This script plots a trajectory into an image sequence.
''')
parser.add_argument('image_list',
help='input image list (format: timestamp filename)')
parser.add_argument(
'trajectory_file',
help='input trajectory (format: timestamp tx ty tz qx qy qz qw)')
parser.add_argument('out_image',
help='file name of the result (format: png)')
args = parser.parse_args()
image_list = read_file_list(args.image_list)
pose_list = read_file_list(args.trajectory_file)
traj = read_trajectory(args.trajectory_file)
matches = associate(image_list, pose_list, 0, 0.02)
stamps = image_list.keys()
stamps.sort()
matches_dict = dict(matches)
for stamp in stamps:
image_file = image_list[stamp][0]
image = Image.open(image_file)
print "image stamp: %f" % stamp
if stamp in matches_dict:
print "pose stamp: %f" % matches_dict[stamp]
pose = traj[matches_dict[stamp]]
stamps = traj.keys()
help='save individual point clouds (instead of one large point cloud)',
action='store_true')
parser.add_argument(
'--pcd_format',
help='Write pointclouds in pcd format (implies --individual)',
action='store_true')
parser.add_argument('output_file', help='output PLY file (format: ply)')
args = parser.parse_args()
rgb_list = read_file_list(args.rgb_list)
depth_list = read_file_list(args.depth_list)
pose_list = read_file_list(args.trajectory_file)
matches_rgb_depth = dict(
associate(rgb_list, depth_list, float(args.depth_offset),
float(args.depth_max_difference)))
matches_rgb_traj = associate(matches_rgb_depth, pose_list,
float(args.traj_offset),
float(args.traj_max_difference))
matches_rgb_traj.sort()
if args.pcd_format:
args.individual = True
traj = read_trajectory(args.trajectory_file, False)
else:
traj = read_trajectory(args.trajectory_file)
all_points = []
list = range(0, len(matches_rgb_traj), int(args.nth))
for frame, i in enumerate(list):
rgb_stamp, traj_stamp = matches_rgb_traj[i]
while (t < NGer):
## if(t == 150):
## weight = array([0.0,1.0,3.0,10.0,5.0]) # Array of weights used for TOPSIS
Rt = Pt.addPopulation(Qt) # Combined population
Rt.fastNonDominatedSort() # Nondominated sorting
## Rt.topsisPop(rank=rankType) # Rank within each front
## Rt.globalRankEval()
if (sampleAll):
RtObj = Rt.obj # Save original objective values of St
Zr, a = normalize(Rt, objRec, minim, Z, p)
ZRef = Zr * a + objRec.objIdeal
associate(Rt, Zr, 0)
## distPareto(Rt,ZRef,objRec.objIdeal,a)
hvContribution(Rt, objRec.objIdeal, a)
indRemove = niching(NPop, Rt, array([0, 2 * NPop]), weight,
multiple)
Pt = Rt.removeMembers(indRemove, RtObj)
else:
indList = zeros(
NPop,
dtype=int) # List of indexes of members to the next population
i = 0 # Counter of fronts
sizeEvol = array([
0, len(Rt.fronts[i])
]) # Evolution of population's size by adding the fronts
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='''
This script plots a trajectory into an image sequence.
