distance']
delta = records['delta']
order = scale_score(distance)
order = order / float(order.size)
r = Report('stats-%s' % id_sub)
r.data('records', records)
f = r.figure()
with f.plot('scatter') as pylab:
pylab.scatter(delta, distance)
pylab.xlabel('delta')
pylab.ylabel('distance')
pylab.axis((-1, np.max(delta) + 1, -0.05, np.max(distance)))
with f.plot('with_stats', **dp_predstats_fig) as pylab:
fancy_error_display(pylab, delta, distance, 'g')
with f.plot('distance_order', **dp_predstats_fig) as pylab:
fancy_error_display(pylab, delta, order, color='k')
f = r.figure(cols=1)
bins = np.linspace(0, np.max(distance), 100)
for i, d in enumerate(set(delta)):
with f.plot('conditional%d' % i) as pylab:
which = delta == d
pylab.hist(distance[which], bins)
return r
def filter_phase_report(stats):
P = stats['P']
r = Report('unknown')
f = r.figure()
r.data('P', P.T).display('scale').add_to(f)
return r
def filter_phase_report(stats):
P = stats['P']
r = Report('unknown')
f = r.figure()
r.data('P', P.T).display('scale').add_to(f)
return r
def create_report_delayed(exp_id, delayed, description):
delays = numpy.array(sorted(delayed.keys()))
r = Report(exp_id)
r.text("description", description)
f = r.figure(cols=3)
# max and sum of correlation for each delay
# corr_max = []
corr_mean = []
for delay in delays:
data = delayed[delay]
a = data["action_image_correlation"]
id = "delay%d" % delay
# rr = r.node('delay%d' % delay)
r.data(id, a).data_rgb("retina", add_reflines(posneg(values2retina(a))))
corr_mean.append(numpy.abs(a).mean())
caption = "delay: %d (max: %.3f, sum: %f)" % (delay, numpy.abs(a).max(), numpy.abs(a).sum())
f.sub(id, caption=caption)
timestamp2ms = lambda x: x * (1.0 / 60) * 1000
peak = numpy.argmax(corr_mean)
peak_ms = timestamp2ms(delays[peak])
with r.data_pylab("mean") as pylab:
T = timestamp2ms(delays)
pylab.plot(T, corr_mean, "o-")
pylab.ylabel("mean correlation field")
pylab.xlabel("delay (ms) ")
a = pylab.axis()
pylab.plot([0, 0], [a[2], a[3]], "k-")
y = a[2] + (a[3] - a[2]) * 0.1
pylab.text(+5, y, "causal", horizontalalignment="left")
pylab.text(-5, y, "non causal", horizontalalignment="right")
pylab.plot([peak_ms, peak_ms], [a[2], max(corr_mean)], "b--")
y = a[2] + (a[3] - a[2]) * 0.2
pylab.text(peak_ms + 10, y, "%d ms" % peak_ms, horizontalalignment="left")
f = r.figure("stats")
f.sub("mean")
a = delayed[int(delays[peak])]["action_image_correlation"]
r.data_rgb("best_delay", add_reflines(posneg(values2retina(a))))
return r
class ReprepPublisher(Publisher):
default_max_cols = 5
def __init__(self, rid=None, report=None, cols=default_max_cols):
# TODO: clear up this interface
if report is None:
self.r = Report(rid)
else:
self.r = report
self.cols = cols
self._f = None
def fig(self):
''' Returns reference to current RepRep figure. '''
if self._f is None:
self._f = self.r.figure(cols=self.cols)
return self._f
@contract(name='str', value='array', caption='None|str')
def array(self, name, value, caption=None): # XXX to change
self.r.data(name, value, mime=MIME_PYTHON, caption=caption)
@contract(name='str', value='array', filter='str', caption='None|str')
def array_as_image(self, name, value,
filter='posneg', # @ReservedAssignment # XXX: config
filter_params={},
caption=None): # @ReservedAssignment
# try image XXX check uint8
# If this is RGB
if len(value.shape) == 3 and value.shape[2] == 3:
# zoom images smaller than 50
# if value.shape[0] < 50:
# value = zoom(value, 10)
self.fig().data_rgb(name, value, caption=caption)
else:
node = self.r.data(name, value, mime=MIME_PYTHON, caption=caption)
m = node.display(filter, **filter_params)
if caption is None:
caption = name
self.fig().sub(m, caption=caption)
@contract(name='str', value='str')
def text(self, name, value):
self.r.text(name, value)
@contextmanager
@contract(name='str', caption='None|str')
def plot(self, name, caption=None, **args):
f = self.fig()
# TODO: make a child of myself
with f.plot(name, caption=caption, **args) as pylab:
yield pylab
def section(self, section_name, cols=default_max_cols, caption=None):
child = self.r.node(section_name, caption=caption)
return ReprepPublisher(report=child, cols=cols)
def report_predstats(id_discdds, id_subset, id_distances, records):
r = Report('predistats-%s-%s' % (id_discdds, id_subset))
print records.dtype
r.data('records', records)
f = r.figure()
colors = list(islice(cycle(['r', 'g', 'b', 'k', 'y', 'm']), 50))
delta = records['delta']
W = 0.2
# pdb.set_trace()
# Save the raw values
for i, id_d in enumerate(id_distances):
