def test_threshold(self):
# Regression test. An early version of `pascal` returned an
# array of type np.uint64 for n=35, but that data type is too small
# to hold p[-1, -1]. The second assert_equal below would fail
# because p[-1, -1] overflowed.
p = pascal(34)
assert_equal(2 * p.item(-1, -2), p.item(-1, -1), err_msg="n = 34")
p = pascal(35)
assert_equal(2 * p.item(-1, -2), p.item(-1, -1), err_msg="n = 35")
def test_threshold(self):
# Regression test. An early version of `pascal` returned an
# array of type np.uint64 for n=35, but that data type is too small
# to hold p[-1, -1]. The second assert_equal below would fail
# because p[-1, -1] overflowed.
p = pascal(34)
assert_equal(2*p.item(-1, -2), p.item(-1, -1), err_msg="n = 34")
p = pascal(35)
assert_equal(2*p.item(-1, -2), p.item(-1, -1), err_msg="n = 35")
def _sample_kernel_pascal_triangle(self):
"""Sample kernel weights using Pascal's Triangle approximation.
"""
from scipy.linalg import pascal
kernel = pascal(2 * self.k + 1, kind='lower')[-1]
kernel = kernel / np.sum(kernel)
return kernel
def find_bezier_trajectory(coordinates, points):
n = len(coordinates)
pascal_coord = pascal(n, kind='lower')[-1]
t = np.linspace(0, 1, points)
bezier_x = np.zeros(points)
bezier_y = np.zeros(points)
for i in range(n):
k = (t**(n - 1 - i))
l = (1 - t)**i
bezier_x += np.multiply(
l, k) * pascal_coord[i] * coordinates[n - 1 - i][0]
bezier_y += np.multiply(
l, k) * pascal_coord[i] * coordinates[n - 1 - i][1]
bezier_xd = []
bezier_yd = []
for i in range(len(bezier_x)):
bezier_xd.append(int(bezier_x[i]))
bezier_yd.append(int(bezier_y[i]))
bezier_coordinates = np.transpose([bezier_xd, bezier_yd])
# print(bezier_coordinates)
return bezier_coordinates
def mxbern(t, deg):
elements = np.size(t)
if type(t) == np.ndarray:
n = len(t)
m = elements / n
if m != 1:
raise ValueError('Input t must be a column vector')
elif min(t) < 0 or max(t) > 1.0:
raise ValueError('Input nodes t must be within [0, 1]')
ct = 1.0 - t
B = np.zeros([n, deg + 1])
for i in range(0, deg + 1):
B[:, i] = (t**i) * (ct**(deg - i))
if deg < 23:
lower = (np.cumprod(np.arange(deg, 0.9, -1)) /
np.cumprod(np.arange(1, deg + 0.1, 1)))
full = lower.tolist()
full.insert(0, 1.0)
B = np.dot(B, np.diag(full))
else:
B = np.dot(B, np.diag(np.diag(np.fliplr(pascal(deg + 1)))))
elif type(t) == float:
ct = 1.0 - t
B = np.zeros(deg + 1)
for i in range(0, deg + 1):
B[i] = (t**i) * (ct**(deg - i))
if deg < 23:
lower = (np.cumprod(np.arange(deg, 0.9, -1)) /
np.cumprod(np.arange(1, deg + 0.1, 1)))
full = lower.tolist()
full.insert(0, 1.0)
B = np.dot(B, np.diag(full))
else:
B = np.dot(B, np.diag(np.diag(np.fliplr(pascal(deg + 1)))))
else:
raise ValueError('Wrong data type: Only numpy.ndarray or float is \
accepted')
return B
def diff_transform_matrix(num_frames, dtype='float32'):
r"""
A helper function that implements discrete differentiation for stacked
state observations.
Let's say we have a feature vector :math:`X` consisting of four stacked
frames, i.e. the shape would be: ``[batch_size, height, width, 4]``.
The corresponding diff-transform matrix with ``num_frames=4`` is a
:math:`4\times 4` matrix given by:
.. math::
M_\text{diff}^{(4)}\ =\ \begin{pmatrix}
-1 & 0 & 0 & 0 \\
3 & 1 & 0 & 0 \\
-3 & -2 & -1 & 0 \\
1 & 1 & 1 & 1
\end{pmatrix}
such that the diff-transformed feature vector is readily computed as:
.. math::
X_\text{diff}\ =\ X\, M_\text{diff}^{(4)}
The diff-transformation preserves the shape, but it reorganizes the frames
in such a way that they look more like canonical variables. You can think
of :math:`X_\text{diff}` as the stacked variables :math:`x`,
:math:`\dot{x}`, :math:`\ddot{x}`, etc. (in reverse order). These
represent the position, velocity, acceleration, etc. of pixels in a single
frame.
Parameters
----------
num_frames : positive int
The number of stacked frames in the original :math:`X`.
dtype : dtype, optional
The output data type.
Returns
-------
M : 2d-Tensor, shape: [num_frames, num_frames]
A square matrix that is intended to be multiplied from the left, e.g.
``X_diff = K.dot(X_orig, M)``, where we assume that the frames are
stacked in ``axis=-1`` of ``X_orig``, in chronological order.