''')
parser.add_argument('image_list', help='input image list (format: timestamp filename)')
parser.add_argument('trajectory_file', help='input trajectory (format: timestamp tx ty tz qx qy qz qw)')
parser.add_argument('out_image', help='file name of the result (format: png)')
args = parser.parse_args()
image_list = read_file_list(args.image_list)
pose_list = read_file_list(args.trajectory_file)
traj = read_trajectory(args.trajectory_file)
matches = associate(image_list, pose_list,0,0.02)
stamps = image_list.keys()
stamps.sort()
matches_dict = dict(matches)
for stamp in stamps:
image_file = image_list[stamp][0]
image = Image.open(image_file)
print "image stamp: %f"%stamp
if stamp in matches_dict:
print "pose stamp: %f"%matches_dict[stamp]
pose = traj[matches_dict[stamp]]
stamps = traj.keys()
def plot_camera(cams, rvec, tvec, dim=(0.5, 1), vertices):
ax = plt.gca(projection='3d')
tvec = tvec.reshape((3, 1)).astype(np.float)
rvec = rvec.reshape((3, 1)).astype(np.float)
rmat = cv2.Rodrigues(rvec.astype(np.float))[0]
if(len(oc) == 0):
oc = c
if len(dim) == 1:
offset = float(dim[0])
length = offset
else:
offset = float(dim[0])
length = float(dim[1])
# cam = np.tile(tvec, (1, 5))
cam = np.zeros([3, 5])
cam[0, 1:3] += offset
cam[0, 3:] -= offset
cam[1, 1::2] += offset
cam[1, 2::2] -= offset
cam[2, 1:] += 2.5 * length
# cam = rmat.dot(cam - tvec) + tvec
cam = rmat.T.dot(cam - tvec)
vertexNo = cams.shape[0]/5;
# ax.plot3D(cam[0, [0, 1]], cam[1, [0, 1]], cam[2, [0, 1]], color=c)
# ax.plot3D(cam[0, [0, 2]], cam[1, [0, 2]], cam[2, [0, 2]], color=c)
# ax.plot3D(cam[0, [0, 3]], cam[1, [0, 3]], cam[2, [0, 3]], color=c)
# ax.plot3D(cam[0, [0, 4]], cam[1, [0, 4]], cam[2, [0, 4]], color=c)
# ax.plot3D(cam[0, [1, 2]], cam[1, [1, 2]], cam[2, [1, 2]], color=c)
# ax.plot3D(cam[0, [2, 4]], cam[1, [2, 4]], cam[2, [2, 4]], color=c)
# ax.plot3D(cam[0, [3, 4]], cam[1, [3, 4]], cam[2, [3, 4]], color=c)
# ax.plot3D(cam[0, [3, 1]], cam[1, [3, 1]], cam[2, [3, 1]], color=c)
for i in range(8):
for j in range(i+1,8):
vertices.append("%d %d %d %d %d"%(i,j,255,0,0))
for i in range(cam.shape[1]):
cams.append("%f %f %f %d %d %d 0\n"%(cam[0,i],vec_transf[1,i],vec_transf[2,i],255,0,0))
#return points.append("%f %f %f %d %d %d 0\n"%(vec_transf[0,0],vec_transf[1,0],vec_transf[2,0],255,0,0))
# print 'cam', cam[0, 0], cam[1, 0], cam[2, 0]
# ax.scatter(cam[0, 0], cam[1, 0], cam[2, 0], color=oc, marker='.')
# ax.scatter(cam[0, 1::], cam[1, 1::], cam[2, 1::], color=c, marker='.')
# ax.plot3D(cam[0, [0, 1]], cam[1, [0, 1]], cam[2, [0, 1]], color=c)
# ax.plot3D(cam[0, [0, 2]], cam[1, [0, 2]], cam[2, [0, 2]], color=c)
# ax.plot3D(cam[0, [0, 3]], cam[1, [0, 3]], cam[2, [0, 3]], color=c)
# ax.plot3D(cam[0, [0, 4]], cam[1, [0, 4]], cam[2, [0, 4]], color=c)
# ax.plot3D(cam[0, [1, 2]], cam[1, [1, 2]], cam[2, [1, 2]], color=c)
# ax.plot3D(cam[0, [2, 4]], cam[1, [2, 4]], cam[2, [2, 4]], color=c)
# ax.plot3D(cam[0, [3, 4]], cam[1, [3, 4]], cam[2, [3, 4]], color=c)
# ax.plot3D(cam[0, [3, 1]], cam[1, [3, 1]], cam[2, [3, 1]], color=c)
def generate_pointcloudWithCamera(rgb_file,depth_file,transform,downsample,pcd=False):
"""
Generate a colored point cloud
Input:
rgb_file -- filename of color image
depth_file -- filename of depth image
transform -- camera pose, specified as a 4x4 homogeneous matrix
downsample -- downsample point cloud in x/y direction
pcd -- true: output in (binary) PCD format
false: output in (text) PLY format
Output:
list of colored points (either in binary or text format, see pcd flag)
"""
rgb = Image.open(rgb_file)
depth = Image.open(depth_file)
if rgb.size != depth.size:
raise Exception("Color and depth image do not have the same resolution.")