r.data(id_d, records[id_d])
with f.plot('values_order', **dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_d in enumerate(id_distances):
distance = records[id_d]
distance_order = scale_score(distance) / (float(distance.size) - 1)
step = float(i) / max(len(id_distances) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax, delta + xstep, distance_order,
colors[i], perc=10, label=id_d)
ieee_spines(pylab)
ticks = sorted(list(set(list(delta))))
pylab.xlabel('interval length')
pylab.ylabel('normalized distance')
pylab.xticks(ticks, ticks)
pylab.yticks((0, 1), (0, 1))
pylab.axis((0.5, 0.5 + np.max(delta), -0.024, 1.2))
legend_put_below(ax)
with f.plot('values', **dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_d in enumerate(id_distances):
distance = records[id_d]
step = float(i) / max(len(id_distances) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax, delta + xstep, distance,
colors[i], perc=10, label=id_d)
ieee_spines(pylab)
ticks = sorted(list(set(list(delta))))
pylab.xlabel('interval length')
pylab.ylabel('distance')
pylab.xticks(ticks, ticks)
# pylab.yticks((0, 1), (0, 1))
a = pylab.axis()
pylab.axis((0.5, 0.5 + np.max(delta), -0.024, a[3]))
legend_put_below(ax)
return r
def aer_simple_stats_report(stats):
r = Report('simplestatsreport')
f = r.figure()
for n in ['h_all', 'h_plus', 'h_minus']:
h = stats[n]
cap = '%d events' % (h.sum())
r.data(n, h).display('scale').add_to(f, caption=cap)
return r
def aer_simple_stats_report(stats):
r = Report("simplestatsreport")
f = r.figure()
for n in ["h_all", "h_plus", "h_minus"]:
h = stats[n]
cap = "%d events" % (h.sum())
r.data(n, h).display("scale").add_to(f, caption=cap)
return r
def basic_plots(d):
G = d.G
#G = skim_top_and_bottom(G, 1)
#max_value = numpy.abs(G).max()
r = Report('plots')
f = r.figure('The learned G', cols=2)
cmd = {0: 'vx', 1: 'vy', 2: 'omega'}
grad = {0: 'hor', 1: 'vert'}
for (k, j) in itertools.product([0, 1, 2], [0, 1]):
x = G[k, j, :, :].squeeze()
#max_value = numpy.abs(G[k, ...]).max()
n = r.data('G%d%d' % (k, j), x).display('posneg')
f.sub(n, 'G %s %s' % (cmd[k], grad[j]))
P = d.P
f = r.figure('The covariance of gradient', cols=2)
for (i, j) in itertools.product([0, 1], [0, 1]):
x = P[i, j, :, :].squeeze()
if i == j: x = scale_score(x)
display = "scale" if i == j else "posneg"
n = r.data('cov%d%d' % (i, j), x).display(display)
f.sub(n, 'cov %s %s' % (grad[i], grad[j]))
f = r.figure('The inverse of the covariance', cols=2)
P_inv = d.P_inv
#P_inv = skim_top_and_bottom(P_inv, 5)
for (i, j) in itertools.product([0, 1], [0, 1]):
x = P_inv[i, j, :, :].squeeze()
if i == j: x = scale_score(x)
display = "scale" if i == j else "posneg"
n = r.data('P_inv%d%d' % (i, j), x).display(display)
f.sub(n, 'P_inv %s %s' % (grad[i], grad[j]))
Gn = d.Gn
f = r.figure('Normalized G', cols=2)
for (k, j) in itertools.product([0, 1, 2], [0, 1]):
x = Gn[k, j, :, :].squeeze()
n = r.data('Gn%d%d' % (k, j), x).display('posneg')
f.sub(n, 'Gn %s %s' % (cmd[k], grad[j]))
Gnn = d.Gnn
#max_value = numpy.abs(Gnn).max()
f = r.figure('Normalized G (also inputs)', cols=2)
for (k, j) in itertools.product([0, 1, 2], [0, 1]):
x = Gnn[k, j, :, :].squeeze()
max_value = numpy.abs(Gnn[k, ...]).max()
#max_value = numpy.abs(x).max()
n = r.data('Gnn%d%d' % (k, j), x).display('posneg', max_value=max_value)
f.sub(n, 'Gnn %s %s' % (cmd[k], grad[j]))
plot_hist_for_4d_tensor(r, G, 'G', 'Histograms for G')
plot_hist_for_4d_tensor(r, P, 'P', 'Histograms for P (covariance)')
return r
def ground_truth_plots(d):
r = Report()
f = r.figure(cols=3)
n = r.data('cosine', d.C).display('posneg')
f.sub(n, 'Cosine matrix')
n = r.data('dist', d.D).display('scale')
f.sub(n, 'Distance matrix')
return r
def show_some_correlations(d, num=30, cols=6):
r = Report('sensels correlations')
f = r.figure('Correlations of some sensels.', cols=cols)
s = d.R.sum(axis=0)
r.data('sum', d.toimg(s)).display('posneg')
f.sub('sum', caption="Sum of correlations")
for i in range(num):
id = 'sensel%d' % i
Ri = d.toimg(d.R[i, :])
r.data(id, Ri).display('posneg')
f.sub(id)
return r
def report_uncert_stats(records, id_ddss):
# records = stats['records']
r = Report('uncert-statsall')
r.data('records', records)
f = r.figure()
id_distances = ['L2', 'L2w']
colors = list(islice(cycle(['r', 'g', 'b', 'k', 'y', 'm']), 50))
perc = 10
W = 0.2
with f.plot('distance', **dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_dds in enumerate(id_ddss):
which = records['id_discdds'] == id_dds
delta = records[which]['delta']
distance = records[which]['L2w']
