def __init__(self, b, x0, y0, e, te, s, ks, rs):
super(NFW, self).__init__(x0, y0, e, te)
self.b = b
self.ks = ks
self.rs = rs
self.q = 1.0 - self.e
self.integrator = Integrator(self.q, self.kappa, self.kappa_prime,
self.phi_r)
# replaces core radius from s==0 -> 1e-4, fixes /0 situations in potential calculation.
self.s = s if s != 0.0 else 1e-4
class TLD_IVMIT:
def __init__(self, frame, window, init_frames_count = 20):
self.buffer = [cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)]
self.position = Position(self.buffer, *window)
self.learning_component = LearningComponent(self.position.calculate_patch())
self.detector = Detector(self.position, self.learning_component)
self.tracker = Tracker(self.position)
self.is_visible = True
self.integrator = Integrator(self.learning_component)
self.init_frames_count = init_frames_count
self.detected_windows = None
self.tracked_window = None
def start(self, frame):
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
if self.init_frames_count == 0:
start = time()
self.tracked_window = self.tracker.track(frame, self.position)
self.buffer[0] = frame
print "Tracking:", time()- start
start = time()
self.detected_windows = self.detector.detect(self.position, self.tracked_window is not None)
print "Detected windows count:", len(self.detected_windows)
print "Detection:", time()- start
start = time()
# filtered_detected_windows = [(window, patch, proba) for window, patch, proba in self.detected_windows if proba > 0.7]
single_window, self.is_visible = self.integrator.get_single_window(self.position, self.detected_windows, self.tracked_window)
print "Integration:", time()- start
if self.is_visible:
self.position.update(*single_window)
# start = time()
# self.learning_component.n_expert()
# self.learning_component.p_expert()
# print "Update training set:", time()- start
else:
self.tracked_window = self.tracker.track(frame, self.position)
self.buffer[0] = frame
if self.tracked_window is not None:
i = 0
while i < 5:
self.position.update(x=np.random.randint(0,self.buffer[0].shape[1]-self.position.width))
if self.position.is_correct() and windows_intersection(self.position.get_window(), self.tracked_window) == 0:
self.learning_component.update_negatives(self.position.calculate_patch())
i += 1
self.position.update(*self.tracked_window)
self.learning_component.update_positives(self.position.calculate_patch())
self.init_frames_count -= 1
else:
self.init_frames_count = 0
self.is_visible = False
return self.position
def __init__(self, b, x0, y0, e, te, s, ks, rs):
super(NFW, self).__init__(x0, y0, e, te)
self.b = b
self.ks = ks
self.rs = rs
self.q = 1.0 - self.e
self.integrator = Integrator(self.q, self.kappa, self.kappa_prime, self.phi_r)
# replaces core radius from s==0 -> 1e-4, fixes /0 situations in potential calculation.
self.s = s if s != 0.0 else 1e-4
def __init__(self, n_threads=None):
"""Default constructor.
Keyword arguments:
n_threads -- number of threads (optional)
"""
self.logger = get_sublogger(__name__)
self.integrator = Integrator()
self.n_threads = WMI.DEF_THREADS if n_threads == None else n_threads
def __init__(self, frame, window, init_frames_count = 20):
self.buffer = [cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)]
self.position = Position(self.buffer, *window)
self.learning_component = LearningComponent(self.position.calculate_patch())
self.detector = Detector(self.position, self.learning_component)
self.tracker = Tracker(self.position)
self.is_visible = True
self.integrator = Integrator(self.learning_component)
self.init_frames_count = init_frames_count
self.detected_windows = None
self.tracked_window = None
def __init__(self, n_partitions=None):
"""Default constructor, sets the parameters for the time partitioning
and the distribution fitting.
Keyword arguments:
n_partitions -- number of partitions of the day (optional)
"""
self.init_sublogger(__name__)
self.integrator = Integrator()
if n_partitions:
self.n_partitions = n_partitions
else:
self.n_partitions = SRNParser.DEF_N_PARTITIONS
assert(self.n_partitions < SRNParser.MAX_TIME),\
"Number of partition cannot be smaller than 1 minute."
delta = int(SRNParser.MAX_TIME / n_partitions)
self.partitions = [(i * delta) for i in xrange(n_partitions)]
self.partitions.append(SRNParser.MAX_TIME)
class SRNParser(Loggable):
# field descriptors in the raw dataset
EDGE_FIELD = "LinkDescription"
TP_FIELD = "TimePeriod"
AVGJT_FIELD = "AverageJT"
SELECT_FIELDS = [EDGE_FIELD, TP_FIELD, AVGJT_FIELD]
# default parameters for the distribution fitting and time partitioning
DEF_N_PARTITIONS = 12
MAX_TIME = 60 * 3
ERR_FIT = "Can't fit the distribution"
def __init__(self, n_partitions=None):
"""Default constructor, sets the parameters for the time partitioning
and the distribution fitting.