if rgb.mode != "RGB":
raise Exception("Color image is not in RGB format")
if depth.mode != "I":
raise Exception("Depth image is not in intensity format")
points = []
for v in range(0,rgb.size[1],downsample):
for u in range(0,rgb.size[0],downsample):
color = rgb.getpixel((u,v))
Z = depth.getpixel((u,v)) / scalingFactor
if Z==0: continue
X = (u - centerX) * Z / focalLength
Y = (v - centerY) * Z / focalLength
vec_org = numpy.matrix([[X],[Y],[Z],[1]])
if pcd:
points.append(struct.pack("fffI",vec_org[0,0],vec_org[1,0],vec_org[2,0],color[0]*2**16+color[1]*2**8+color[2]*2**0))
else:
vec_transf = numpy.dot(transform,vec_org)
points.append("%f %f %f %d %d %d 0\n"%(vec_transf[0,0],vec_transf[1,0],vec_transf[2,0],color[0],color[1],color[2]))
return points
def generate_pointcloud(rgb_file,depth_file,transform,downsample,pcd=False):
"""
Generate a colored point cloud
Input:
rgb_file -- filename of color image
depth_file -- filename of depth image
transform -- camera pose, specified as a 4x4 homogeneous matrix
downsample -- downsample point cloud in x/y direction
pcd -- true: output in (binary) PCD format
false: output in (text) PLY format
Output:
list of colored points (either in binary or text format, see pcd flag)
"""
rgb = Image.open(rgb_file)
depth = Image.open(depth_file)
if rgb.size != depth.size:
raise Exception("Color and depth image do not have the same resolution.")
if rgb.mode != "RGB":
raise Exception("Color image is not in RGB format")
if depth.mode != "I":
raise Exception("Depth image is not in intensity format")
points = []
for v in range(0,rgb.size[1],downsample):
for u in range(0,rgb.size[0],downsample):
color = rgb.getpixel((u,v))
Z = depth.getpixel((u,v)) / scalingFactor
if Z==0: continue
X = (u - centerX) * Z / focalLength
Y = (v - centerY) * Z / focalLength
vec_org = numpy.matrix([[X],[Y],[Z],[1]])
if pcd:
points.append(struct.pack("fffI",vec_org[0,0],vec_org[1,0],vec_org[2,0],color[0]*2**16+color[1]*2**8+color[2]*2**0))
else:
vec_transf = numpy.dot(transform,vec_org)
points.append("%f %f %f %d %d %d 0\n"%(vec_transf[0,0],vec_transf[1,0],vec_transf[2,0],color[0],color[1],color[2]))
return points
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='''
This script reads a registered pair of color and depth images and generates a colored 3D point cloud in the
PLY format.
''')
parser.add_argument('rgb_list', help='input color image (format: timestamp filename)')
parser.add_argument('depth_list', help='input depth image (format: timestamp filename)')
parser.add_argument('trajectory_file', help='input trajectory (format: timestamp tx ty tz qx qy qz qw)')
parser.add_argument('--depth_offset', help='time offset added to the timestamps of the depth file (default: 0.00)',default=0.00)
parser.add_argument('--depth_max_difference', help='maximally allowed time difference for matching rgb and depth entries (default: 0.02)',default=0.02)
parser.add_argument('--traj_offset', help='time offset added to the timestamps of the trajectory file (default: 0.00)',default=0.00)
parser.add_argument('--traj_max_difference', help='maximally allowed time difference for matching rgb and traj entries (default: 0.01)',default=0.02)
parser.add_argument('--downsample', help='downsample images by this factor (default: 1)',default=1)
parser.add_argument('--nth', help='only consider every nth image pair (default: 1)',default=1)