if i == 0:
distance0 = records[which]['L2']
step = float(0) / max(len(id_distances) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax,
delta + xstep,
distance0,
colors[0],
perc=perc,
label='L2')
step = float(i + 1) / max(len(id_distances) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax,
delta + xstep,
distance,
colors[i + 1],
perc=perc,
label='L2w' + id_dds)
legend_put_below(ax)
return r
def estimation(fid, f): # @UnusedVariable
shape = [50, 50]
diffeo = diffeomorphism_from_function(shape, f)
K = 50
epsilon = 1
de = DiffeomorphismEstimator([0.2, 0.2], MATCH_CONTINUOUS)
for y0, y1 in generate_input(shape, K, diffeo, epsilon=epsilon):
de.update(y0, y1)
diff2d = de.summarize()
diffeo_learned = diff2d.d
from reprep import Report
name = f.__name__
r = Report(name)
fig = r.figure(cols=4)
diffeo_learned_rgb = diffeomorphism_to_rgb_cont(diffeo_learned)
diffeo_rgb = diffeomorphism_to_rgb_cont(diffeo)
r.data_rgb('diffeo_rgb', diffeo_rgb).add_to(fig)
r.data_rgb('diffeo_learned_rgb', diffeo_learned_rgb).add_to(fig)
L = r.data('diffeo_learned_uncertainty', diff2d.variance)
L.display('scale').add_to(fig, caption='uncertainty')
r.data('last_y0', y0).display('scale').add_to(fig, caption='last y0')
r.data('last_y1', y1).display('scale').add_to(fig, caption='last y1')
cs = [(0, 25), (10, 25), (25, 25), (25, 5)]
for c in cs:
M25 = de.get_similarity(c)
r.data('cell-%s-%s' % c,
M25).display('scale').add_to(fig,
caption='Example similarity field')
filename = 'out/diffeo_estimation_suite/%s.html' % name
print('Writing to %r.' % filename)
r.to_html(filename)
def report_uncert_stats(records, id_ddss):
# records = stats['records']
r = Report('uncert-statsall')
r.data('records', records)
f = r.figure()
id_distances = ['L2', 'L2w']
colors = list(islice(cycle(['r', 'g', 'b', 'k', 'y', 'm']), 50))
perc = 10
W = 0.2
with f.plot('distance', **dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_dds in enumerate(id_ddss):
which = records['id_discdds'] == id_dds
delta = records[which]['delta']
distance = records[which]['L2w']
if i == 0:
distance0 = records[which]['L2']
step = float(0) / max(len(id_distances) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax, delta + xstep, distance0,
colors[0], perc=perc,
label='L2')
step = float(i + 1) / max(len(id_distances) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax, delta + xstep, distance,
colors[i + 1], perc=perc, label='L2w' + id_dds)
legend_put_below(ax)
return r
def estimation(fid, f): # @UnusedVariable
shape = [50, 50]
diffeo = diffeomorphism_from_function(shape, f)
K = 50
epsilon = 1
de = DiffeomorphismEstimator([0.2, 0.2], MATCH_CONTINUOUS)
for y0, y1 in generate_input(shape, K, diffeo, epsilon=epsilon):
de.update(y0, y1)
diff2d = de.summarize()
diffeo_learned = diff2d.d
from reprep import Report
name = f.__name__
r = Report(name)
fig = r.figure(cols=4)
diffeo_learned_rgb = diffeomorphism_to_rgb_cont(diffeo_learned)
diffeo_rgb = diffeomorphism_to_rgb_cont(diffeo)
r.data_rgb('diffeo_rgb', diffeo_rgb).add_to(fig)
r.data_rgb('diffeo_learned_rgb', diffeo_learned_rgb).add_to(fig)
L = r.data('diffeo_learned_uncertainty', diff2d.variance)
L.display('scale').add_to(fig, caption='uncertainty')
r.data('last_y0', y0).display('scale').add_to(fig, caption='last y0')
r.data('last_y1', y1).display('scale').add_to(fig, caption='last y1')
cs = [(0, 25), (10, 25), (25, 25), (25, 5)]
for c in cs:
M25 = de.get_similarity(c)
r.data('cell-%s-%s' % c, M25).display('scale').add_to(fig,
caption='Example similarity field')
filename = 'out/diffeo_estimation_suite/%s.html' % name
print('Writing to %r.' % filename)
r.to_html(filename)
def table_by_rows(id_report, samples, rows_field, cols_fields, source_descs):
samples2 = StoreResultsDict(samples)
class Missing(dict):
def __missing__(self, key):
logger.warning("Description for %r missing." % key)
d = WithDescription(name=key, symbol="\\text{%s}" % key, desc=None)
self[key] = d
return d
source_descs = Missing(source_descs)
r = Report(id_report)
data_views = [DataView.from_string(x, source_descs) for x in cols_fields]
# data: list of list of list
rows_field, data, reduced, display = summarize_data(
samples2, rows_field, data_views)
rows = ["$%s$" % source_descs[x].get_symbol() for x in rows_field]
cols = ["$%s$" % x.get_symbol() for x in data_views]
r.table("table", data=display, cols=cols, rows=rows)
r.data("table_data",
data=reduced,
caption="Data without presentation applied.")
r.data("table_data_source",
data=data,
caption="Source data, before reduction.")
