def display_tensor_with_zoom(
fig, V, gid, label, width, xlabel, ylabel, zoom=16, x=0.15, w=0.03, normalize_small=False, skim=0.4
):
n = V.shape[0]
def render(x):
return posneg(x, skim=skim)
rgb = render(V)
if n > 50:
fig.save_graphics_data(jpg_data(rgb), MIME_JPG, gid)
else:
rgb = rgb_zoom(rgb, 16)
fig.save_graphics_data(png_data(rgb), MIME_PNG, gid)
if n > 100:
xp = int(x * n)
wp = int(w * n)
if normalize_small:
# let's normalize the values in the rectangle
cut = V[xp : (xp + wp), xp : (xp + wp)]
cut_rgb = render(cut)
else:
cut_rgb = rgb[xp : (xp + wp), xp : (xp + wp), :]
cut_rgb = rgb_zoom(cut_rgb, zoom)
fig.save_graphics_data(png_data(cut_rgb), MIME_PNG, gid + "-zoom")
fig.tex("\\tensorFigure{%s}{%s}{%s}{%s}{%s}{%s}{%s}%%\n" % (gid, width, xlabel, ylabel, label, x, w))
else:
fig.tex("\\tensorFigure{%s}{%s}{%s}{%s}{%s}{%s}{%s}%%\n" % (gid, width, xlabel, ylabel, label, "", ""))
def display(self, report):
if not self.initialized():
report.text('notice', 'Cannot display() because not initialized.')
return
report.text('estimator', type(self).__name__)
report.data('num_samples', self.num_samples)
score = self._get_score()
flattening = self.flat_structure.flattening
min_score = flattening.flat2rect(np.min(score, axis=1))
max_score = flattening.flat2rect(np.max(score, axis=1))
caption = 'minimum and maximum score per pixel across neighbors'
f = report.figure('scores', caption=caption)
f.data('min_score', min_score).display('scale')
f.data('max_score', max_score).display('scale')
f = report.figure(cols=4)
def make_best(x):
return x == np.min(x, axis=1)
max_d = int(np.ceil(np.hypot(np.floor(self.area[0] / 2.0),
np.floor(self.area[1] / 2.0))))
safe_d = int(np.floor(np.min(self.area) / 2.0))
def plot_safe(pylab):
plot_vertical_line(pylab, safe_d, 'g--')
plot_vertical_line(pylab, max_d, 'r--')
if self.shape[0] <= 64:
as_grid = self.make_grid(score)
f.data_rgb('grid', rgb_zoom(scale(as_grid), 4))
else:
report.text('warn', 'grid visualization not done because too big')
distance_to_border = distance_to_border_for_best(self.flat_structure, score)
distance_to_center = distance_from_center_for_best(self.flat_structure, score)
bdist_scale = dict(min_value=0, max_value=max_d, max_color=[0, 1, 0])
d = report.data('distance_to_border', distance_to_border).display('scale', **bdist_scale)
d.add_to(f, caption='Distance to border of best guess, white=0, green=%d' % max_d)
cdist_scale = dict(min_value=0, max_value=max_d, max_color=[1, 0, 0])
d = report.data('distance_to_center', distance_to_center).display('scale', **cdist_scale)
d.add_to(f, caption='Distance to center of best guess, white=0, red=%d' % max_d)
bins = np.array(range(max_d + 2))
# values will be integers (0, 1, 2, ...), center bins appropriately
bins = bins - 0.5
with f.plot('distance_to_border_hist') as pylab:
pylab.hist(distance_to_border.flat, bins)
caption = 'Red line: on border; Green line (red-1): safe to be here.'