"""
assert isinstance(num_frames, int) and num_frames >= 1
s = jnp.diag(jnp.power(-1, jnp.arange(num_frames))) # alternating sign
m = s.dot(pascal(num_frames, kind='upper'))[::-1, ::-1]
return m.astype(dtype)
def check_invpascal(n, kind, exact):
ip = invpascal(n, kind=kind, exact=exact)
p = pascal(n, kind=kind, exact=exact)
# Matrix-multiply ip and p, and check that we get the identity matrix.
# We can't use the simple expression e = ip.dot(p), because when
# n < 35 and exact is True, p.dtype is np.uint64 and ip.dtype is
# np.int64. The product of those dtypes is np.float64, which loses
# precision when n is greater than 18. Instead we'll cast both to
# object arrays, and then multiply.
e = ip.astype(object).dot(p.astype(object))
assert_array_equal(e, eye(n), err_msg="n=%d kind=%r exact=%r" % (n, kind, exact))
def main():
count = 0
pascals_triangle = pascal(101, kind="lower")
for n in range(101):
for r in range(n+1):
# binomial(n, r) is just pascals_triangle[n, r]
if pascals_triangle[n, r] > 1000000:
count += 1
answer = count
print(answer)
def check_invpascal(n, kind, exact):
ip = invpascal(n, kind=kind, exact=exact)
p = pascal(n, kind=kind, exact=exact)
# Matrix-multiply ip and p, and check that we get the identity matrix.
# We can't use the simple expression e = ip.dot(p), because when
# n < 35 and exact is True, p.dtype is np.uint64 and ip.dtype is
# np.int64. The product of those dtypes is np.float64, which loses
# precision when n is greater than 18. Instead we'll cast both to
# object arrays, and then multiply.
e = ip.astype(object).dot(p.astype(object))
assert_array_equal(e, eye(n), err_msg="n=%d kind=%r exact=%r" %
(n, kind, exact))
def check_case(self, n, sym, low):
assert_array_equal(pascal(n), sym)
assert_array_equal(pascal(n, kind='lower'), low)
assert_array_equal(pascal(n, kind='upper'), low.T)
assert_array_almost_equal(pascal(n, exact=False), sym)
assert_array_almost_equal(pascal(n, exact=False, kind='lower'), low)
assert_array_almost_equal(pascal(n, exact=False, kind='upper'), low.T)
def check_case(self, n, sym, low):
assert_array_equal(pascal(n), sym)
assert_array_equal(pascal(n, kind='lower'), low)
assert_array_equal(pascal(n, kind='upper'), low.T)
assert_array_almost_equal(pascal(n, exact=False), sym)
assert_array_almost_equal(pascal(n, exact=False, kind='lower'), low)
assert_array_almost_equal(pascal(n, exact=False, kind='upper'), low.T)
def search_pascal_multiples_fast1(row_limit):
# create pascal array with library
ptriangle = np.array(pascal(row_limit))
# filter out the outer two rows
ptriangle = np.delete(ptriangle, [0,1], axis=0)
ptriangle = np.delete(ptriangle, [0,1], axis=1)
# uniques that occur more than once
unique_num, counts = np.unique(ptriangle, return_counts=True)
mask = np.where(counts > 3, True, False)
return list(unique_num[mask])
def p_k0k_vec_old(t, k, k0, ak, ck, gamma=4, N=30):
# Compute P(I(t)=k|I(0)=k0,theta) by Crawford method
# Inverse Laplace transform of continued fraction representation
# Euler's transform
A = gamma * np.log(10)
idx = np.arange(0, N)
s = (A + 2 * idx * np.pi * 1j) / 2 / t
val = np.real(f_vec(s, int(k), int(k0), ak, ck))
col = np.ones((N, N), dtype="int") * np.arange(N)
lig = np.ones((N, N), dtype="int") * np.arange(N)[:, np.newaxis]
temp = np.triu(np.choose(col - lig, val, mode="clip")) * (-1)**(col + lig)
temp *= pascal(N, kind='upper') / 2**np.arange(1, N + 1)
res = np.exp(A / 2) / t * (np.sum(temp) - val[0] / 2)
return np.maximum(res, threshold)
def basic_D(n, h):
# pascal matrix
P = pascal(n, kind='lower')
# exponent matrix
L = np.tril(np.ones(shape=(n, n)))
R = np.tril(matrix_power(L, 2) - 1)
# H matrix, H's raised to corresponding powers
H = np.tril(np.power(h, R))
# Create D poly shift matrix with offset h
D = (H * P)
return D.T
def search_pascal_multiples_readable(row_limit):
# create pascal array with library pascal from scipy.linalg subpackage
pascal_array = np.array(pascal(row_limit))
# filter out the outer two rows
pascal_array = np.delete(pascal_array, [0, 1], axis=0)
pascal_array = np.delete(pascal_array, [0, 1], axis=1)
# store the unique numbers from the sliced array and their counts
unique_num, counts = np.unique(pascal_array, return_counts=True)
# create a mask, where the number of counts is greater than 3
mask = np.where(counts > 3, True, False)
return list(
unique_num[mask]
) # return the array of unique numbers, whose count is greater than 3 as a list
def find_bezier_lane(coordinates, points):
n = len(coordinates)
pascal_coord = pascal(n, kind='lower')[-1]
t = np.linspace(0, 1, points)
bezier_x = np.zeros(points)
bezier_y = np.zeros(points)
for i in range(n):
k = (t**(n - 1 - i))
l = (1 - t)**i
bezier_x += np.multiply(
l, k) * pascal_coord[i] * coordinates[n - 1 - i][0]
bezier_y += np.multiply(
l, k) * pascal_coord[i] * coordinates[n - 1 - i][2]
return bezier_x, bezier_y
def poly_translation_matrix(n, h, kind='lower'):
# pascal matrix
P = pascal(n, kind='lower')
# exponent matrix
L = np.tril(np.ones(shape=(n, n)))
R = np.tril(matrix_power(L, 2) - 1)
# H matrix, H's raised to corresponding powers
H = np.tril(np.power(-h, R))
# Create S poly shift matrix with offset h
Lh = (H * P)
if kind == 'lower':
return Lh
# return upper triangular
Uh = Lh.T
return Uh
def poly_translation_matrix(n, delta_x, kind='lower'):
# pascal matrix
P = pascal(n, kind='lower')
# exponent matrix
L = np.tril(np.ones(shape=(n,n)))
R = np.tril(matrix_power(L, 2)-1)
# D matrix, delta_x's raised to corresponding powers
D = np.tril(np.power(-delta_x,R))
# Create S poly shift matrix with offset delta_x
Ld = (D * P)
if kind == 'lower':
return Ld
# return upper triangular
Ud = Ld.T
return Ud
def poly_shift_matrix(order, h):
# h -- horizontal shift amount
# n+1 coeficients to solve for -- n+1 x n+1 shift matrix
n = order + 1
# pascal matrix
P = pascal(n, kind='upper')
# create H
H = np.eye(n)
_h = 1
for k in range(n):
for i in range(n - k):
H[i, i + k] = _h
_h *= h
# create shift matrix - flip for numpy convention
S = np.flip(H * P)
# return
return S
def __compCoeffsBernstein(self, n):
if (n == 4):
tC = np.array([[1, -4, 6, -4, 1], [0, 4, -12, 12, -4],
[0, 0, 6, -12, 6], [0, 0, 0, 4, -4],
[0, 0, 0, 0, 1]])
elif (n == 3):
tC = np.array([[1, -3, 3, -1], [0, 3, -6, 3], [0, 0, 3, -3],
[0, 0, 0, 1]])
elif (n == 5):
tC = np.array([[1, -5, 10, -10, 5, -1], [0, 5, -20, 30, -20, 5],
[0, 0, 10, -30, 30, -10], [0, 0, 0, 10, -20, 10],
[0, 0, 0, 0, 5, -5], [0, 0, 0, 0, 0, 1]])
elif (n == 2):
tC = np.array([[1, -2, 1], [0, 2, -2], [0, 0, 1]])
else:
# Create Bernstein matrix for power basis for order n using the
# Pascal matrix.
c = (-1)**(1 + np.arange(n + 1))
B1 = pascal(n + 1, kind='upper') * c[:, np.newaxis]
endCol = B1[:, -1]
tC = B1 * np.tile(endCol, (n + 1, 1))
return tC
def bezier_plot(coordinate_left, coordinate_right, img, points):
# LEFT
h, w = img.shape
n = len(coordinate_left)
pascal_coord = pascal(n, kind='lower')[-1]
t = np.linspace(0, 1, points)
p_x_left = np.zeros(points)
p_y_left = np.zeros(points)
p_x_right = np.zeros(points)
p_y_right = np.zeros(points)
# print(coordinate_left)
for i in range(n):
k = (t**(n - 1 - i))
l = (1 - t)**i
p_x_left += np.multiply(
l, k) * pascal_coord[i] * coordinate_left[n - 1 - i][0]
p_y_left += np.multiply(
l, k) * pascal_coord[i] * coordinate_left[n - 1 - i][1]
p_x_right += np.multiply(
l, k) * pascal_coord[i] * coordinate_right[n - 1 - i][0]
p_y_right += np.multiply(
l, k) * pascal_coord[i] * coordinate_right[n - 1 - i][1]
mask = np.zeros((h, w))
# print(p_x_left,p_y_left)
for i in range(len(p_x_left) - 1):
mask = cv2.line(mask, (int(p_x_left[i]), int(p_y_left[i])),
(int(p_x_left[i + 1]), int(p_y_left[i + 1])),
(255, 255, 255))
for i in range(len(p_x_right) - 1):
mask = cv2.line(mask, (int(p_x_right[i]), int(p_y_right[i])),
(int(p_x_right[i + 1]), int(p_y_right[i + 1])),
(255, 255, 255))
cv2.imshow("mkas", mask)
inv_h_mat = sclinalg.invhilbert(3)
print('Hilbert matrix = \n', h_mat)
print('Inverse Hilbert matrix = \n', inv_h_mat)
print('||H * H^(-1) - I3 = \n', sclinalg.norm(h_mat @ inv_h_mat - I3))
print('cond(H) = ', np.linalg.cond(h_mat))
print('||H||_2 * ||H^(-1)||_2 = ',
np.linalg.norm(h_mat) * np.linalg.norm(inv_h_mat))
print('cond(H, 1) = ', np.linalg.cond(h_mat, 1))
print('||H||_1 * ||H^(-1)||_1 = ',
np.linalg.norm(h_mat, 1) * np.linalg.norm(inv_h_mat, 1))
print('cond(H, np.inf) = ', np.linalg.cond(h_mat, 1))
print('||H||_inf * ||H^(-1)||_inf = ',
np.linalg.norm(h_mat, np.inf) * np.linalg.norm(inv_h_mat, np.inf))
# det(A)
p_mat = sclinalg.pascal(3)
print('Pascal matrix = \n', p_mat)
print('det(P) = |P| = ', sclinalg.det(p_mat))
# Companion行列と固有値
# p(x) = x^3 + x^2 + x + 1 = 0
poly_coef = [1, 1, 1, 1]
mat_c = sclinalg.companion(poly_coef)
print('Companion matrix = \n', mat_c)
eigval, ev = sclinalg.eig(mat_c)
ev = ev.T
print('Eigenvalues = ', eigval)
print('Eigenvectors = ', ev)
# C * v = lambda * v ?
for i in range(0, eigval.size):
print('|| C * v - lambda[', i, '] * v||_2 = ',
def time_pascal(self, size):
sl.pascal(size)
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Sun Feb 3 19:46:38 2019
@author: xsxsz
"""
import numpy as np
import scipy.linalg as linalg
a = np.mat(np.ones([3, 3]))
b = np.mat(np.ones([4, 3]))
c = np.mat(np.ones([3, 4]))
d = linalg.block_diag(a, b, c)
print(d)
print('----------')
e = linalg.pascal(6)
print(e)
print('----------')
f_value = np.array([0.3, 0.1, 0.4, 0.2])
s_value = np.array([0.2, 0.8, 0.7])
f = linalg.leslie(f_value, s_value)
print(f)
print('----------')
def test_big(self):
p = pascal(50)
assert_equal(p[-1, -1], comb(98, 49, exact=True))
def locmle(z, xlim = None, Jmle = 35, d = 0., s = 1., ep = 1/100000., sw = 0, Cov_in = None):
"""Uses z-values in [-xlim,xlim] to find mles for p0, del0, sig0 .