row_desc = "\n".join([
"- $%s$: %s" % (x.get_symbol(), x.get_desc())
for x in list(map(source_descs.__getitem__, rows_field))
])
col_desc = "\n".join(
["- $%s$: %s" % (x.get_symbol(), x.get_desc()) for x in data_views])
r.text("row_desc", rst_escape_slash(row_desc), mime=MIME_RST)
r.text("col_desc", rst_escape_slash(col_desc), mime=MIME_RST)
return r
def correlation_embedding_report(R, num_eig=6):
imshape = (100, 100)
toimg = lambda x : x.reshape(imshape)
U, S, V = numpy.linalg.svd(R, full_matrices=0) #@UnusedVariable
r = Report('correlation_embedding')
fv = r.figure('V', caption='Coordinates of the embedding')
for k in range(num_eig):
v = V[k, :] * numpy.sqrt(S[k])
print v.size
id = 'eig_v_%d' % k
n = r.data(id, toimg(v)).display('posneg')
fv.sub(n, caption='Eigenvector #%d' % k)
return r
def servo_stats_report(data_central, id_agent, id_robot, summaries,
phase='servo_stats'):
from reprep import Report
from reprep.plot_utils import x_axis_balanced
from reprep.plot_utils import (style_ieee_fullcol_xy,
style_ieee_halfcol_xy)
from geometry import translation_from_SE2
if not summaries:
raise Exception('Empty summaries')
def extract(key):
return np.array([s[key] for s in summaries])
initial_distance = extract('initial_distance')
initial_rotation = extract('initial_rotation')
dist_xy_converged = 0.25
dist_th_converged = np.deg2rad(5)
for s in summaries:
dist_xy = s['dist_xy']
dist_th = s['dist_th']
# converged = (dist_xy[0] > dist_xy[-1]) and (dist_th[0] > dist_th[-1])
converged = ((dist_xy[-1] < dist_xy_converged) and
(dist_th[-1] < dist_th_converged))
s['converged'] = converged
s['dist_th_deg'] = np.rad2deg(s['dist_th'])
s['color'] = 'b' if converged else 'r'
trans = [translation_from_SE2(x) for x in s['poses']]
s['x'] = np.abs([t[0] for t in trans])
s['y'] = np.abs([t[1] for t in trans])
s['dist_x'] = np.abs(s['x'])
s['dist_y'] = np.abs(s['y'])
basename = 'servo_analysis-%s-%s-%s' % (id_agent, id_robot, phase)
r = Report(basename)
r.data('summaries', s, caption='All raw statistics')
f = r.figure(cols=3)
with f.plot('image_L2_error') as pylab:
style_ieee_fullcol_xy(pylab)
for s in summaries:
errors = s['errors']
pylab.plot(errors, s['color'])
with f.plot('dist_xy') as pylab:
style_ieee_fullcol_xy(pylab)
for s in summaries:
pylab.plot(s['dist_xy'], s['color'] + '-')
with f.plot('xy') as pylab:
style_ieee_fullcol_xy(pylab)
for s in summaries:
pylab.plot(s['x'], s['y'], s['color'] + '-')
pylab.xlabel('x')
pylab.ylabel('y')
with f.plot('dist_th') as pylab:
style_ieee_fullcol_xy(pylab)
for s in summaries:
pylab.plot(s['dist_th'], s['color'] + '-')
with f.plot('dist_th_deg') as pylab:
style_ieee_fullcol_xy(pylab)
for s in summaries:
pylab.plot(np.rad2deg(s['dist_th']), s['color'] + '-')
with f.plot('dist_xy_th') as pl:
style_ieee_fullcol_xy(pylab)
for s in summaries:
pl.plot(s['dist_xy'], s['dist_th_deg'], s['color'] + '-')
pl.xlabel('dist x-y')
pl.ylabel('dist th (deg)')
with f.plot('dist_xy_th_log') as pl:
style_ieee_fullcol_xy(pylab)
for s in summaries:
pl.semilogx(s['dist_xy'],
s['dist_th_deg'], s['color'] + '.')
pl.xlabel('dist x-y')
pl.ylabel('dist th (deg)')
with f.plot('dist_y') as pylab:
style_ieee_fullcol_xy(pylab)
for s in summaries:
pylab.plot(s['dist_y'], s['color'] + '-')
with f.plot('dist_x') as pylab:
style_ieee_fullcol_xy(pylab)
for s in summaries:
pylab.plot(s['dist_x'], s['color'] + '-')
mark_start = 's'
mark_end = 'o'
with f.plot('dist_xy_th_start',
caption="Initial error (blue: converged)"
) as pl:
style_ieee_fullcol_xy(pylab)
for s in summaries:
pl.plot([s['dist_xy'][0], s['dist_xy'][-1]],
[s['dist_th_deg'][0],
s['dist_th_deg'][-1]], s['color'] + '-')
pl.plot(s['dist_xy'][0], s['dist_th_deg'][0],
s['color'] + mark_start)
pl.plot(s['dist_xy'][-1], s['dist_th_deg'][-1],
s['color'] + mark_end)
pl.xlabel('dist x-y')
pl.ylabel('dist th (deg)')
with f.plot('dist_xy_th_start2',
caption="Trajectories. If converged, plot square at beginning"
" and cross at end. If not converged, plot trajectory (red)."
) as pl:
style_ieee_fullcol_xy(pylab)
for s in summaries:
if s['converged']:
continue
pl.plot([s['dist_xy'][0], s['dist_xy'][-1]],
[s['dist_th_deg'][0], s['dist_th_deg'][-1]], 'r-')
for s in summaries:
pl.plot(s['dist_xy'][0], s['dist_th_deg'][0], s['color'] + mark_start)
pl.plot(s['dist_xy'][-1], s['dist_th_deg'][-1], s['color'] + mark_end)
pl.xlabel('dist x-y')
pl.ylabel('dist th (deg)')
with f.plot('initial_rotation') as pylab:
style_ieee_halfcol_xy(pylab)
pylab.hist(np.rad2deg(initial_rotation))
x_axis_balanced(pylab)
pylab.xlabel('Initial rotation (deg)')
with f.plot('initial_distance') as pylab:
style_ieee_halfcol_xy(pylab)
pylab.hist(initial_distance)
pylab.xlabel('Initial distance (m)')
ds = data_central.get_dir_structure()
filename = ds.get_report_filename(id_agent=id_agent,
id_robot=id_robot,
id_state='servo_stats',
phase=phase)
resources_dir = ds.get_report_res_dir(id_agent=id_agent,
id_robot=id_robot,
id_state='servo_stats',
phase=phase)
save_report(data_central, r, filename, resources_dir, save_pickle=True)
def report_predstats(id_discdds, id_subset, id_distances, records):
r = Report('predistats-%s-%s' % (id_discdds, id_subset))
r.data('records', records)
f = r.figure()