with f.plot('distance_to_center_hist', caption=caption) as pylab:
pylab.hist(distance_to_center.flat, bins)
plot_safe(pylab)
def write_image(name, values):
time_us = timestamp * 1000 * 1000
dirname2 = os.path.join(dirname, name)
if not os.path.exists(dirname2):
os.makedirs(dirname2)
filename = os.path.join(dirname2, 'ms%08d.png' % time_us)
if np.nanmin(values) < 0:
rgb = posneg(values)
else:
rgb = scale(values)
rgb = rgb_zoom(rgb, K=4)
imwrite(rgb, filename)
logger.debug('print to %r' % filename)
def write_image(name, values):
time_us = timestamp * 1000 * 1000
dirname2 = os.path.join(dirname, name)
if not os.path.exists(dirname2):
os.makedirs(dirname2)
filename = os.path.join(dirname2, 'ms%08d.png' % time_us)
if np.nanmin(values) < 0:
rgb = posneg(values)
else:
rgb = scale(values)
rgb = rgb_zoom(rgb, K=4)
imwrite(rgb, filename)
logger.debug('print to %r' % filename)
def template_bds_P(frag, id_set, id_robot, id_agent, width="3cm"):
report = load_report_phase(id_set=id_set, agent=id_agent, robot=id_robot, phase="learn")
gid = "%s-%s-%s-P" % (id_set, id_robot, id_agent)
V = report["estimator/tensors/P/value"].raw_data
n = V.shape[0]
rgb = posneg(V)
if n > 50:
frag.save_graphics_data(jpg_data(rgb), MIME_JPG, gid)
else:
rgb = rgb_zoom(rgb, 16)
frag.save_graphics_data(png_data(rgb), MIME_PNG, gid)
# frag.save_graphics_data(node.raw_data, node.mime, gid)
tensor_figure(frag, gid=gid, xlabel="s", ylabel="v", width=width, label="\TPe^{sv}")
def visualize_result(id_tc, id_algo, stats):
""" Returns a report """
result = stats['result']
r = Report('%s-%s' % (id_tc, id_algo))
# tc = config.testcases.instance(id_tc)
# discdds = config.discdds.instance(tc.id_discdds)
algo = stats['algo']
tc = stats['tc']
discdds = algo.get_dds()
tc.display(r.section('testcase'), discdds=discdds)
if not result.success:
r.text('warning', 'Plannning unsuccesful')
else:
rsol = r.section('solution')
rsol.text('plan', 'Plan: %s' % str(result.plan))
y0 = tc.y0
y1 = tc.y1
y1plan = discdds.predict(y0, result.plan)
mismatch = np.abs(y1.get_values() - y1plan.get_values()).sum(axis=2)
f = rsol.figure(cols=4)
zoom = lambda x: rgb_zoom(x, 8)
f.data_rgb('y1plan',
zoom(y1plan.get_rgb()),
caption='plan prediction (certain)')
f.data_rgb('y1plan_certain',
zoom(y1plan.get_rgb_uncertain()),
caption='certainty of prediction')
f.data_rgb('mismatch',
zoom(scale(mismatch)),
caption='Mismatch value pixel by pixel '
'(zero for synthetic testcases...)')
algo.plan_report(r.section('planning'), result, tc)
extra = result.extra
write_log_lines(r, extra)
return r
def visualize_result(id_tc, id_algo, stats):
""" Returns a report """
result = stats['result']
r = Report('%s-%s' % (id_tc, id_algo))
# tc = config.testcases.instance(id_tc)
# discdds = config.discdds.instance(tc.id_discdds)
algo = stats['algo']
tc = stats['tc']
discdds = algo.get_dds()
tc.display(r.section('testcase'), discdds=discdds)
if not result.success:
r.text('warning', 'Plannning unsuccesful')
else:
rsol = r.section('solution')
rsol.text('plan', 'Plan: %s' % str(result.plan))
y0 = tc.y0
y1 = tc.y1
y1plan = discdds.predict(y0, result.plan)
mismatch = np.abs(y1.get_values() - y1plan.get_values()).sum(axis=2)
f = rsol.figure(cols=4)
zoom = lambda x: rgb_zoom(x, 8)
f.data_rgb('y1plan', zoom(y1plan.get_rgb()),
caption='plan prediction (certain)')
f.data_rgb('y1plan_certain', zoom(y1plan.get_rgb_uncertain()),
caption='certainty of prediction')
f.data_rgb('mismatch', zoom(scale(mismatch)),
caption='Mismatch value pixel by pixel '
'(zero for synthetic testcases...)')