Jmle is the number of iterations, beginning at (del0, sig0) = (d, s).
sw = 1 returns the correlation matrix.
z can be a numpy/scipy array or an ordinary Python array.
Note that this function returns pandas Series."""
N = len(z)
if xlim is None:
if N > 500000:
b = 1
else:
b = 4.3 * np.exp(-0.26*np.log10(N))
xlim = np.array([np.median(z), b*(np.percentile(z, 75)-np.percentile(z, 25))/(2*stats.norm.ppf(.75))])
aorig = xlim[0] - xlim[1]
borig = xlim[0] + xlim[1]
z0 = np.array([el for el in z if el >= aorig and el <= borig])
N0 = len(z0)
Y = np.array([np.mean(z0), np.mean(np.power(z0, 2))])
that = float(N0) / N
# find MLE estimates
for j in xrange(Jmle):
bet = np.array([d/(s*s), -1/(2*s*s)])
aa = (aorig - float(d)) / s
bb = (borig - float(d)) / s
H0 = stats.norm.cdf(bb) - stats.norm.cdf(aa)
fa = stats.norm.pdf(aa)
fb = stats.norm.pdf(bb)
H1 = fa - fb
H2 = H0 + aa * fa - bb * fb
H3 = (2 + aa*aa) * fa - (2 + bb*bb) * fb
H4 = 3 * H0 + (3 * aa + np.power(aa, 3)) * fa - (3 * bb + np.power(bb, 3)) * fb
H = np.array([H0, H1, H2, H3, H4])
r = float(d) / s
I = pascal(5, kind = 'lower', exact = False)
u1hold = np.power(s, range(5))
u1 = np.matrix([u1hold for k in range(5)])
II = np.power(r, np.matrix([[max(k-i, 0) for i in range(5)] for k in range(5)]))
I = np.multiply(np.multiply(I, II), u1.transpose())
E = np.array(I * np.matrix(H).transpose()).transpose()[0]/H0
mu = np.array([E[1], E[2]])
V = np.matrix([[E[2] - E[1]*E[1], E[3] - E[1] * E[2]],[E[3] - E[1] * E[2], E[4] - E[2]*E[2]]])
addbet = np.linalg.solve(V, (Y - mu).transpose()).transpose()/(1+1./((j+1)*(j+1)))
bett = bet + addbet
if bett[1] > 0:
bett = bet + .1 * addbet
if pd.isnull(bett[1]) or bett[1] >= 0:
break
d = -bett[0]/(2 * bett[1])
s = 1 / np.sqrt(-2. * bett[1])
if np.sqrt(sum(np.array(np.power(bett - bet, 2)))) < ep:
break
if pd.isnull(bett[1]) or bett[1] >= 0:
mle = np.array([np.nan for k in xrange(6)])
Cov_lfdr = np.nan
if pd.isnull(bett[1]):
Cov_out = np.nan
Cor = np.matrix([[np.nan]*3]*3)
else:
aa = (aorig - d) / s
bb = (borig - d) / s
H0 = stats.norm.cdf(bb) - stats.norm.cdf(aa)
p0 = that / H0
# sd calcs
J = s*s * np.matrix([[1, 2 * d],[0, s]])
JV = J * np.linalg.inv(V)
JVJ = JV * J.transpose()
mat = np.zeros((3,3))
mat[1:,1:] = JVJ/N0
mat[0,0] = (p0 * H0 * (1 - p0 * H0)) / N
h = np.array([H1/H0, (H2 - H0)/H0])
matt = np.eye(3)
matt[0,:] = np.array([1/H0] + (-(p0/s) * h).tolist())
matt = np.matrix(matt)
C = matt * (mat * matt.transpose())
mle = np.array([p0, d, s] + np.sqrt(np.diagonal(C)).tolist())
if sw == 1:
sd = mle[3:]
Co = C/np.outer(sd, sd)
Cor = Co[:,[1,2,0]][[1,2,0]]
# switch to pandas dataframe for labeling
Cor = pd.DataFrame(Cor, index=['d', 's','p0'], columns=['d','s','p0'])
if Cov_in is not None:
i0 = [i for i,x in enumerate(Cov_in['x']) if x > aa and x < bb]
Cov_out = loccov(N, N0, p0, d, s, Cov_in['x'], Cov_in['X'], Cov_in['f'], JV, Y, i0, H, h, Cov_in['sw'])
#label with pandas Series
mle = pd.Series(mle[[1,2,0,4,5,3]], index=['del0', 'sig0', 'p0', 'sd_del0', 'sd_sig0', 'sd_p0'])
out = {}
out['mle'] = mle
if sw == 1:
out['Cor'] = Cor
if Cov_in is not None:
if Cov_in['sw'] == 2:
out['pds_'] = Cov_out
elif Cov_in['sw'] == 3:
out['Ilfdr'] = Cov_out
else:
out['Cov_lfdr'] = Cov_out
if sw == 1 or Cov_in is not None:
return pd.Series(out)
return mle
# # Create pascal matrix # import numpy as np from numpy.linalg import matrix_power from scipy.linalg import pascal h = 2 n = 5 # pascal matrix P = pascal(n, kind='lower') #print(P) # exponent matrix L = np.tril(np.ones(shape=(n, n))) R = np.tril(matrix_power(L, 2) - 1) print(R) # H matrix, H's raised to corresponding powers H = np.tril(np.power(h, R)) print(H) # A A = H * P print(A) # coeffcients: a0, a1, ..., an are multiplied row wise # powers of x: x^0, x^1, ..., x^n are multiplied column wise
def bezier_plot(coordinate_left, coordinate_right, mask_image, points, og_img):
# LEFT
h, w = mask_image.shape
n = len(coordinate_left)
pascal_coord = pascal(n, kind='lower')[-1]
t = np.linspace(0, 1, points)
p_x_left = np.zeros(points)
p_y_left = np.zeros(points)
p_x_right = np.zeros(points)
p_y_right = np.zeros(points)