colors = list(islice(cycle(['r', 'g', 'b', 'k', 'y', 'm']), 50))
delta = records['delta']
W = 0.2
# Save the raw values
for i, id_d in enumerate(id_distances):
r.data(id_d, records[id_d])
with f.plot('values_order', **dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_d in enumerate(id_distances):
distance = records[id_d]
distance_order = scale_score(distance) / (float(distance.size) - 1)
step = float(i) / max(len(id_distances) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax,
delta + xstep,
distance_order,
colors[i],
perc=10,
label=id_d)
ieee_spines(pylab)
ticks = sorted(list(set(list(delta))))
pylab.xlabel('interval length')
pylab.ylabel('normalized distance')
pylab.xticks(ticks, ticks)
pylab.yticks((0, 1), (0, 1))
pylab.axis((0.5, 0.5 + np.max(delta), -0.024, 1.2))
legend_put_below(ax)
with f.plot('values', **dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_d in enumerate(id_distances):
distance = records[id_d]
step = float(i) / max(len(id_distances) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax,
delta + xstep,
distance,
colors[i],
perc=10,
label=id_d)
ieee_spines(pylab)
ticks = sorted(list(set(list(delta))))
pylab.xlabel('interval length')
pylab.ylabel('distance')
pylab.xticks(ticks, ticks)
# pylab.yticks((0, 1), (0, 1))
a = pylab.axis()
pylab.axis((0.5, 0.5 + np.max(delta), -0.024, a[3]))
legend_put_below(ax)
return r
def report_stats(records, id_ddss, id_streams, id_distances):
r = Report('precision-stats')
r.data('records', records)
colors = list(islice(cycle(['r', 'g', 'b', 'k', 'y', 'm']), 50))
perc = 10
W = 0.2
for i, id_dds in enumerate(id_ddss):
r.text('dds%s' % i, id_dds)
streams_sets = generate_stream_sets(id_streams)
for stream_set, id_distance in itertools.product(streams_sets,
id_distances):
f = r.figure(cols=2)
with f.plot('distance_legend',
caption='Streams: %s, Distance: %s' %
(stream_set['label'], id_distance),
**dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_dds in enumerate(id_ddss):
which = (records['id_discdds'] == id_dds).astype('int')
for id_stream in stream_set['id_streams']:
which += (records['id_stream'] == id_stream).astype('int')
which = (which /
(len(stream_set['id_streams']) + 1)).astype('bool')
delta = records[which]['delta']
distance = records[which][id_distance]
step = float(i) / max(len(id_ddss) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax,
delta + xstep,
distance,
colors[i],
perc=perc,
label='%s' % i)
with f.plot('distance',
caption='treams: %s, Distance: %s' %
(stream_set['label'], id_distance),
**dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_dds in enumerate(id_ddss):
which = (records['id_discdds'] == id_dds).astype('int')
for id_stream in stream_set['id_streams']:
which += (records['id_stream'] == id_stream).astype('int')
which = (which /
(len(stream_set['id_streams']) + 1)).astype('bool')
delta = records[which]['delta']
distance = records[which][id_distance]
step = float(i) / max(len(id_ddss) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax,
delta + xstep,
distance,
colors[i],
perc=perc,
label='%s' % i)
legend_put_below(ax)
with f.plot(
'difference',
caption='Difference from learner_0, SStreams: %s, Distance: %s'
% (stream_set['label'], id_distance),
**dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
which0 = (records['id_discdds'] == id_ddss[0])
_ = records[which0]['delta'] # delta0
distance0 = records[which0][id_distance]
for i, id_dds in enumerate(id_ddss[1:]):
which = (records['id_discdds'] == id_dds).astype('int')
for id_stream in stream_set['id_streams']:
which += (records['id_stream'] == id_stream).astype('int')
which = (which /
(len(stream_set['id_streams']) + 1)).astype('bool')
delta = records[which]['delta']
distance = records[which][id_distance]
difference = distance0 - distance
step = float(i) / max(len(id_ddss) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax,
delta + xstep,
difference,
colors[i + 1],
perc=perc,
label='%s' % i)
return r
def old_analysis(data):
R = data['correlation']
variance = data['variance']
num_sensels = max(R.shape)
# XXX
imshape = (100, 100)
num_coords_keep = 10
num_sensels_display = 100
r = Report('calibrator_plots')
f0 = r.figure(cols=5, caption='Main quantities')
f1 = r.figure(cols=6)
f2 = r.figure(cols=6)
f3 = r.figure(cols=6, caption='distances in sensing space')
f4 = r.figure(cols=6, caption='dependency between eigenvectors')
f0.sub(r.data('variance', variance.reshape(imshape)).display('scale', min_value=0),
caption='Variance (darker=stronger)')
with r.data_pylab('variance_scalar') as pylab:
pylab.hist(variance)
f0.sub('variance_scalar')
for i in range(num_sensels_display):
id = 'sensel%d' % i
Ri = R[i, :].reshape(imshape)
r.data(id, Ri)
f1.sub(id, display='posneg')
U, S, V = numpy.linalg.svd(R, full_matrices=0) #@UnusedVariable
coords = numpy.zeros(shape=(num_sensels, num_coords_keep))
# set coordinates
for k in range(num_coords_keep):
v = V[k, :] * numpy.sqrt(S[k])
coords[:, k] = v
# normalize coords
if False:
for i in range(num_sensels):
coords[i, :] = coords[i, :] / numpy.linalg.norm(coords)
for k in range(num_coords_keep):
id = 'coord%d' % k
M = coords[:, k].reshape(imshape)
r.data(id, M)
f2.sub(id, display='posneg')
# compute the distance on the sphere for some sensel
for w in RandomExtract.choose_selection(30, num_sensels):