Keyword arguments:
n_partitions -- number of partitions of the day (optional)
"""
self.init_sublogger(__name__)
self.integrator = Integrator()
if n_partitions:
self.n_partitions = n_partitions
else:
self.n_partitions = SRNParser.DEF_N_PARTITIONS
assert(self.n_partitions < SRNParser.MAX_TIME),\
"Number of partition cannot be smaller than 1 minute."
delta = int(SRNParser.MAX_TIME / n_partitions)
self.partitions = [(i * delta) for i in xrange(n_partitions)]
self.partitions.append(SRNParser.MAX_TIME)
@staticmethod
def write_conditional_plan(path, plan):
with open(path, 'w') as f:
for src, i, dest in plan:
nxt = plan[(src, i, dest)]
f.write(",".join(map(str, [src, i, dest, nxt])) + "\n")
@staticmethod
def read_conditional_plan(path):
plan = {}
with open(path, 'r') as f:
for line in f:
try:
src, i, dst, nxt = line.strip().split(",")
i = int(i)
plan[(src, i, dst)] = nxt
except ValueError:
continue
return plan
def compute_conditional_plan(self, graph):
msg = "Computing conditional plan: |G.nodes| = {} |G.edges| = {}"
G = nx.DiGraph()
n_nodes = len(graph.nodes())
n_edges = len(graph.edges())
self.logger.info(msg.format(n_nodes, n_edges))
computed = 0
msg = "Computing conditional plan: building auxiliary graph G' {}/{}"
for a, b in graph.edges():
self.logger.debug(msg.format(computed, n_edges))
for i in xrange(self.n_partitions):
pi, pf = self.partitions[i], self.partitions[i + 1]
wp = graph.get_edge_data(a, b)[i]['avg']
next_t = ((pf - pi) / 2.0) + wp
j = self._tp_to_partition(next_t)
if j != None:
G.add_edge((a, i), (b, j), {'weight': wp})
computed += 1
self.logger.debug(msg.format(computed, n_edges))
msg = "Computing conditional plan: |G'.nodes| = {} |G'.edges| = {}"
self.logger.info(msg.format(len(G.nodes()), len(G.edges())))
self.logger.debug("Computing conditional plan: all-pairs Dijkstra")
paths = nx.all_pairs_dijkstra_path(G, cutoff=None)
plan = {}
msg = "Computing conditional plan: computing mapping from paths {}/{}"
n_entries = self.n_partitions * (n_nodes**2)
computed = 0
nodes = {n for n, _ in paths}
for src, i in paths:
self.logger.debug(msg.format(computed, n_entries))
for dst in nodes:
lengths = []
shortest = None
for j in xrange(self.n_partitions):
aux_dst = (dst, j)
try:
lngt = SRNParser._length(G, paths[(src, i)][aux_dst])
except KeyError:
# reaching dst at interval j, starting from
# src at interval i is unfeasible.
continue
if shortest == None or lngt < shortest:
shortest = lngt
try:
nxt = paths[(src, i)][aux_dst][1][0]
except IndexError:
nxt = paths[(src, i)][aux_dst][0][0]
plan[(src, i, dst)] = nxt
computed += 1
self.logger.debug(msg.format(computed, n_entries))
return plan
@staticmethod
def _length(graph, path):
lngt = 0
for i in xrange(len(path) - 1):
lngt += graph.get_edge_data(path[i], path[i + 1])['weight']
return lngt
def read_raw_dataset(self, path, preprocessed_path=None):
"""Reads and preprocess a raw dataset. Since the preprocessing may
take some time, the optional parameter 'preprocessed_path' can be
specified in order to dump the preprocessed data for future uses.