# print(coordinate_left)
for i in range(n):
k = (t**(n - 1 - i))
l = (1 - t)**i
p_x_left += np.multiply(
l, k) * pascal_coord[i] * coordinate_left[n - 1 - i][0]
p_y_left += np.multiply(
l, k) * pascal_coord[i] * coordinate_left[n - 1 - i][1]
p_x_right += np.multiply(
l, k) * pascal_coord[i] * coordinate_right[n - 1 - i][0]
p_y_right += np.multiply(
l, k) * pascal_coord[i] * coordinate_right[n - 1 - i][1]
h1 = h + int(h / 2)
mask1 = np.zeros((h, w))
top_coord_left = np.zeros((len(p_y_left), 2))
top_coord_right = np.zeros((len(p_y_right), 2))
# print(p_x_left,p_y_left)
print("\n")
x_prev, z_prev = 0, 0
top_coord_left[len(p_x_left) -
1][0], top_coord_left[len(p_x_left) - 1][1] = cam_world(
int(p_x_left[len(p_x_left) - 1]),
int(p_y_left[len(p_x_left) - 1]), mask1)
top_coord_right[len(p_x_right) -
1][0], top_coord_right[len(p_x_right) - 1][1] = cam_world(
int(p_x_right[len(p_x_right) - 1]),
int(p_y_right[len(p_x_right) - 1]), mask1)
center = np.array([(top_coord_left[-1][0] + top_coord_right[-1][0]) / 2,
(top_coord_left[-1][1] + top_coord_right[-1][1]) / 2])
check = 0
turn = "Straight"
left_cut = [0, 0]
right_cut = [0, 0]
for i in range(len(p_x_left) - 1):
# top_coord_left[i][0],top_coord_left[i][1]=cam_world(int(p_x_left[i]),int(p_y_left[i]),mask1)
top_coord_left[i][0], top_coord_left[i][1] = cam_tp(
int(p_x_left[i]), int(p_y_left[i]), mask1)
if i > 0 and (top_coord_left[i][0] -
center[0]) * (top_coord_left[i - 1][0] - center[0]) < 0:
if check == 0:
left_cut = (center[0],
(top_coord_left[i][1] + top_coord_left[i - 1][0]) /
2)
check = 1
# if i>0:
# mask2=cv2.line(mask2,(int(x_new*20+w/2),int(800-z_new*20)),(int(x_prev*20+w/2),int(800-z_prev*20)),(255,255,255))
mask1 = cv2.line(mask1, (int(p_x_left[i]), int(p_y_left[i])),
(int(p_x_left[i + 1]), int(p_y_left[i + 1])),
(255, 255, 255))
# top_coord_left[i+1][0],top_coord_left[i+1][1]=cam_world(int(p_x_left[i+1]),int(p_y_left[i+1]),mask1)
check = 0
for i in range(len(p_x_right) - 1):
# top_coord_right[i][0],top_coord_right[i][1]=cam_world(int(p_x_right[i]),int(p_y_right[i]),mask1)
top_coord_right[i][0], top_coord_right[i][1] = cam_tp(
int(p_x_right[i]), int(p_y_right[i]), mask1)
if i > 0 and (top_coord_right[i][0] -
center[0]) * (top_coord_right[i - 1][0] - center[0]) < 0:
if check == 0:
right_cut = (
center[0],
(top_coord_right[i][1] + top_coord_right[i - 1][0]) / 2)
check = 1
# if i>0:
# mask2=cv2.line(mask2,(int(x_new*20+w/2),int(800-z_new*20)),(int(x_prev*20+w/2),int(800-z_prev*20)),(255,255,255))
mask1 = cv2.line(mask1, (int(p_x_right[i]), int(p_y_right[i])),
(int(p_x_right[i + 1]), int(p_y_right[i + 1])),
(255, 255, 255))
abra, kadabra = cam_tp1(p_x_right, p_y_right, mask1)
print(abra, kadabra)
print(top_coord_right)
if right_cut[1] > left_cut[1]:
turn = "Left"
elif right_cut[1] < left_cut[1]:
turn = "Right"
mask1 = cv2.putText(mask1, turn, (30, 30), cv2.FONT_HERSHEY_SIMPLEX, 1,
(255, 255, 255))
# print(left_cut,right_cut)
# print()
# print(top_coord_right)
# print(center)
# print(top_coord_left[0][0],top_coord_left[-1][0])
# print(top_coord_right[0][0],top_coord_right[-1][0])
print(turn)
mask1 = cv2.resize(mask1, (int((w + 2) / 2), int((h + 2) / 2)))
cv2.imshow("mask1", mask1)
if turn == "Right":
# print("bezier"+str(1))
return (1)
elif turn == "Left":
# print("bezier"+str(-1))
return (-1)
else:
# print("bezier"+str(0))
return (0)
def pascals_triangle(self):
return la.pascal(self.num_aux_dm_indices +
1 if self.num_aux_dm_indices > self.truncation_level
else self.truncation_level + 1)
def test_big(self):
p = pascal(50)
assert p[-1, -1] == comb(98, 49, exact=True)
def test_big(self):
p = pascal(50)
assert_equal(p[-1, -1], comb(98, 49, exact=True))
def __init__(self, r, r_min, r_max, c, r_0=0.0, s=1.0, reduced=False):
# remove zero high-order terms
c = np.array(np.trim_zeros(c, 'b'), float)
# if all coefficients are zero
if len(c) == 0:
# then both func and abel are also zero everywhere
self.func = np.zeros_like(r)
self.abel = self.func
return
# polynomial degree
K = len(c) - 1
if reduced:
# rescale r to [0, 1] (to avoid FP overflow)
r = r / r_max
r_0 /= r_max