parser.add_argument('--individual', help='save individual point clouds (instead of one large point cloud)', action='store_true')
parser.add_argument('--pcd_format', help='Write pointclouds in pcd format (implies --individual)', action='store_true')
parser.add_argument('output_file', help='output PLY file (format: ply)')
args = parser.parse_args()
rgb_list = read_file_list(args.rgb_list)
depth_list = read_file_list(args.depth_list)
pose_list = read_file_list(args.trajectory_file)
#print np.shape(rgb_list),np.shape(depth_list),np.shape(pose_list)
matches_rgb_depth = dict(associate(rgb_list, depth_list,float(args.depth_offset),float(args.depth_max_difference)))
matches_rgb_traj = associate(matches_rgb_depth, pose_list,float(args.traj_offset),float(args.traj_max_difference))
matches_rgb_traj.sort()
#print np.shape(matches_rgb_traj)
if args.pcd_format:
args.individual = True
traj = read_trajectory(args.trajectory_file, False)
else:
traj = read_trajectory(args.trajectory_file)
all_points = []
list = range(0,len(matches_rgb_traj),int(args.nth))
for frame,i in enumerate(list):
rgb_stamp,traj_stamp = matches_rgb_traj[i]
if args.individual:
if args.pcd_format:
out_filename = "%s-%f.pcd"%(os.path.splitext(args.output_file)[0],rgb_stamp)
else:
out_filename = "%s-%f.ply"%(os.path.splitext(args.output_file)[0],rgb_stamp)
if os.path.exists(out_filename):
print "skipping existing cloud file ", out_filename
continue
rgb_file = rgb_list[rgb_stamp][0]
depth_file = depth_list[matches_rgb_depth[rgb_stamp]][0]
pose = traj[traj_stamp]
points = generate_pointcloud(rgb_file,depth_file,pose,int(args.downsample), args.pcd_format)
if args.individual:
if args.pcd_format:
write_pcd(out_filename,points,pose)
else:
write_ply(out_filename,points)
else:
all_points += points
print "Frame %d/%d, number of points so far: %d"%(frame+1,len(list),len(all_points))
if (frame+1>50):
break;
if not args.individual:
write_ply(args.output_file,all_points)
parser.add_argument('--depth_max_difference', help='maximally allowed time difference for matching rgb and depth entries (default: 0.02)',default=0.02)
parser.add_argument('--traj_offset', help='time offset added to the timestamps of the trajectory file (default: 0.00)',default=0.00)
parser.add_argument('--traj_max_difference', help='maximally allowed time difference for matching rgb and traj entries (default: 0.01)',default=0.01)
parser.add_argument('--downsample', help='downsample images by this factor (default: 1)',default=1)
parser.add_argument('--nth', help='only consider every nth image pair (default: 1)',default=1)
parser.add_argument('--individual', help='save individual point clouds (instead of one large point cloud)', action='store_true')
parser.add_argument('--pcd_format', help='Write pointclouds in pcd format (implies --individual)', action='store_true')
parser.add_argument('output_file', help='output PLY file (format: ply)')
args = parser.parse_args()
rgb_list = read_file_list(args.rgb_list)
depth_list = read_file_list(args.depth_list)
pose_list = read_file_list(args.trajectory_file)
matches_rgb_depth = dict(associate(rgb_list, depth_list,float(args.depth_offset),float(args.depth_max_difference)))
matches_rgb_traj = associate(matches_rgb_depth, pose_list,float(args.traj_offset),float(args.traj_max_difference))
matches_rgb_traj.sort()
if args.pcd_format:
args.individual = True
traj = read_trajectory(args.trajectory_file, False)
else:
traj = read_trajectory(args.trajectory_file)
all_points = []
list = range(0,len(matches_rgb_traj),int(args.nth))
for frame,i in enumerate(list):
rgb_stamp,traj_stamp = matches_rgb_traj[i]
if args.individual:
def runMOMCEDA(NPop,
NEval,
function,
Nref,
nReps,
RTPlot,
refPoint,
weight,
seed=None):
print 'Running MOMCEDA\n'
NGer = NEval / NPop - 1 # Number of generations
NObj = 2 # Number of objectives to optimize
minim = 1 # minim = 1 if minimizing objectives, minim = 0 otherwise
p = Nref - 1 # Number of objective axes divisions to generate structured ref. points
random.seed(seed)
if (function == 'ZDT4'):
Nvar = 10
Vmin = append(0, -5 * ones(Nvar - 1)) # Limits of chromosome values
Vmax = append(1, 5 * ones(Nvar - 1))
sigma = append(1.0, 0.1 * ones(Nvar - 1)) # Mutation parameter
else:
Nvar = 30
if (function == 'ZDT6'):
Nvar = 10
Vmin = 0.0 * ones(Nvar) # Limits of chromosome values
Vmax = 1.0 * ones(Nvar)
sigma = 1.0 * ones(Nvar) / 2.0 # Mutation parameter
minObj = array([0.0, 0.0]) # Limits of objective values
maxObj = array([1.0, 1.0])
objRec = objectiveRecords(NObj, minim) # Records for objective values
Z = generateRefPoints(NObj, p) # Generate structured reference points
rankType = 'hv' # Type of rank used for TOPSIS
multiple = True # multiple: use multiple criteria to select solutions from the last front
sampleAll = True #sampleAll: if true, all members from parent population are sampled with the TOPSIS rank
hvValues = zeros((nReps, NGer))
conv = []
finalPop = []
extime = []
# Plot parameters
color = plt.cm.get_cmap('Reds')
deltac = 0.3
ObjNames = ['f1', 'f2', 'f3']
scale = 1.0 / (maxObj - minObj)
center = array([0.0, 0.0, 0.0])
countFig = 0 # counter of figures
## Offspring parameters
pMut = 1.0 / Nvar # Mutation probability
pSwitch = 0.5 # Probability to switch variables between members
spread = 0.5 # Parameter to control the spread of generated members
nc = 30
nm = 20
##sigma = append(1.0,0.1*ones(Nvar-1))
##sigma0 = r_[array([1.0]),1.0/10*ones(Nvar-1)]
##sigmaf = r_[array([1.0/10]),1.0/500*ones(Nvar-1)]
###deltaSigma = (sigma0 - sigmaf) / NGer
##qSigma = (sigmaf/sigma)**(1.0/NGer)
##sigma = sigma0
spreadf = 0.05
qSpread = (spreadf / spread)**(1.0 / NGer)
deltaSpread = (spread - spreadf) / NGer
dist = zeros((NGer, Nvar))
## Distribution variables
# Coeffients of the gaussians of the mixture
##choiceOK = False
##while(not choiceOK):
## dec = input('Choose decay type:\n(1) Linear\n(2) Exponential\n(3) Logarithmic\n')
## if(dec in [1,2,3]):
## choiceOK = True
dec = 1 # decay type:1 - Linear, 2 - Exponential, 3 - Logarithmic
coefGau = calc_coefGau(NPop, dec)
with open(''.join(['../dev/pareto_front/zdt', function[3],
'_front.json'])) as optimal_front_data:
optimal_front = json.load(optimal_front_data)
for nExec in arange(nReps, dtype=int):
start = time.time()
print 'Starting execution %d ...' % (nExec + 1)
## Initialization ##
t = 0 # Counter of generations
Pt = Population(NPop, Nvar, Vmin, Vmax, NObj, minim,
function) # Initial Population
Pt.fastNonDominatedSort() # Nondominated sorting
Pt.topsisPop() # Rank within each front
Qt = Population(NPop, Nvar, Vmin, Vmax, NObj, minim,
function) # Offspring population
if (RTPlot):
#plt.ion()
plt.figure(figsize=(12, 12))
plt.title('Population at execution %d' % (nExec + 1), fontsize=18)
f = array(optimal_front)
plt.plot(f[:, 0], f[:, 1], color='b', label='Pareto front')