Keyword arguments:
path -- the path of the raw dataset to be read
preprocessed_path -- output path for the preprocessed data
(default: None)
"""
entries = {}
select_query = SRNParser.SELECT_FIELDS
rows = SRNParser._read_raw_csv(path, select=select_query)
for i, row in enumerate(rows):
edge = SRNParser._parse_edge(row[SRNParser.EDGE_FIELD])
if edge and (edge[0] != edge[1]):
x, y = edge
# time periods are 15 minutes long
tp = int(row[SRNParser.TP_FIELD]) * 15
# average journey times are expressed in seconds
avgjt = float(row[SRNParser.AVGJT_FIELD]) / 60.0
partition = self._tp_to_partition(tp)
if partition == None:
continue
if (x, y) not in entries:
entries[(x, y)] = {}
if partition not in entries[(x, y)]:
entries[(x, y)][partition] = [avgjt]
else:
entries[(x, y)][partition].append(avgjt)
preprocessed_data = self._preprocess(entries)
# if preprocessed_path is given, dump the aggregated data
if preprocessed_path:
SRNParser._write_preprocessed_data(preprocessed_path,
preprocessed_data,
self.partitions)
return preprocessed_data, self.partitions
@staticmethod
def read_preprocessed_dataset(path):
"""Reads a preprocessed dataset.
Keyword arguments:
path -- the path of the raw dataset to be read
"""
with open(path, "r") as f:
preprocessed_data = {}
partitions = None
for line in f:
if not partitions:
partitions = map(int, line.strip().split(","))
else:
fields = line.strip().split(",")
src, dst = fields[:2]
part = int(fields[2])
avg = float(fields[3])
r_min, r_max = map(float, fields[4:6])
rng = r_min, r_max
coeffs = map(float, fields[6:])
if not (src, dst) in preprocessed_data:
preprocessed_data[(src, dst)] = {}
if not part in preprocessed_data[(src, dst)]:
preprocessed_data[(src, dst)][part] = (avg, rng,
coeffs)
else:
assert(False),\
"Malformed file: (src, dst, partition) not unique."
return preprocessed_data, partitions
def _fit_distribution(self, datapoints):
frequencies, bin_edges = histogram(datapoints, bins="sturges")
x = [(bin_edges[i + 1] + bin_edges[i]) / 2.
for i in xrange(len(bin_edges) - 1)]
# fitting data with a quadratic polynomial
coefficients = polyfit(x, frequencies, 2)
edges = [bin_edges[0], bin_edges[-1]]
pos = (coefficients[0] > 0)
zeros = sorted(list({z.real for z in roots(coefficients)}))
if len(zeros) in [0, 1]:
if pos:
rng = edges
else:
self.logger.error(SRNParser.ERR_FIT)
raise WMIParsingError(SRNParser.ERR_FIT)
elif len(zeros) == 2:
if pos:
# changing the 0-th order coefficient by -k
m = (zeros[1] - zeros[0]) / 2.0
a, b, c = coefficients
k = a * (m**2) + b * m + c
coefficients[2] += abs(k)
rng = edges
else:
rng = zeros
else:
self.logger.error(SRNParser.ERR_FIT)
raise WMIParsingError(SRNParser.ERR_FIT)
rng[0] = max(0, rng[0])
# normalize the distribution
integral = self.integrator.integrate_raw(coefficients, rng)
if integral <= 0:
self.logger.error(SRNParser.ERR_FIT)
raise WMIParsingError(SRNParser.ERR_FIT)
coefficients = map(lambda c: c / integral, coefficients)
return rng, coefficients
@staticmethod
def _parse_edge(description):
query = ".* between (.+) and (.+) \(.*\)"
match = re.search(query, description)
if match:
return match.group(1), match.group(2)
else:
return None
def _preprocess(self, entries):
# build the full graph and identify the SCCs
full_graph = nx.DiGraph()
full_graph.add_edges_from(entries.keys())
sccs = nx.strongly_connected_components(full_graph)
# keep the biggest SCC
biggest_scc = None
size = 0
nsccs = 0
for scc in sccs:
nsccs += 1
if len(scc) > size:
size = len(scc)
biggest_scc = scc
preprocessed_data = {}
n_entries = len(entries)
computed = 0
msg = "Preprocessing data: {}/{}"
for src, dst in entries:
self.logger.debug(msg.format(computed, n_entries))
if (src in biggest_scc) and (dst in biggest_scc):
if not (src, dst) in preprocessed_data:
preprocessed_data[(src, dst)] = {}
for partition in entries[(src, dst)]:
avg_jts = entries[(src, dst)][partition]
avg = sum(avg_jts) / len(avg_jts)
rng, coefficients = self._fit_distribution(avg_jts)
entry = (avg, rng, coefficients)
preprocessed_data[(src, dst)][partition] = entry
computed += 1
return preprocessed_data
@staticmethod
def _read_raw_csv(path, select=None):
with open(path, "r") as f:
header = f.readline().strip().split(",")
for line in f:
values = line.strip().split(",")