s /= r_max
abel_scale = r_max
r_min /= r_max
r_max = 1.0
if s != 1.0:
# apply stretch
S = np.cumprod([1.0] + [1.0 / s] * K) # powers of 1/s
c *= S
if r_0 != 0.0:
# apply shift
P = pascal(1 + K, 'upper', False) # binomial coefficients
rk = np.cumprod([1.0] + [-float(r_0)] * K) # powers of -r_0
T = toeplitz([1.0] + [0.0] * K, rk) # upper-diag. (-r_0)^{l - k}
c = (P * T).dot(c)
# whether even and odd powers are present
even = np.any(c[::2])
odd = np.any(c[1::2])
# index limits
n = r.shape[0]
i_min = np.searchsorted(r, r_min)
i_max = np.searchsorted(r, r_max)
# Calculate all necessary variables within [0, r_max]
# x, x^2
x = r[:i_max]
x2 = x * x
# integration limits y = sqrt(r^2 - x^2) or 0
def sqrt0(x): return np.sqrt(x, np.zeros_like(x), where=x > 0)
y_up = sqrt0(r_max * r_max - x2)
y_lo = sqrt0(r_min * r_min - x2)
# y r^k |_lo^up
# (actually only even are neded for "even", and only odd for "odd")
Dyr = np.outer(np.cumprod([1.0] + [r_max] * K), y_up) - \
np.outer(np.cumprod([1.0] + [r_min] * K), y_lo)
# ln(r + y) |_lo^up, only for odd k
if odd:
# ln x for x > 0, otherwise 0
def ln0(x): return np.log(x, np.zeros_like(x), where=x > 0)
Dlnry = ln0(r_max + y_up) - \
ln0(np.maximum(r_min, x) + y_lo)
# One-sided Abel integral \int_lo^up r^k dy.
def a(k):
odd_k = k % 2
# max. x power
K = k - odd_k # (k - 1 for odd k)
# generate coefficients for all x^m r^{k - m} terms
# (only even indices are actually used;
# for odd k, C[K] is also used for x^{k+1} ln(r + y))
C = [0] * (K + 1)
C[0] = 1 / (k + 1)
for m in range(k, 1, -2):
C[k - m + 2] = C[k - m] * m / (m - 1)
# sum all terms using Horner's method in x
a = C[K] * Dyr[k - K]
if odd_k:
a += C[K] * x2 * Dlnry
for m in range(K - 2, -1, -2):
a = a * x2 + C[m] * Dyr[k - m]
return a
# Generate the polynomial function
func = np.zeros(n)
span = slice(i_min, i_max)
# (using Horner's method)
func[span] = c[K]
for k in range(K - 1, -1, -1):
func[span] = func[span] * x[span] + c[k]
self.func = func
# Generate its Abel transform
abel = np.zeros(n)
span = slice(0, i_max)
if reduced:
c *= abel_scale
for k in range(K + 1):
if c[k]:
abel[span] += c[k] * 2 * a(k)
self.abel = abel
def pascals_triangle(self):
return la.pascal(self.num_aux_dm_indices+1 if self.num_aux_dm_indices > self.truncation_level else self.truncation_level+1)
def cossin(self):
r"""
Radial distributions of
:math:`\cos^n \theta \cdot \sin^m \theta` terms
(*n* + *m* = **order**, and *n* + *m* = **order** − 1 for odd
orders, with *m* always even).
For **order** = 0:
:math:`\cos^0 \theta` is the total intensity.
For **order** = 1:
:math:`\cos^0 \theta` is the total intensity,
:math:`\cos^1 \theta` is the antisymmetric component.
For **order** = 2
:math:`\sin^2 \theta` corresponds to “perpendicular” (⟂)
transitions,
:math:`\cos^2 \theta` corresponds to “parallel” (∥)
transitions.
For **order** = 4
:math:`\sin^4 \theta` corresponds to ⟂,⟂,
:math:`\cos^2 \theta \cdot \sin^2 \theta` corresponds
to ∥,⟂ and ⟂,∥,
:math:`\cos^4 \theta` corresponds to ∥,∥.
And so on.
Notice that higher orders can represent lower orders as well:
:math:`\sin^2 \theta + \cos^2 \theta= \cos^0 \theta
\quad` (⟂ + ∥ = 1),
:math:`\sin^4 \theta + \cos^2 \theta \cdot \sin^2 \theta
= \sin^2 \theta \quad` (⟂,⟂ + ∥,⟂ = ⟂,⟂ + ⟂,∥ = ⟂),
:math:`\cos^2 \theta \cdot \sin^2 \theta + \cos^4 \theta
= \cos^2 \theta \quad` (∥,⟂ + ∥,∥ = ⟂,∥ + ∥,∥ = ∥),
and so forth.
Returns
-------
cosnsinm : (# terms) × (rmax + 1) numpy array
radial dependences of the :math:`\cos^n \theta \cdot \sin^m
\theta` terms, ordered from lower to higher :math:`\cos \theta`
powers
"""
# conversion matrix (cos^k → cos^n sin^m) for even k
CS = np.flip(pascal(1 + self.order // 2, 'upper'))
# apply to all radii
if self.odd:
cs = np.empty_like(self.cn)
# even powers
cs[::2] = CS.dot(self.cn[::2])
# odd powers
if self.order % 2 == 0: # even orders have
CS = CS[1:, 1:] # one less odd term
cs[1::2] = CS.dot(self.cn[1::2])
else:
cs = CS.dot(self.cn)
return cs
def __init__(self, r, cos, r_min, r_max, c, r_0=0.0, s=1.0):
if r.shape != cos.shape:
raise ValueError('Shapes of r and cos arrays must be equal.')
