def synth_circle_noise(infiles, outfiles, NOISE):
SIM_DURATION = 30.0
TDELTA = 1 / 30.
t = np.arange(0, SIM_DURATION, TDELTA)
frames_to_skip = [20, 35, 36, 50, 51, 52, 53]
env = util.Environmentz((1.5, 2), (240, 320))
state = simulate.gen_track_circle(t,
np.pi * 2 / 10,
env,
circle_radius=0.5)
images = simulate.render(env, state)
new_images = simulate.add_noise_background(images, NOISE, NOISE,
frames_to_skip)
pickle.dump(
{
'state': state,
'video': new_images,
'noise': NOISE,
'frames_skipped': frames_to_skip
}, open(outfiles[0], 'w'))
videotools.dump_grey_movie(outfiles[1], new_images)
def test_likelihood_evaluator3():
tr = template.TemplateRenderCircleBorder()
tr.set_params(14, 6, 4)
t1 = tr.render(0, np.pi/2)
img = np.zeros((240, 320), dtype=np.uint8)
env = util.Environmentz((1.5, 2.0), (240, 320))
le2 = likelihood.LikelihoodEvaluator3(env, tr)
img[(120-t1.shape[0]/2):(120+t1.shape[0]/2),
(160-t1.shape[1]/2):(160+t1.shape[1]/2)] += t1 *255
pylab.subplot(1, 2, 1)
pylab.imshow(img, interpolation='nearest', cmap=pylab.cm.gray)
state = np.zeros(1, dtype=util.DTYPE_STATE)
xvals = np.linspace(0, 2., 100)
yvals = np.linspace(0, 1.5, 100)
res = np.zeros((len(yvals), len(xvals)), dtype=np.float32)
for yi, y in enumerate(yvals):
for xi, x in enumerate(xvals):
state[0]['x'] = x
state[0]['y'] = y
state[0]['theta'] = np.pi / 2.
res[yi, xi] = le2.score_state(state, img)
pylab.subplot(1, 2, 2)
pylab.imshow(res)
pylab.colorbar()
pylab.show()
def picloud_score_frame(dataset_name, x_range, y_range, phi_range, theta_range,
state_idx, frame, EO_PARAMS, likelihood_i):
"""
pi-cloud runner, every instance builds up full state, but
we only evaluate the states in [state_idx_to_eval[0], state_idx_to_eval[1])
and return scores
"""
print "DATSET_NAME=", dataset_name
dataset_dir = os.path.join(FL_DATA, dataset_name)
dataset_config_filename = os.path.join(dataset_dir, "config.pickle")
dataset_region_filename = os.path.join(dataset_dir, "region.pickle")
frame_hist_filename = os.path.join(dataset_dir, "framehist.npz")
np.random.seed(0)
cf = pickle.load(open(dataset_config_filename))
region = pickle.load(open(dataset_region_filename))
framehist = np.load(frame_hist_filename)
env = util.Environmentz(cf['field_dim_m'], cf['frame_dim_pix'])
tp = template.TemplateRenderCircleBorder()
tp.set_params(*EO_PARAMS)
ls = LIKELIHOOD_SETTING[likelihood_i]
le = likelihood.LikelihoodEvaluator2(env,
tp,
similarity=ls['similarity'],
sim_params=ls['sim_params'])
frames = organizedata.get_frames(dataset_dir, np.array([frame]))
frame = frames[0]
frame[frame < PIX_THRESHOLD] = 0
# create the state vector
state = create_state_vect(y_range, x_range, phi_range, theta_range)
SCORE_N = state_idx[1] - state_idx[0]
scores = np.zeros(SCORE_N, dtype=np.float32)
for i, state_i in enumerate(state[state_idx[0]:state_idx[1]]):
x = state_i['x']
y = state_i['y']
if region['x_pos_min'] <= x <= region['x_pos_max'] and \
region['y_pos_min'] <= y <= region['y_pos_max']:
score = le.score_state(state_i, frame)
scores[i] = score
else:
scores[i] = -1e100
return scores
def per_frame(basedir, func, config):
config_file = os.path.join(basedir, "config.pickle")
cf = pickle.load(open(config_file))
env = util.Environmentz(cf['field_dim_m'], cf['frame_dim_pix'])
FRAMEN = cf['end_f'] - cf['start_f'] + 1
d = np.zeros(FRAMES_TO_ANALYZE, dtype=DTYPE_POS_CONF)
FRAMES_AT_A_TIME = 10
frames = np.arange(FRAMES_TO_ANALYZE)
for frame_subset in util.chunk(frames, FRAMES_AT_A_TIME):
fs = organizedata.get_frames(basedir, frame_subset)
for fi, frame_no in enumerate(frame_subset):
real_x, real_y, conf = func(fs[fi], env, **config)
d[frame_no]['x'] = real_x
d[frame_no]['y'] = real_y
d[frame_no]['confidence'] = conf
return d
def pf_run(infile, outfile, posnoise, velnoise, PARTICLEN, FRAMEN, NOISE, log):
np.random.seed(0)
print "Loading data..."
d = pickle.load(open(infile))
print "done!"