assert(len(header) == len(values)),\
"Line has a different number of fields than the header"
yield {
header[i]: values[i]
for i in xrange(len(header))
if not select or (header[i] in select)
}
def _tp_to_partition(self, tp):
for i in xrange(self.n_partitions):
if (self.partitions[i] <= tp) and (tp < self.partitions[i + 1]):
return i
return None
@staticmethod
def _write_preprocessed_data(path, preprocessed_data, partitions):
with open(path, "w") as f:
f.write(",".join(map(str, partitions)) + "\n")
for src, dst in preprocessed_data:
for partition in preprocessed_data[(src, dst)]:
entry = preprocessed_data[(src, dst)][partition]
avg, rng, coefficients = entry
f.write("{},{},{},{},{},{},{}\n".format(
src, dst, partition, avg, rng[0], rng[1],
",".join(map(str, coefficients))))
from integration import Integrator
from integration import local_solr_server
from integration import remote_solr_server
from integration import IntegrationException
from IndustryTermRecogniser import IndustryTermRecogniser
import sys
import os
sys.path.append(os.path.join(os.path.dirname(__file__)))
basestring = (str, bytes)
app = Flask(__name__)
integration = Integrator()
_logger = logging.getLogger("IntegrationService")
def crossdomain(origin=None, methods=None, headers=None,
max_age=21600, attach_to_all=True,
automatic_options=True):
if methods is not None:
methods = ', '.join(sorted(x.upper() for x in methods))
if headers is not None and not isinstance(headers, basestring):
headers = ', '.join(x.upper() for x in headers)
if not isinstance(origin, basestring):
origin = ', '.join(origin)
if isinstance(max_age, timedelta):
max_age = max_age.total_seconds()
class NFW(BaseModel):
"""Navarro-Frenk-White profile"""
def __init__(self, b, x0, y0, e, te, s, ks, rs):
super(NFW, self).__init__(x0, y0, e, te)
self.b = b
self.ks = ks
self.rs = rs
self.q = 1.0 - self.e
self.integrator = Integrator(self.q, self.kappa, self.kappa_prime, self.phi_r)
# replaces core radius from s==0 -> 1e-4, fixes /0 situations in potential calculation.
self.s = s if s != 0.0 else 1e-4
@BaseModel.standard_frame_rotation
def phiarray(self, x, y, *args, **kwargs):
if not isinstance(x, Iterable) and not isinstance(y, Iterable):
x = [x]
y = [y]
potential, phix, phiy, phixx, phiyy, phixy = [[] for i in xrange(6)]
print "calculating phiarray for {0} (x, y) pairs".format(len(x))
for i, (local_x, local_y) in enumerate(zip(x, y)):
potential.append(0)
phix.append(self.integrator.phi_x(local_x, local_y))
phiy.append(self.integrator.phi_y(local_x, local_y))
phixx.append(self.integrator.phi_xx(local_x, local_y))
phiyy.append(self.integrator.phi_yy(local_x, local_y))
phixy.append(self.integrator.phi_xy(local_x, local_y))
return np.array((potential, phix, phiy, phixx, phiyy, phixy))
@staticmethod
def funcF(x):
dx = x ** 2 - 1.0
if abs(x) < 1e-2:
# series with O(x^6) error
log2x = np.log(2.0 / x)
return log2x + x ** 2 * (0.5 * log2x - 0.25) * x ** 4 * (0.375 * log2x - 0.21875)
elif abs(dx) < 1e-2:
# series with O(dx^6) error
return 1.0 - (dx / 3.0) + (dx ** 2 / 5.0) - (dx ** 3 / 7.0) + (dx ** 4 / 9.0) - (dx ** 5 / 11.0)
elif x > 1.0:
tmp = np.sqrt(x ** 2 - 1.0)
return np.arctan(tmp) / tmp
else:
tmp = np.sqrt(1.0 - x ** 2)
return np.arctanh(tmp) / tmp
@staticmethod
def funcF_prime(x):
return (1.0 - x ** 2 * NFW.funcF(x)) / (x * (x ** 2 - 1.0))
def kappa(self, r):
x = r / self.rs
return 2.0 * self.ks * ((1.0 - NFW.funcF(x)) / (x ** 2.0 - 1.0))
def kappa_prime(self, r):
x = r / self.rs
numerator = (2.0 * self.rs * self.ks * ((self.rs ** 2 - r ** 2) * NFW.funcF_prime(x)
+ 2.0 * self.rs * r * NFW.funcF(x)
- 2.0 * self.rs * r))
denomenator = (self.rs ** 2 - r ** 2) ** 2
return numerator / denomenator
def phi(self, r):
x = r / self.rs
return 2.0 * self.ks * self.rs ** 2 * (np.log(x / 2.0) ** 2 - np.arctanh(np.sqrt(1.0 - x ** 2)) ** 2)
def phi_r(self, x):
"""Spherical deflection"""
return 4.0 * self.ks * self.rs * ((np.log(x / 2.0) + self.funcF(x)) / x)
class NFW(BaseModel):
"""Navarro-Frenk-White profile"""
def __init__(self, b, x0, y0, e, te, s, ks, rs):
super(NFW, self).__init__(x0, y0, e, te)
self.b = b
self.ks = ks
self.rs = rs
self.q = 1.0 - self.e
self.integrator = Integrator(self.q, self.kappa, self.kappa_prime,
self.phi_r)