algo.plan_report(r.section('planning'), result, tc)
extra = result.extra
write_log_lines(r, extra)
return r
def visualize_result(config, id_tc, id_algo, stats):
""" Returns a report """
set_current_config(config)
result = stats["result"]
r = Report("%s-%s" % (id_tc, id_algo))
# tc = config.testcases.instance(id_tc)
# discdds = config.discdds.instance(tc.id_discdds)
algo = stats["algo"]
tc = stats["tc"]
discdds = algo.get_dds()
tc.display(r.section("testcase"), discdds=discdds)
if not result.success:
r.text("warning", "Plannning unsuccesful")
else:
rsol = r.section("solution")
rsol.text("plan", "Plan: %s" % str(result.plan))
y0 = tc.y0
y1 = tc.y1
y1plan = discdds.predict(y0, result.plan)
mismatch = np.abs(y1.get_values() - y1plan.get_values()).sum(axis=2)
f = rsol.figure(cols=4)
zoom = lambda x: rgb_zoom(x, 8)
f.data_rgb("y1plan", zoom(y1plan.get_rgb()), caption="plan prediction (certain)")
f.data_rgb("y1plan_certain", zoom(y1plan.get_rgb_uncertain()), caption="certainty of prediction")
f.data_rgb(
"mismatch",
zoom(scale(mismatch)),
caption="Mismatch value pixel by pixel " "(zero for synthetic testcases...)",
)
algo.plan_report(r.section("planning"), result, tc)
extra = result.extra
write_log_lines(r, extra)
return r
def add_pieces(sub, V, n, zoom=16):
pieces = get_pieces(V, n)
for k, piece in enumerate(pieces):
with sub.subsection("%d" % k) as subk:
value = piece["value"]
rgb = posneg(value)
rgb = rgb_zoom(rgb, zoom)
# XXX
subk.r.data_rgb("png", rgb, mime=MIME_PNG)
rel = subk.section("rel")
rel.r.data("x", piece["xfrac"])
rel.r.data("y", piece["yfrac"])
rel.r.data("width", piece["wfrac"])
rel.r.data("height", piece["wfrac"])
pixels = subk.section("pixels")
pixels.r.data("x", piece["x"])
pixels.r.data("y", piece["y"])
pixels.r.data("width", piece["w"])
pixels.r.data("height", piece["h"])
def pub_save_versions(pub, rgb, png_zoom=4):
if False:
jpg_zoom = 1
pub.data_rgb("jpg", rgb_zoom(rgb, jpg_zoom), mime=MIME_JPG, caption="Converted to JPG")
d = pub.data_rgb("png", rgb_zoom(rgb, png_zoom), mime=MIME_PNG)
return d
def zoom(rgb):
""" Enlarge image so that pixels are distinguishable even though
the brows makes them smooth. """
return rgb_zoom(rgb, K=8)
def zoom(rgb):
""" Enlarge image so that pixels are distinguishable even though
the brows makes them smooth. """
return rgb_zoom(rgb, K=8)
def display(self, report):
if not self.initialized():
report.text('notice', 'Cannot display() because not initialized.')
return
report.text('estimator', type(self).__name__)
report.data('num_samples', self.num_samples)
score = self._get_score()
flattening = self.flat_structure.flattening
min_score = flattening.flat2rect(np.min(score, axis=1))
max_score = flattening.flat2rect(np.max(score, axis=1))
caption = 'minimum and maximum score per pixel across neighbors'
f = report.figure('scores', caption=caption)
f.data('min_score', min_score).display('scale')
f.data('max_score', max_score).display('scale')
f = report.figure(cols=4)
def make_best(x):
return x == np.min(x, axis=1)
max_d = int(
np.ceil(
np.hypot(np.floor(self.area[0] / 2.0),
np.floor(self.area[1] / 2.0))))
safe_d = int(np.floor(np.min(self.area) / 2.0))
def plot_safe(pylab):
plot_vertical_line(pylab, safe_d, 'g--')
plot_vertical_line(pylab, max_d, 'r--')
if self.shape[0] <= 64:
as_grid = self.make_grid(score)
f.data_rgb('grid', rgb_zoom(scale(as_grid), 4))
else:
report.text('warn', 'grid visualization not done because too big')
distance_to_border = distance_to_border_for_best(
self.flat_structure, score)
distance_to_center = distance_from_center_for_best(
self.flat_structure, score)
bdist_scale = dict(min_value=0, max_value=max_d, max_color=[0, 1, 0])
d = report.data('distance_to_border',
distance_to_border).display('scale', **bdist_scale)
d.add_to(
f,
caption='Distance to border of best guess, white=0, green=%d' %
max_d)
cdist_scale = dict(min_value=0, max_value=max_d, max_color=[1, 0, 0])
d = report.data('distance_to_center',
distance_to_center).display('scale', **cdist_scale)
d.add_to(f,
caption='Distance to center of best guess, white=0, red=%d' %
max_d)
bins = np.array(range(max_d + 2))
# values will be integers (0, 1, 2, ...), center bins appropriately
bins = bins - 0.5
with f.plot('distance_to_border_hist') as pylab:
pylab.hist(distance_to_border.flat, bins)
caption = 'Red line: on border; Green line (red-1): safe to be here.'
with f.plot('distance_to_center_hist', caption=caption) as pylab:
pylab.hist(distance_to_center.flat, bins)
plot_safe(pylab)
def _nmapobs_to_rgb(m):
print m.shape
m = m.T
rgb = scale(m, min_value=0, max_value=1, nan_color=[0.6, 1, 0.6])
return rgb_zoom(rgb, 4)