plt.legend(loc='center left', bbox_to_anchor=(1, 0.5), fontsize=18)
#plt.draw()
## Main loop ##
while (t < NGer):
## if(t == 150):
## weight = array([0.0,1.0,3.0,10.0,5.0]) # Array of weights used for TOPSIS
Rt = Pt.addPopulation(Qt) # Combined population
Rt.fastNonDominatedSort() # Nondominated sorting
## Rt.topsisPop(rank=rankType) # Rank within each front
## Rt.globalRankEval()
if (sampleAll):
RtObj = Rt.obj # Save original objective values of St
Zr, a = normalize(Rt, objRec, minim, Z, p)
ZRef = Zr * a + objRec.objIdeal
associate(Rt, Zr, 0)
## distPareto(Rt,ZRef,objRec.objIdeal,a)
hvContribution(Rt, objRec.objIdeal, a)
indRemove = niching(NPop, Rt, array([0, 2 * NPop]), weight,
multiple)
Pt = Rt.removeMembers(indRemove, RtObj)
else:
indList = zeros(
NPop, dtype=int
) # List of indexes of members to the next population
i = 0 # Counter of fronts
sizeEvol = array([
0, len(Rt.fronts[i])
]) # Evolution of population's size by adding the fronts
# Fill population with the first fronts
while (sizeEvol[i + 1] <= NPop):
# Rt.crowd(Rt.fronts[i]) = Rt.crowdingDistanceAssignment(Rt.fronts[i],minObj,maxObj)
indList[sizeEvol[i]:sizeEvol[i + 1]] = Rt.fronts[
i] # Add members to the list
i = i + 1
sizeEvol = append(sizeEvol,
sizeEvol[i] + len(Rt.fronts[i]))
# Sort members of the last front according to
# crowding distance
# Rt.crowd[Rt.fronts[i]] = Rt.crowdingDistanceAssignment(Rt.fronts[i],minObj,maxObj)
# ind = argsort(Rt.crowd[Rt.fronts[i]])[::-1]
# Sort members of the last front according to the rank
# ind = argsort(Rt.rank[Rt.fronts[i],1])
listSt = r_[indList[:sizeEvol[i]], Rt.fronts[i]]
St = Rt.addMembers(listSt)
K = NPop - sizeEvol[i]
StObj = St.obj # Save original objective values of St
Zr, a = normalize(St, objRec, minim, Z, p)
ZRef = Zr * a + objRec.objIdeal
associate(St, Zr, sizeEvol[i])
ZRef = Zr * a + objRec.objIdeal
## distPareto(St,ZRef,objRec.objIdeal,a)
hvContribution(St, objRec.objIdeal, a)
indRemove = niching(K, St, sizeEvol, weight, multiple)
Pt = St.removeMembers(indRemove,
StObj) # Next generation's population
if (RTPlot):
Pt.plot(color((1 - deltac) * float(t) / NGer + deltac), scale,
center, ObjNames, countFig)
#axes = plt.gca()
#axes.set_ylim([0,1])
Pt.topsisPop(weight, rank=rankType) # Rank within each front
Qt = Pt.offspringPop(
coefGau, sigma, pMut, spread,
pSwitch) # Selection, recombination and mutation
## dist[t] = maxDist(Pt.members)/(1*(Vmax - Vmin))
## sigma = dist[t]
## sigma = random.rand()*append(10.0,1.0*ones(Nvar-1))
## MEv = sqrt(sum(Pt.members[:,1:]**2)/(NPop*(Nvar-1)))
## print 'Generation = ', t, 'Mean Square Value =', MEv
hv = HyperVolume(refPoint)
hvValues[nExec, t] = hv.compute(Pt.obj)
t = t + 1
## sigma = sigma - deltaSigma
## sigma = sigma*qSigma
## spread = spread*qSpread
spread = spread - deltaSpread
end = time.time()
extime.append(end - start)
conv.append(convergence(Pt.obj.tolist(), optimal_front))
print 'Hypervolume = ', hvValues[nExec, -1]
print 'Convergence metric = ', conv[nExec]
print 'Execution ', nExec + 1, ' completed in ', extime[
-1], ' seconds \n'
## normIgd,Zint = normIGDmetric(ZRef,objRec.objIdeal,a,Pt.obj,function)
## igd = IGDmetric(ZRef,objRec.objIdeal,Pt.obj,function)[0]
## normIgd2,Zint = normIGDmetric2(ZRef,objRec.objIdeal,a,Pt.obj,function)
## igd2 = IGDmetric2(ZRef,objRec.objIdeal,Pt.obj,function)[0]
## print 'NormIGD = {0:e}'.format(normIgd)
## print 'IGD = {0:e}'.format(igd)
## print 'NormIGD2 = {0:e}'.format(normIgd2)
## print 'IGD2 = {0:e}'.format(igd2)
## with open(''.join(['Pareto/Prt_',function,'.pk1']), 'r') as filename:
## f = pickle.load(filename)
##step = len(f)/50