# replaces core radius from s==0 -> 1e-4, fixes /0 situations in potential calculation.
self.s = s if s != 0.0 else 1e-4
@BaseModel.standard_frame_rotation
def phiarray(self, x, y, *args, **kwargs):
if not isinstance(x, Iterable) and not isinstance(y, Iterable):
x = [x]
y = [y]
potential, phix, phiy, phixx, phiyy, phixy = [[] for i in xrange(6)]
print "calculating phiarray for {0} (x, y) pairs".format(len(x))
for i, (local_x, local_y) in enumerate(zip(x, y)):
potential.append(0)
phix.append(self.integrator.phi_x(local_x, local_y))
phiy.append(self.integrator.phi_y(local_x, local_y))
phixx.append(self.integrator.phi_xx(local_x, local_y))
phiyy.append(self.integrator.phi_yy(local_x, local_y))
phixy.append(self.integrator.phi_xy(local_x, local_y))
return np.array((potential, phix, phiy, phixx, phiyy, phixy))
@staticmethod
def funcF(x):
dx = x**2 - 1.0
if abs(x) < 1e-2:
# series with O(x^6) error
log2x = np.log(2.0 / x)
return log2x + x**2 * (0.5 * log2x -
0.25) * x**4 * (0.375 * log2x - 0.21875)
elif abs(dx) < 1e-2:
# series with O(dx^6) error
return 1.0 - (dx / 3.0) + (dx**2 / 5.0) - (dx**3 / 7.0) + (
dx**4 / 9.0) - (dx**5 / 11.0)
elif x > 1.0:
tmp = np.sqrt(x**2 - 1.0)
return np.arctan(tmp) / tmp
else:
tmp = np.sqrt(1.0 - x**2)
return np.arctanh(tmp) / tmp
@staticmethod
def funcF_prime(x):
return (1.0 - x**2 * NFW.funcF(x)) / (x * (x**2 - 1.0))
def kappa(self, r):
x = r / self.rs
return 2.0 * self.ks * ((1.0 - NFW.funcF(x)) / (x**2.0 - 1.0))
def kappa_prime(self, r):
x = r / self.rs
numerator = (2.0 * self.rs * self.ks *
((self.rs**2 - r**2) * NFW.funcF_prime(x) +
2.0 * self.rs * r * NFW.funcF(x) - 2.0 * self.rs * r))
denomenator = (self.rs**2 - r**2)**2
return numerator / denomenator
def phi(self, r):
x = r / self.rs
return 2.0 * self.ks * self.rs**2 * (
np.log(x / 2.0)**2 - np.arctanh(np.sqrt(1.0 - x**2))**2)
def phi_r(self, x):
"""Spherical deflection"""
return 4.0 * self.ks * self.rs * (
(np.log(x / 2.0) + self.funcF(x)) / x)
"""
Authors: Masafumi Endo
Date: 04/10/2021
Content: main function to sense line and follow it by PID controller
"""
import sys
sys.path.append('..')
import time
from picarx_organized import PicarX
from photosensing import PhotoSensor, PhotoInterpretor
from controller import Controller
from integration import Integrator
if __name__ == '__main__':
# call objects
car = PicarX()
sensor = PhotoSensor()
interpretor = PhotoInterpretor()
controller = Controller()
integrator = Integrator(car, sensor, interpretor, controller, speed=30)
integrator.line_trace()