D = numpy.zeros(num_sensels)
s = 14 # number of coordinates
p1 = coords[w, 0:s] / numpy.linalg.norm(coords[w, 0:s])
for i in range(num_sensels):
p2 = coords[i, 0:s] / numpy.linalg.norm(coords[i, 0:s])
D[i] = numpy.linalg.norm(p1 - p2)
D_sorted = numpy.argsort(D)
neighbors = 50
D[D_sorted[:neighbors]] = 0
D[D_sorted[neighbors:]] = 1
# D= D_sorted
id = 'dist%s' % w
r.data(id, D.reshape(imshape))
f3.sub(id, display='scale')
# Divide the sensels in classes
if False:
ncoords_classes = 5
classes = numpy.zeros((num_sensels))
for k in range(ncoords_classes):
c = coords[:, k]
cs = divide_in_classes(c, 3)
classes += cs * (3 ** k)
f0.sub(r.data('classes', classes.reshape(imshape)).display('posneg'))
if True:
nclasses = 20
classes = group_by_correlation(R[:nclasses, :])
f0.sub(r.data('classes_by_R', classes.reshape(imshape)).display('scale'))
if False:
ncoords = 10
print("computing similarity matrix")
coord_similarity = numpy.zeros((ncoords, ncoords))
for k1, k2 in itertools.product(range(ncoords), range(ncoords)):
if k1 == k2:
coord_similarity[k1, k2] = 0 # numpy.nan
continue
if k1 < k2:
continue
c1 = coords[:, k1]
c2 = coords[:, k2]
step = 4
c1 = c1[::step]
c2 = c2[::step]
tau, prob = fast_kendall_tau(c1, c2)
coord_similarity[k1, k2] = numpy.abs(tau)
coord_similarity[k2, k1] = coord_similarity[k1, k2]
print('%r %r : tau = %.4f prob = %.4f' % (k1, k2, tau, prob))
print coord_similarity.__repr__()
n = r.data('coord_similarity', coord_similarity).display('posneg')
f4.sub(n)
with r.data_pylab('sim_score') as pylab:
pylab.plot(coord_similarity.sum(axis=0), 'x-')
pylab.xlabel('coordinate')
pylab.ylabel('total similarity')
f4.sub('sim_score')
with r.data_pylab('comp0') as pylab:
pylab.plot(coord_similarity[0, :], 'x-')
pylab.xlabel('coordinate')
pylab.ylabel('similarity with #0')
f4.sub('comp0')
ref = 0
for k in range(10):
print "comparison", k
id = 'cmp_%d_%d' % (ref, k)
c0 = coords[:, ref]
ck = coords[:, k]
with r.data_pylab(id) as pylab:
pylab.plot(c0, ck, '.', markersize=0.3)
f4.sub(id)
return r
logpd = np.log(pd)
pd[zeros] = 0
return -(pd * logpd).sum()
if __name__ == '__main__':
filename = sys.argv[1]
data = pickle.load(open(filename, 'rb'))
h, hdist = compute_hdist(data['single'], data['joint'])
pickle.dump(hdist, open('hdist.pickle', 'wb'))
hdist = np.cos(hdist * np.pi)
e = -np.eye(hdist.shape[0]) + 1
hdist = hdist * e
from reprep import Report
r = Report()
f = r.figure()
r.data('hdist', hdist).display('scale').add_to(f)
with r.data_pylab('h')as pylab:
pylab.plot(h)
r.last().add_to(f)
filename = 'real_test_cases.html'
print('Writing to %r.' % filename)
r.to_html(filename)
def report_statistics_all(id_sub, stats, perc=10, W=0.2):
records = stats['records']
r = Report('statsall-%s' % id_sub)
r.data('records', records)
f = r.figure()
id_distances = sorted(set(records['id_distance']))
logger.info('%s: %s %s reo %s' % (id_sub, len(stats), id_distances,
len(records)))
colors = list(islice(cycle(['r', 'g', 'b', 'k', 'y', 'm']), 50))
with f.plot('distance_order', **dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_d in enumerate(id_distances):
which = records['id_distance'] == id_d
delta = records[which]['delta']
distance = records[which]['distance']
order = scale_score(distance)
order = order / float(order.size)
step = float(i) / (max(len(id_distances) - 1, 1))
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax, delta + xstep, order,
colors[i], perc=perc, label=id_d)
ieee_spines(pylab)
ticks = sorted(list(set(list(delta))))
pylab.xlabel('plan length')
pylab.ylabel('normalized distance')
pylab.xticks(ticks, ticks)
pylab.yticks((0, 1), (0, 1))
pylab.axis((0.5, 0.5 + np.max(delta), -0.024, 1.2))
legend_put_below(ax)
with f.plot('distance', **dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_d in enumerate(id_distances):
which = records['id_distance'] == id_d
delta = records[which]['delta']
distance = records[which]['distance']
step = float(i) / max(len(id_distances) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax, delta + xstep, distance,
colors[i], perc=perc, label=id_d)
ieee_spines(pylab)
ticks = sorted(list(set(list(delta))))
pylab.xlabel('plan length')
pylab.ylabel('distance')
pylab.xticks(ticks, ticks)
# pylab.yticks((0, 1), (0, 1))
a = pylab.axis()
pylab.axis((0.5, 0.5 + np.max(delta), -0.024, a[3]))
legend_put_below(ax)
return r
for [S, _, name] in ovars:
# Calculate mean value from sum
Sn = S[2:-2, 2:-2] / n
# Estimate parameters and plot analytic prob function
# gkde = stats.gaussian_kde(Sn.flatten())
# S_clip = np.zeros(Sn.shape)
# S_clip[Sn < vmax] = Sn[Sn < vmax]
# S_clip[Sn > vmin] = Sn[Sn > vmin]
# pdb.set_trace()
mu = np.mean(Sn)
sigma = np.sqrt(np.std(Sn))
f_mu = np.mean(np.abs(Sn))
f_sigma = np.sqrt(np.std(np.abs(Sn)))
report.data(name + 'mu', mu)
report.data(name + 'sigma', sigma)
report.data(name + 'folded_mu', f_mu)
report.data(name + 'folded_sigma', f_sigma)
def pdf(T):
if len(T) is None:
return 1 / (sigma * np.sqrt(2 * np.pi)) * np.exp(-.5 * ((t - mu) / sigma) ** 2)
else:
return np.array([1 / (sigma * np.sqrt(2 * np.pi)) * np.exp(-.5 * ((t - mu) / sigma) ** 2) for t in T])
x = np.linspace(0, vmax, 200)