##plt.scatter(f[::step,0],f[::step,1],s=1,color='b')
if (RTPlot):
Pt.plot(color((1 - deltac) * float(t) / NGer + deltac), scale,
center, ObjNames, countFig)
#axes = plt.gca()
#axes.set_ylim([0,1])
#plt.draw()
#plt.ioff()
plt.show()
#plt.savefig(''.join(['../figures/',function,'.png']), bbox_inches='tight')
countFig = countFig + NObj * (NObj - 1) / 2
finalPop.append(Pt)
## if(nReps == 1):
## MEv = sqrt(sum(Pt.members[:,1:]**2)/(NPop*(Nvar-1)))
## print 'Generation = ', t, 'Mean Square Value =', MEv
##
## print 'rho =', Pt.rho
## print 'minObj=', objRec.objIdeal
##refPoint = objRec.extPoints.max(axis=0)*1.1
##print 'refPoint: ',refPoint
## hv = HyperVolume(refPoint)
## print 'hypervolume=', hv.compute(Pt.obj)
##ind = where((St.obj[:,0] != 0) & (St.obj[:,1]!=0))[0]
##j = random.choice(ind)
##a = (StObj[j] - objRec.objIdeal) / St.obj[j]
##ZPlot = Z*a + objRec.objIdeal
##
##for i in arange(0,len(Z),len(Z)/10):
## plt.plot(vstack((objRec.objIdeal[0],ZPlot[i,0])),vstack((objRec.objIdeal[1],ZPlot[i,1])),'-',color='k')
##plt.plot(vstack((objRec.objIdeal[0],ZPlot[-1,0])),vstack((objRec.objIdeal[1],ZPlot[-1,1])),'-',color='k')
##inter = diag(a) + objRec.objIdeal
##plt.plot(inter[:,0],inter[:,1],'-',color='b')
##inter = diag(a) + objRec.objIdeal
##plt.plot(inter[:,0],inter[:,1],'-',color='b')
##plt.show()
## axes = plt.gca()
## axes.set_ylim([0,1])
##
## plt.savefig(''.join(['../figures/',function,'.png']), bbox_inches='tight')
## plt.figure(2)
## plt.plot(hvValues)
## plt.savefig(''.join(['../figures/HV_',function,'.png']), bbox_inches='tight')
## # Save Population
## with open(''.join(['../dev/files/Pop_',function,'_MOMCEDA','.pk1']), 'wb') as output:
## pickle.dump(finalPop, output, pickle.HIGHEST_PROTOCOL)
##
## # Save Hypervolume
## with open(''.join(['../dev/files/HV_',function,'_MOMCEDA','.pk1']), 'wb') as output:
## pickle.dump(hvValues, output, pickle.HIGHEST_PROTOCOL)
##
## # Save Elapsed time
## with open(''.join(['../dev/files/time_',function,'_MOMCEDA','.pk1']), 'wb') as output:
## pickle.dump(extime, output, pickle.HIGHEST_PROTOCOL)
print 'Average hypervolume=', mean(hvValues[:, -1])
print 'Best hypervolume=', max(hvValues[:, -1])
## plt.figure(countFig+1,figsize=(12, 12))
## plt.title('Average hypervolume evolution for %s problem' %(function), fontsize=18)
## plt.xlabel('Generations', fontsize=18)
## plt.ylabel('Average hypervolume', fontsize=18)
## plt.plot(arange(1,NGer+1),hvValues.mean(axis=0))
## plt.savefig(''.join(['../figures/meanHV_',function,'.png']), bbox_inches='tight')
# Save Population
with open(''.join(['../dev/files/Pop_', function, '_MOMCEDA', '.pk1']),
'wb') as output:
pickle.dump(finalPop, output, pickle.HIGHEST_PROTOCOL)
# Save Hypervolume
with open(''.join(['../dev/files/HV_', function, '_MOMCEDA', '.pk1']),
'wb') as output:
pickle.dump(hvValues, output, pickle.HIGHEST_PROTOCOL)
# Save Elapsed time
with open(''.join(['../dev/files/time_', function, '_MOMCEDA', '.pk1']),
'wb') as output:
pickle.dump(extime, output, pickle.HIGHEST_PROTOCOL)
# Save Convergence
with open(''.join(['../dev/files/conv_', function, '_MOMCEDA.json']),
'w') as outfile:
json.dump(conv, outfile)
print '\nMOMCEDA finished all experiments\n'