# trim negative r limits
if r_max <= 0:
# both func and abel must be zero everywhere
self.func = np.zeros_like(r)
self.abel = np.zeros_like(r)
return
if r_min < 0:
r_min = 0
c = np.array(c, dtype=float) # convert / make copy
if np.ndim(c) != 2:
raise ValueError('Coefficients array c must be 2-dimensional.')
# highest cos power with non-zero coefficient
N = c.nonzero()[1].max(initial=-1)
if N < 0: # all coefficients are zero
# so both func and abel are also zero everywhere
self.func = np.zeros_like(r)
self.abel = np.zeros_like(r)
return
# for each cos power: highest r power with non-zero coefficient
M = [a.nonzero()[0].max(initial=-1) for a in c.T]
if s != 1.0:
# apply stretch
S = np.cumprod([1.0] + [1.0 / s] * max(M)) # powers of 1/s
c *= np.array([S]).T
if r_0 != 0.0:
# apply shift
m = max(M)
P = pascal(1 + m, 'upper', False) # binomial coefficients
rm = np.cumprod([1.0] + [-float(r_0)] * m) # powers of -r_0
T = toeplitz([1.0] + [0.0] * m, rm) # upper-diag. (-r_0)^{i - j}
c = (P * T).dot(c)
rfull, cosfull = r, cos # (r and cos will be limited below)
# Generate the polynomial function
self.func = np.zeros_like(rfull)
# limit calculations to relevant domain (outside it func = 0)
dom = (r_min <= rfull) & (rfull < r_max)
r = rfull[dom]
cos = cosfull[dom]
# sum all non-zero terms using Horner's method
for n in range(N, -1, -1):
if n < N:
self.func[dom] *= cos
if M[n] < 0:
continue
p = np.full_like(r, c[M[n], n])
for m in range(M[n] - 1, -1, -1):
p *= r
if c[m, n]:
p += c[m, n]
self.func[dom] += p
# Generate its Abel transform
self.abel = np.zeros_like(rfull)
# relevant domain (outside it abel = 0)
# (excluding r = 0 to avoid singularities, see below)
dom = (0 < rfull) & (rfull < r_max)
r = rfull[dom]
cos = cosfull[dom]
# values at lower and upper integration limits
rho = [np.maximum(r, r_min),
r_max] # = max(r, r_max) within domain
z = [np.sqrt(rho[0]**2 - r**2),
np.sqrt(rho[1]**2 - r**2)]
f = [np.minimum(r / r_min, 1.0) if r_min else 1.0,
r / r_max] # = min(r/r_max, 1) within domain
# antiderivatives (recursive and used several times, thus cached)
@cache
def F(k, lim): # lim: 0 = lower limit, 1 = upper limit
if k < 0:
return (z[lim] * f[lim]**k - k * F(k + 2, lim)) / (1 - k)
if k == 0:
return z[lim]
if k == 1:
return r * np.log(z[lim] + rho[lim])
if k == 2:
return r * np.arccos(f[lim])
if k == 3: # (using explicit expression for higher efficiency)
return z[lim] * f[lim]
# k > 3: (in principle, k > 2)
k -= 2
return (z[lim] * f[lim]**k + (k - 1) * F(k, lim)) / k
# sum all non-zero terms using Horner's method
for n in range(N, -1, -1):
if n < N:
self.abel[dom] *= cos
if M[n] < 0:
continue
p = c[M[n], n] * 2 * (F(n - M[n], 1) - F(n - M[n], 0))
for m in range(M[n] - 1, -1, -1):
p *= r
if c[m, n]:
p += c[m, n] * 2 * (F(n - m, 1) - F(n - m, 0))
self.abel[dom] += p
# value at r = 0 (excluded above), nonzero only for n = 0
dom = np.where(rfull == 0)
for m in range(M[0] + 1):
k = m + 1
self.abel[dom] += c[m, 0] * 2 * (r_max**k - r_min**k) / k
# help garbage collector to release cache memory
F = None
def __init__(self, r, r_min, r_max, c, r_0=0.0, s=1.0, reduced=False):
n = r.shape[0]
# trim negative r limits
if r_max <= 0:
# both func and abel must be zero everywhere
self.func = np.zeros(n)
self.abel = np.zeros(n)
return
if r_min < 0:
r_min = 0
# remove zero high-order terms
c = np.array(np.trim_zeros(c, 'b'), float)
# if all coefficients are zero
if len(c) == 0:
# then both func and abel are also zero everywhere
self.func = np.zeros(n)
self.abel = np.zeros(n)
return
# polynomial degree
K = len(c) - 1
if reduced:
# rescale r to [0, 1] (to avoid FP overflow)
r = r / r_max
r_0 /= r_max
s /= r_max
abel_scale = r_max
r_min /= r_max
r_max = 1.0
if s != 1.0:
# apply stretch
S = np.cumprod([1.0] + [1.0 / s] * K) # powers of 1/s
c *= S
if r_0 != 0.0:
# apply shift
P = pascal(1 + K, 'upper', False) # binomial coefficients
rk = np.cumprod([1.0] + [-float(r_0)] * K) # powers of -r_0
T = toeplitz([1.0] + [0.0] * K, rk) # upper-diag. (-r_0)^{l - k}
c = (P * T).dot(c)
# whether even and odd powers are present
even = np.any(c[::2])
odd = np.any(c[1::2])
# index limits
i_min = np.searchsorted(r, r_min)
i_max = np.searchsorted(r, r_max)
# Calculate all necessary variables within [0, r_max]
# x, x^2
x = r[:i_max]
x2 = x * x
# integration limits y = sqrt(r^2 - x^2) or 0
def sqrt0(x): return np.sqrt(x, np.zeros_like(x), where=x > 0)
y_up = sqrt0(r_max * r_max - x2)
y_lo = sqrt0(r_min * r_min - x2)
# y r^k |_lo^up
# (actually only even are neded for "even", and only odd for "odd")
Dyr = np.outer(np.cumprod([1.0] + [r_max] * K), y_up) - \
np.outer(np.cumprod([1.0] + [r_min] * K), y_lo)
# ln(r + y) |_lo^up, only for odd k
if odd:
# ln x for x > 0, otherwise 0
def ln0(x): return np.log(x, np.zeros_like(x), where=x > 0)
Dlnry = ln0(r_max + y_up) - \
ln0(np.maximum(r_min, x) + y_lo)