# pdb.set_trace()
# Sn = np.abs(Sn)
f = report.figure(cols=3)
def plot_results(label, results):
iterations = results['iterations']
r = Report(label)
R = results['R']
gt_C = results['gt_C']
f = r.figure(cols=3, caption='Ground truth')
with r.data_pylab('r_vs_c') as pylab:
pylab.plot(gt_C.flat, R.flat, '.', markersize=0.2)
pylab.xlabel('real cosine')
pylab.ylabel('correlation measure')
pylab.axis((-1, 1, -1, 1))
f.sub('r_vs_c', 'Unknown function correlation -> cosine')
r.data('gt_C', gt_C).display('posneg', max_value=1).add_to(f, 'ground truth cosine matrix')
dist = numpy.real(numpy.arccos(gt_C))
r.data('gt_dist', dist).display('scale').add_to(f, 'ground truth distance matrix')
f = r.figure(cols=12)
R = results['R']
R_order = results['R_order']
for i, it in enumerate(iterations):
singular_values = it['singular_values']
coords = it['coords']
coords_proj = it['coords_proj']
estimated_C = it['estimated_C']
estimated_C_order = it['estimated_C_order']
check('array[MxN],(M=2|M=3)', coords)
rit = r.node('iteration%2d' % i)
rit.data('Cest', it['Cest']).display('posneg', max_value=1).add_to(f, 'Cest')
rit.data('dont_trust', it['dont_trust'] * 1.0).display('scale').add_to(f, 'trust')
rit.data('Cestn', it['Cestn']).display('posneg', max_value=1).add_to(f, 'Cestn')
dist = numpy.real(numpy.arccos(it['Cestn']))
rit.data('dist', dist).display('scale', max_value=numpy.pi).add_to(f, 'corresponding distance')
distp = propagate(dist)
rit.data('distp', distp).display('scale', max_value=numpy.pi).add_to(f, 'propagated distance')
n = rit.data('singular_values', singular_values)
with n.data_pylab('plot') as pylab:
s = singular_values
s = s / s[0]
pylab.plot(s[:15], 'x-')
f.sub(n, 'Singular values')
n = rit.data('coords', coords)
with n.data_pylab('plot') as pylab:
pylab.plot(coords[0, :], coords[1, :], '.')
pylab.axis('equal')
f.sub(n, 'Coordinates')
n = rit.data('coords_proj', coords)
with n.data_pylab('plot') as pylab:
pylab.plot(coords_proj[0, :], coords_proj[1, :], '.')
pylab.axis((-1, 1, -1, 1))
f.sub(n, 'Coordinates (projected)')
with n.data_pylab('r_vs_est_c') as pylab:
pylab.plot(estimated_C.flat, R.flat, '.', markersize=0.2)
pylab.ylabel('estimated cosine')
pylab.xlabel('correlation measure')
pylab.axis((-1, 1, -1, 1))
f.sub('r_vs_est_c', 'R vs estimated C')
with n.data_pylab('order_order') as pylab:
pylab.plot(estimated_C_order.flat, R_order.flat, '.', markersize=0.2)
pylab.ylabel('est C order')
pylab.xlabel('R order')
f.sub('order_order')
# XXX: if mistake: add_child, nothing happens
rit.data('estimated_C', estimated_C).display('posneg').add_to(f, 'estimated_C')
rit.data('Cest_new', it['Cest_new']).display('posneg', max_value=1).add_to(f, 'Cest_new')
return r
for [S, _, name] in ovars:
# Calculate mean value from sum
Sn = S[2:-2, 2:-2] / n
# Estimate parameters and plot analytic prob function
# gkde = stats.gaussian_kde(Sn.flatten())
# S_clip = np.zeros(Sn.shape)
# S_clip[Sn < vmax] = Sn[Sn < vmax]
# S_clip[Sn > vmin] = Sn[Sn > vmin]
# pdb.set_trace()
mu = np.mean(Sn)
sigma = np.sqrt(np.std(Sn))
f_mu = np.mean(np.abs(Sn))
f_sigma = np.sqrt(np.std(np.abs(Sn)))
report.data(name + 'mu', mu)
report.data(name + 'sigma', sigma)
report.data(name + 'folded_mu', f_mu)
report.data(name + 'folded_sigma', f_sigma)
def pdf(T):
if len(T) is None:
return 1 / (sigma * np.sqrt(2 * np.pi)) * np.exp(-.5 * (
(t - mu) / sigma)**2)
else:
return np.array([
1 / (sigma * np.sqrt(2 * np.pi)) *
np.exp(-.5 * ((t - mu) / sigma)**2) for t in T
])
x = np.linspace(0, vmax, 200)
pd = f.flatten().astype('float64') / s
zeros, = np.nonzero(pd == 0)
pd[zeros] = 1
logpd = np.log(pd)
pd[zeros] = 0
return -(pd * logpd).sum()
if __name__ == '__main__':
filename = sys.argv[1]
data = pickle.load(open(filename, 'rb'))
h, hdist = compute_hdist(data['single'], data['joint'])
pickle.dump(hdist, open('hdist.pickle', 'wb'))
hdist = np.cos(hdist * np.pi)
e = -np.eye(hdist.shape[0]) + 1
hdist = hdist * e
from reprep import Report
r = Report()
f = r.figure()
r.data('hdist', hdist).display('scale').add_to(f)
with r.data_pylab('h') as pylab:
pylab.plot(h)
r.last().add_to(f)
filename = 'real_test_cases.html'
print('Writing to %r.' % filename)
r.to_html(filename)
def report_stats(records, id_ddss, id_streams, id_distances):
r = Report('precision-stats')
r.data('records', records)
colors = list(islice(cycle(['r', 'g', 'b', 'k', 'y', 'm']), 50))
perc = 10
W = 0.2
for i, id_dds in enumerate(id_ddss):
r.text('dds%s' % i, id_dds)
streams_sets = generate_stream_sets(id_streams)
for stream_set, id_distance in itertools.product(streams_sets, id_distances):
f = r.figure(cols=2)
with f.plot('distance_legend', caption='Streams: %s, Distance: %s'
% (stream_set['label'], id_distance),
**dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_dds in enumerate(id_ddss):
which = (records['id_discdds'] == id_dds).astype('int')
for id_stream in stream_set['id_streams']:
which += (records['id_stream'] == id_stream).astype('int')
which = (which / (len(stream_set['id_streams']) + 1)).astype('bool')
delta = records[which]['delta']
distance = records[which][id_distance]
step = float(i) / max(len(id_ddss) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax, delta + xstep, distance,
colors[i], perc=perc, label='%s' % i)
