def __getitem__(self, index):
"""Return a data point and its metadata information.
Parameters:
index (int) -- a random integer for data indexing
Returns a dictionary that contains A, B, A_paths and B_paths
A (tensor) -- an image in the input domain
B (tensor) -- its corresponding image in the target domain
A_paths (str) -- image paths
B_paths (str) -- image paths
"""
A_path = self.A_paths[
index % self.A_size] # make sure index is within then range
if self.opt.serial_batches: # make sure index is within then range
index_B = index % self.B_size
else: # randomize the index for domain B to avoid fixed pairs.
index_B = random.randint(0, self.B_size - 1)
B_path = self.B_paths[index_B]
A_img = np.array(Image.open(A_path).convert('RGB'))
A_img = self.stack(A_img)
#Added a new loader for loading hsi images. Uncomment the following line for normal images.
try:
B_img = self.hsi_loader(B_path)
except KeyError:
print(B_path)
B = normalize(B_img, max_=4096)
A = normalize(A_img, max_=1)
A = adaptive_instance_normalization(A, B)
del A_img, B_img
return {'A': A, 'B': B, 'A_paths': A_path, 'B_paths': B_path}
def gen_normal_control_point(self, start, end):
p_s = self.positionv3[start]
p_e = self.positionv3[end]
n_s = self.normalv3[start]
n_e = self.normalv3[end]
n = n_s + n_e
v = p_e - p_s
if all(abs(v) < ZERO):
return normalize(n)
else:
return normalize(n - 2 * np.dot(n, v) / np.dot(v, v) * v)
def evaluate_crbi_model_using_tf(tf_model, b, l, r, input_mean, input_std,
output_mean, output_std):
inp1 = l - b
inp2 = r - b
inp = np.concatenate([inp1, inp2], axis=0)
normalized_inp = np.expand_dims(util.normalize(inp, input_mean, input_std),
axis=0)
output = tf_model(normalized_inp)
d_output = util.denormalize(np.squeeze(output), output_mean, output_std)
return d_output, output
def get_normal_in_pn_triangle(self, parameter: np.array):
result = np.array([0] * 3, dtype='f4')
ctrl_point_index = 0
for i in range(2, -1, -1):
for j in range(2 - i, -1, -1):
k = 2 - i - j
n = 2.0 * pow(parameter[0], i) * pow(parameter[1], j) * pow(parameter[2], k) \
/ factorial(i) / factorial(j) / factorial(k)
result += self._pn_triangle_n[ctrl_point_index] * n
ctrl_point_index += 1
return np.append(normalize(result), 0)
def compute_inertia_ellipsoids(base_lin, lf_lin, rf_lin, base_ang, tf_model,
input_mean, input_std, output_mean, output_std):
n_data = base_lin.shape[0]
ret_x, ret_y, ret_z = [None] * n_data, [None] * n_data, [None] * n_data
for i in range(n_data):
inp1 = lf_lin[i] - base_lin[i]
inp2 = rf_lin[i] - base_lin[i]
inp = np.concatenate([inp1, inp2], axis=0)
normalized_inp = np.expand_dims(util.normalize(inp, input_mean,
input_std),
axis=0)
output = tf_model(normalized_inp)
d_output = util.denormalize(np.squeeze(output), output_mean,
output_std)
local_I = inertia_from_one_hot_vec(d_output)
rot_w_base = euler_to_rot(base_ang[i])
global_I = np.dot(np.dot(rot_w_base, local_I), rot_w_base.transpose())
ret_x[i], ret_y[i], ret_z[i] = get_ellipsoid(global_I, base_lin[i])
return ret_x, ret_y, ret_z
sensor_data["joint_vel"], True)
rot_world_base = util.quat_to_rot(sensor_data['base_com_quat'])
world_I = robot_sys.Ig[0:3, 0:3]
local_I = np.dot(np.dot(rot_world_base.transpose(), world_I),
rot_world_base)
rf_iso = pybullet_util.get_link_iso(robot, link_id["r_sole"])
lf_iso = pybullet_util.get_link_iso(robot, link_id["l_sole"])
denormalized_output, output = evaluate_crbi_model_using_tf(
crbi_model, sensor_data["base_com_pos"], lf_iso[0:3, 3],
rf_iso[0:3, 3], input_mean, input_std, output_mean, output_std)
local_I_est = inertia_from_one_hot_vec(denormalized_output)
if b_ik:
data_saver.add('gt_inertia', inertia_to_one_hot_vec(local_I))
data_saver.add(
'gt_inertia_normalized',
util.normalize(inertia_to_one_hot_vec(local_I),
output_mean, output_std))
data_saver.add('est_inertia_normalized',
np.copy(np.squeeze(output)))
data_saver.add('est_inertia', np.copy(denormalized_output))
data_saver.advance()
# Disable forward step
# p.stepSimulation()
time.sleep(dt)
t += dt
count += 1