env = util.Environmentz((1.5, 2), (240, 320))
eo = likelihood.EvaluateObj(240, 320)
eo.set_params(10, 4, 2)
le = likelihood.LikelihoodEvaluator(env, eo, log)
model_inst = model.LinearModel(env,
le,
POS_NOISE_STD=posnoise,
VELOCITY_NOISE_STD=velnoise)
y = d['video'][:FRAMEN]
weights, particles = pf.particle_filter(y, model_inst, len(y), PARTICLEN)
np.savez_compressed(outfile, weights=weights, particles=particles)
def led_params_to_EO(cf, led_params):
""" Returns "EO" tuple of (led_dist_in_pix, front_led_radius, back_led_radius"""
env = util.Environmentz(cf['field_dim_m'], cf['frame_dim_pix'])
ledimgs_mean = led_params['ledimgs_mean']
S = ledimgs_mean[0].shape[0]
# in both cases taking the horizontal one
sigma_front_h, a, a_x = led_measure(ledimgs_mean[0, S / 2 + 1, :])
sigma_back_h, a, a_x = led_measure(ledimgs_mean[1, S / 2 + 1, :])
sigma_front_v, a, a_x = led_measure(ledimgs_mean[0, :, S / 2 + 1])
sigma_back_v, a, a_x = led_measure(ledimgs_mean[1, :, S / 2 + 1])
w_front = (sigma_front_h + sigma_front_v) / 2.
w_back = (sigma_back_h + sigma_back_v) / 2.
dist_in_m = np.mean(led_params['dist'])
dist_in_pix = int(dist_in_m * env.gc.pix_per_meter[0])
return (dist_in_pix, np.ceil(w_front), np.ceil(w_back))
def average_diode_sep():
clust_eps = 0.2
min_dist = 2.0
min_samples = 3.0
thold = 240
FRAMES = np.arange(4000) * 2
dataset = "bukowski_02.C"
cf = pickle.load(open(os.path.join(ddir(dataset), 'config.pickle')))
region = pickle.load(open(os.path.join(ddir(dataset), 'region.pickle')))
env = util.Environmentz(cf['field_dim_m'], cf['frame_dim_pix'])
x_min, y_min = env.gc.real_to_image(region['x_pos_min'],
region['y_pos_min'])
x_max, y_max = env.gc.real_to_image(region['x_pos_max'],
region['y_pos_max'])
print x_min, x_max
print y_min, y_max
if y_min < 0:
y_min = 0
frame_images = organizedata.get_frames(ddir(dataset), FRAMES)
num_clusters = np.zeros(len(FRAMES))
dists = []
for fi, im in enumerate(frame_images):
im = im[y_min:y_max + 1, x_min:x_max + 1]
centers = frame_clust_points(im, 240, min_dist, clust_eps, min_samples)
num_clusters[fi] = len(centers)
if len(centers) == 2:
dists.append(distance.pdist(centers)[0])
dists = np.array(dists)
pylab.hist(dists[dists < 50], bins=20)
pylab.savefig("average_diode_sep.%s.png" % dataset, dpi=300)
scores[np.isinf(scores)] = -1e20
TOP_R, TOP_C = 3, 4
TOP_N = TOP_R * TOP_C
score_idx_sorted = np.argsort(scores)[::-1]
#get the frame
frames = organizedata.get_frames(data_p['dataset_dir'],
np.array([data_p['frame']]))
# config file
cf = pickle.load(open(os.path.join(data_p['dataset_dir'],
'config.pickle')))
env = util.Environmentz(cf['field_dim_m'], cf['frame_dim_pix'])
img = frames[0]
f = pylab.figure()
for r in range(TOP_N):
s_i = score_idx_sorted[r]
score = scores[s_i]
ax = f.add_subplot(TOP_R, TOP_C, r + 1)
ax.imshow(img, interpolation='nearest', cmap=pylab.cm.gray)
x_pix, y_pix = env.gc.real_to_image(sv[s_i]['x'], sv[s_i]['y'])
ax.axhline(y_pix, linewidth=1, c='b', alpha=0.5)
ax.axvline(x_pix, linewidth=1, c='b', alpha=0.5)
ax.set_xticks([])
ax.set_yticks([])
f.subplots_adjust(bottom=0,
left=.01,
cf = pickle.load(open(os.path.join(directory, "config.pickle")))
start_f = cf['start_f']
# open the frame tarball
tf = tarfile.open(os.path.join(directory, "%08d.tar.gz" % start_f), "r:gz")
positions_interp, missing = measure.interpolate(positions)
pos_derived = measure.compute_derived(positions_interp)
N = len(positions)
state = np.zeros(N, dtype=util.DTYPE_STATE)
state['x'] = positions_interp['x']
state['y'] = positions_interp['y']
state['phi'] = pos_derived['phi']
state['theta'] = np.pi / 2.0
env = util.Environmentz((1.5, 2), (240, 320))
images = simulate.render(env, state[:100])
NOISE = 0
new_images = simulate.add_noise_background(images, NOISE, NOISE, [])
FN = 100
pylab.figure()
pylab.subplot(2, 1, 1)
pylab.plot(state['x'][:FN])
pylab.plot(state['y'][:FN])
pylab.subplot(2, 1, 2)
pylab.scatter(positions['led_front'][:FN, 0],
positions['led_front'][:FN, 1],
c='g')