def __init__(self, mode):
if mode not in ['train', 'test']:
raise ValueError('Mode "{}" not valid.'.format(mode))
image = Circuit.train_image if mode == 'train' else Circuit.test_image
self.image = imread(image, mode='RGB')
self.image_gray = imread(image, mode='L')
self.reward_map = distance_transform_edt(input=np.uint8(
self.image_gray == 0))
self.car = Car()
def data_generator(path,
class_names: Sequence[str],
infinite=True) -> DataGenerator:
while True:
filelist = list(os.listdir(path))
shuffle(filelist)
for filename in filelist:
filename = os.path.join(path, filename)
if filename.endswith(".jpg"):
try:
label_filename = filename.replace(".jpg", ".txt")
image = imread(filename)
boxes = []
with open(label_filename, 'r') as f:
for line in f.readlines():
class_index, center_x, center_y, width, height = map(
float, tuple(line.split()))
xmin = (center_x - width / 2) * image.shape[1]
ymin = (center_y - height / 2) * image.shape[0]
xmax = (center_x + width / 2) * image.shape[1]
ymax = (center_y + height / 2) * image.shape[0]
boxes.append((class_index, xmin, ymin, xmax, ymax))
if len(boxes) == 0:
raise Exception("no true boxes!")
yield image, np.array(boxes)
except Exception:
logging.exception(
"exception during reading image or labels for '{}'; ignoring"
.format(filename))
if not infinite:
return
def __init__(self, font_file, buffer_base):
self.font_file = font_file
self.buffer_base = buffer_base
# prepare glyph atlas
page_data = [imread(img_path)[:,:,3] for img_path in font_file.page_paths]
glypthatlas_width = page_data[0].shape[0]
glyphatlas_height = page_data[0].shape[1]
glyphatlas = np.empty((len(page_data), glypthatlas_width, glyphatlas_height), dtype=np.float32)
for i, glyphdata in enumerate(page_data):
if glyphdata.shape[0:2] != (glypthatlas_width,glyphatlas_height):
raise FontException((
'font "{}" corrupt: font page id={} file="{}" image size {}x{}'
+ ' differs from the first page id=0 file="{}" {}x{}').format(
self.font, i, font_file.page_paths[i], glyphdata.shape[0],
glyphdata.shape[1], font_file.page_paths[0],
page_data[0].shape[0], page_data[0].shape[1]))
glyphatlas[i] = glyphdata
# upload glyph information
glyphdata = np.empty(len(font_file.glyphs), dtype=np.dtype([('glyph', GLYPH_DTYPE)]))
glyphdata[:] = [(c.dump(),) for c in font_file.glyphs]
self.glyph_buffer = BufferObject.to_device(glyphdata, target=GL_UNIFORM_BUFFER)
self.glyph_buffer.bind_buffer_base(self.buffer_base)
# texture glyph atlas
self.texture = Texture2D(array=True)
self.texture.load(glyphatlas)
self.texture.interpolation_linear()
def importImage(file):
im = imageio.imread(file)
rows = im.shape[0]
cols = im.shape[1]
image = Images.MatrixBasedImage(rows, cols)
for i in range(rows):
for j in range(cols):
color = im[i, j]
image.setColor(i, j, color[0], color[1], color[2])
return image
def get_image(name, size = None):
"""
Get an image by name.
:param name: A string identifying an image from our dictionary.
:return:
"""
assert name in IMAGE_COLLECTION, "We don't have the image '%s' in the gallary" % (name, )
_, ext = os.path.splitext(IMAGE_COLLECTION[name])
relative_path = os.path.join('images', name)+ext
filename = get_file(
relative_name = relative_path,
url = IMAGE_COLLECTION[name],
)
im_array = imread(filename)
if im_array.ndim==2:
im_array = im_array[:, :, None] + [0, 0, 0]
if size is not None:
im_array = imresize(im_array, get_new_size(im_array.shape[:2], new_size=size))
return im_array
def load_map(file_name, load_graphics=True):
"""
Loads map and encodes it as a grid
:returns map
"""
map = json.loads(open(file_name, "r").read())
if not os.path.isabs(map['color_bitmap_file']):
map['color_bitmap_file'] = os.path.join(os.path.dirname(file_name),
map['color_bitmap_file'])
try:
if load_graphics:
map['color_bitmap'] = imread(map['color_bitmap_file'])
except IOError:
print "Warning: Not found color file"
if not os.path.isabs(map['vector_graphics_file']):
map['vector_graphics_file'] = os.path.join(os.path.dirname(file_name),
map['vector_graphics_file'])
if "title" not in map:
map["title"] = ""
if "board" not in map:
# Map is assumed to be always a simple box with 1-cell width wall around
# and single start field.
grid = [[1] * (map["M"])]
grid += [[1] + [0] * (map["M"] - 2) + [1]]
grid += [[1, 0] + [0] * (map["M"] - 4) + [0, 1]
for _ in xrange(map["N"] - 4)]
grid += [[1] + [0] * (map["M"] - 2) + [1]]
grid += [[1] * (map["M"])]
grid[map['start_field'][0]][map['start_field'][1]] = MAP_START_POSITION
map['file_name'] = file_name
map['board'] = grid
else:
raise RuntimeError("Not supported custom board parsing")
return map
""" Script:
From the designated directory (updir),
finds subdirectories containing the experiments/conditions to analyse.
"""
for dirname in sorted(os.listdir(updir)):
drpath = updir + dirname
if os.path.isdir(drpath):
# print drpath
print "Folder analyzed: " + dirname
""" For each .tif image in each directory: """
for img_file in sorted(os.listdir(drpath)):
if ("thld.jpg" in img_file) or ("thld.tif" in img_file):
imgpath = drpath + "/" + img_file
# print 'image path: ' + imgpath
img = imread(imgpath).astype(float)
if img.shape[-1] == 3:
img = img.mean(axis=-1)
print "image analyzed: " + img_file
# Extracts the threshold value from the title
thld1 = img_file[:-8]
thld = thld1[-3:]
# Trims the 0 at the begining of the value if it is lower than 100
if thld[:1] is '0':
thld = thld[1:]
""" Runs the segmentation."""
labelled_regions = Segment_cell_separation(img, threshold=thld)
print "segmentation done"
""" Labels of segmented regions, shuffled for visualization."""
labels = np.unique(labelled_regions)[1:]
np.random.shuffle(labels)
def load_map(file_name, load_graphics=True):
"""
Loads map and encodes it as a grid
:returns map
"""
map_ = json.loads(open(file_name, "r").read())
color_names = ['red', 'green', 'blue']
for color in color_names:
if map_.has_key(color) and isinstance(map_[color], list) and len(map_[color]):
# if the first element is also a list (list of fields notation)
if isinstance(map_[color][0], list):
map_[color] = map(tuple, map_[color])
#if the first element is not a list (single field notation)
else:
map_[color] = [tuple(map_[color][0])]
else:
print "Warning: no coordinates provided or unsupported type for '{}' fields in the map file. Overwriting with empty list".format(color)
map_[color] = []
# convert beeps list to red, green and blue lists
if map_.has_key('beeps'):
beeps = map_['beeps']
print "Warning: beeps is deprecated - use separate red, green and blue field lists in map file"
assert len(beeps)==3, "The beeps list must have exactly 3 elements."
for i, color in enumerate(color_names):
map_[color].append(tuple(beeps[i]))
fields = sum((map_[color] for color in color_names), [])
# check for overlapping fields
assert len(set(fields)) == len(fields), "There are some color fields with the same coordinates"
if not os.path.isabs(map_['color_bitmap_file']):
map_['color_bitmap_file'] = os.path.join(os.path.dirname(file_name), map_['color_bitmap_file'])
try:
if load_graphics:
map_['color_bitmap'] = imread(map_['color_bitmap_file'])
except IOError:
print "Warning: Not found color file"
if not os.path.isabs(map_['vector_graphics_file']):
map_['vector_graphics_file'] = os.path.join(os.path.dirname(file_name), map_['vector_graphics_file'])
if "title" not in map_:
map_["title"] = ""
if "board" not in map_:
# Map is assumed to be always a simple box with 1-cell width wall around
# and single start field.
grid = [[1]*(map_["M"])]
grid += [[1] + [0]*(map_["M"] - 2) + [1]]
grid += [[1, 0] + [0]*(map_["M"] - 4) + [0, 1] for _ in xrange(map_["N"] - 4)]
grid += [[1] + [0]*(map_["M"] - 2) + [1]]
grid += [[1]*(map_["M"])]
grid[map_['start_field'][0]][map_['start_field'][1]] = MAP_START_POSITION
map_['file_name'] = file_name
map_['board'] = grid
else:
raise RuntimeError("Not supported custom board parsing")
return map_
def __init__(self, start_pos):
self.image = imread(Circuit.car_image, mode='RGB')
self.start