with f.plot('distance', caption='treams: %s, Distance: %s'
% (stream_set['label'], id_distance),
**dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_dds in enumerate(id_ddss):
which = (records['id_discdds'] == id_dds).astype('int')
for id_stream in stream_set['id_streams']:
which += (records['id_stream'] == id_stream).astype('int')
which = (which / (len(stream_set['id_streams']) + 1)).astype('bool')
delta = records[which]['delta']
distance = records[which][id_distance]
step = float(i) / max(len(id_ddss) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax, delta + xstep, distance,
colors[i], perc=perc, label='%s' % i)
legend_put_below(ax)
with f.plot('difference', caption='Difference from learner_0, SStreams: %s, Distance: %s'
% (stream_set['label'], id_distance),
**dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
which0 = (records['id_discdds'] == id_ddss[0])
_ = records[which0]['delta'] # delta0
distance0 = records[which0][id_distance]
for i, id_dds in enumerate(id_ddss[1:]):
which = (records['id_discdds'] == id_dds).astype('int')
for id_stream in stream_set['id_streams']:
which += (records['id_stream'] == id_stream).astype('int')
which = (which / (len(stream_set['id_streams']) + 1)).astype('bool')
delta = records[which]['delta']
distance = records[which][id_distance]
difference = distance0 - distance
step = float(i) / max(len(id_ddss) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax, delta + xstep, difference,
colors[i + 1], perc=perc, label='%s' % i)
return r
def report_statistics_all(id_sub, stats, perc=10, W=0.2):
records = stats['records']
r = Report('statsall-%s' % id_sub)
r.data('records', records)
f = r.figure()
id_distances = sorted(set(records['id_distance']))
logger.info('%s: %s %s reo %s' %
(id_sub, len(stats), id_distances, len(records)))
colors = list(islice(cycle(['r', 'g', 'b', 'k', 'y', 'm']), 50))
with f.plot('distance_order', **dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_d in enumerate(id_distances):
which = records['id_distance'] == id_d
delta = records[which]['delta']
distance = records[which]['distance']
order = scale_score(distance)
order = order / float(order.size)
step = float(i) / (max(len(id_distances) - 1, 1))
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax,
delta + xstep,
order,
colors[i],
perc=perc,
label=id_d)
ieee_spines(pylab)
ticks = sorted(list(set(list(delta))))
pylab.xlabel('plan length')
pylab.ylabel('normalized distance')
pylab.xticks(ticks, ticks)
pylab.yticks((0, 1), (0, 1))
pylab.axis((0.5, 0.5 + np.max(delta), -0.024, 1.2))
legend_put_below(ax)
with f.plot('distance', **dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_d in enumerate(id_distances):
which = records['id_distance'] == id_d
delta = records[which]['delta']
distance = records[which]['distance']
step = float(i) / max(len(id_distances) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax,
delta + xstep,
distance,
colors[i],
perc=perc,
label=id_d)
ieee_spines(pylab)
ticks = sorted(list(set(list(delta))))
pylab.xlabel('plan length')
pylab.ylabel('distance')
pylab.xticks(ticks, ticks)
# pylab.yticks((0, 1), (0, 1))
a = pylab.axis()
pylab.axis((0.5, 0.5 + np.max(delta), -0.024, a[3]))
legend_put_below(ax)
return r
def new_analysis(data, nclasses=100):
R = data['correlation']
num_ref, num_sensels = R.shape
assert num_ref <= num_sensels
# variance = data['variance']
classes = group_by_correlation(R[:nclasses, :])
nclasses = classes.max() + 1
assert (classes >= 0).all()
assert (classes < nclasses).all()
print("Computing class correlation...")
classes_correlation = numpy.zeros((nclasses, nclasses))
for c1, c2 in itertools.product(range(nclasses), range(nclasses)):
if c1 < c2:
continue
# If I had the full matrix
#sensels1, = numpy.nonzero(classes == c1)
#sensels2, = numpy.nonzero(classes == c2)
#average_correlation = R[sensels1,sensels2].mean()
corr1 = R[c1, :]
corr2 = R[c2, :]
assert len(corr1) == len(corr2) == num_sensels
# similarity = (corr1 * corr2).mean()
# similarity = (corr1 * corr2).mean() / (corr1.mean() * corr2.mean())
corr1 = corr1 / numpy.linalg.norm(corr1)
corr2 = corr2 / numpy.linalg.norm(corr2)
similarity = numpy.linalg.norm(corr1 - corr2)
classes_correlation[c1, c2] = similarity
classes_correlation[c2, c1] = similarity
print("Computing class correlation...")
U, S, V = numpy.linalg.svd(classes_correlation, full_matrices=0)
# FIXME: U or V?
# XXX: should I use this?
classes_coords = U / numpy.sqrt(S)
print("Creating report...")
r = Report('new_analysis')
f0 = r.figure(caption='Summary')
imshape = (100, 100) # XXX
toimg = lambda x : x.reshape(imshape)
f0.sub(r.data('supers', toimg(classes)).display('scale'))
f0.sub(r.data('classes_correlation', classes_correlation).display('scale'))
f = r.figure('eigen_v', cols=3)
for k in range(6):
coord = V[k, :] / numpy.sqrt(S)
assert coord.size == nclasses
coordi = coord[classes]
assert coordi.size == num_sensels
n = r.data('coord%d' % k, toimg(coordi)).display('posneg')
f.sub(n)
f = r.figure('eigen_u', cols=3)
for k in range(6):
coord = U[:, k] / numpy.sqrt(S)
assert coord.size == nclasses
coordi = coord[classes]
assert coordi.size == num_sensels
n = r.data('coordu%d' % k, toimg(coordi)).display('posneg')
f.sub(n)
return r