# One-sided Abel integral \int_lo^up r^k dy.
def a(k):
odd_k = k % 2
# max. x power
K = k - odd_k # (k - 1 for odd k)
# generate coefficients for all x^m r^{k - m} terms
# (only even indices are actually used;
# for odd k, C[K] is also used for x^{k+1} ln(r + y))
C = [0] * (K + 1)
C[0] = 1 / (k + 1)
for m in range(k, 1, -2):
C[k - m + 2] = C[k - m] * m / (m - 1)
# sum all terms using Horner's method in x
a = C[K] * Dyr[k - K]
if odd_k:
a += C[K] * x2 * Dlnry
for m in range(K - 2, -1, -2):
a = a * x2 + C[m] * Dyr[k - m]
return a
# Generate the polynomial function
func = np.zeros(n)
span = slice(i_min, i_max)
# (using Horner's method)
func[span] = c[K]
for k in range(K - 1, -1, -1):
func[span] = func[span] * x[span] + c[k]
self.func = func
# Generate its Abel transform
abel = np.zeros(n)
span = slice(0, i_max)
if reduced:
c *= abel_scale
for k in range(K + 1):
if c[k]:
abel[span] += c[k] * 2 * a(k)
self.abel = abel
def bezier_plot(coordinate_left,coordinate_right,mask_image,points,og_img):
# LEFT
h, w = mask_image.shape
n=len(coordinate_left)
pascal_coord=pascal(n,kind='lower')[-1]
t=np.linspace(0,1,points)
p_x_left=np.zeros(points)
p_y_left=np.zeros(points)
p_x_right=np.zeros(points)
p_y_right=np.zeros(points)
# print(coordinate_left)
for i in range(n):
k=(t**(n-1-i))
l=(1-t)**i
p_x_left+=np.multiply(l,k)*pascal_coord[i]*coordinate_left[n-1-i][0]
p_y_left+=np.multiply(l,k)*pascal_coord[i]*coordinate_left[n-1-i][1]
p_x_right+=np.multiply(l,k)*pascal_coord[i]*coordinate_right[n-1-i][0]
p_y_right+=np.multiply(l,k)*pascal_coord[i]*coordinate_right[n-1-i][1]
bottom_left=[p_x_left[p_y_left==max(p_y_left)],p_y_left[p_y_left==max(p_y_left)]]
bottom_right=[p_x_right[p_y_right==max(p_y_right)],p_y_right[p_y_right==max(p_y_right)]]
bottom_left=[bottom_left[0][0],bottom_left[1][0]]
bottom_right=[bottom_right[0][0],bottom_right[1][0]]
bottom_centre=[int((bottom_left[0]+bottom_right[0])/2),int((bottom_left[1]+bottom_right[1])/2)]
search_point=bottom_centre.copy()
search_point[1]=search_point[1]-150
mask1=np.zeros((h,w))
for i in range(len(p_x_left)-1):
mask1=cv2.circle(mask1,(int(p_x_left[i]),int(p_y_left[i])),1,(255,255,255),5)
mask1=cv2.line(mask1,(int(p_x_left[i]),int(p_y_left[i])),(int(p_x_left[i+1]),int(p_y_left[i+1])),(255,255,255))
for i in range(len(p_x_right)-1):
mask1=cv2.circle(mask1,(int(p_x_right[i]),int(p_y_right[i])),1,(255,255,255),5)
mask1=cv2.line(mask1,(int(p_x_right[i]),int(p_y_right[i])),(int(p_x_right[i+1]),int(p_y_right[i+1])),(255,255,255))
left_sort=np.argsort(p_x_left)
p_x_left=p_x_left[left_sort]
p_y_left=p_y_left[left_sort]
right_sort=np.argsort(p_x_right)
p_x_right=p_x_right[right_sort]
p_y_right=p_y_right[right_sort]
mask1=cv2.line(mask1,tuple(bottom_centre),tuple(search_point),(255,255,255))
steer_val=0
if search_point[0]<max(p_x_left):
index=left_interval(search_point,p_x_left)
if index:
print(p_y_left[index],p_y_left[index-1])
if p_y_left[index]>search_point[1] or p_y_left[index-1]>search_point[1]:
print(p_x_left[index],p_y_left[index])
print(index)
steer_val=1
else:
mask1=cv2.putText(mask1,"No intersection",(50,50),cv2.FONT_HERSHEY_SIMPLEX,0.5,(255,255,255))
if search_point[0]>max(p_x_right):
index=right_interval(search_point,p_x_right)
if index:
if p_y_right[index]>search_point[1] or p_y_right[index+1]>search_point[1]:
print(p_x_right[index],p_y_right[index])
print(index)
steer_val=-1
else:
mask1=cv2.putText(mask1,"No intersection",(50,60),cv2.FONT_HERSHEY_SIMPLEX,0.5,(255,255,255))
mask1=cv2.circle(mask1,tuple(bottom_centre),1,(255,255,255),5)
mask1=cv2.circle(mask1,tuple(search_point),1,(255,255,255),5)
cv2.imshow("bezier_op",mask1)
return steer_val
def subsets0(nsamp,n,p,*args):
inpu=locals()
inp=len(inpu)
arug=inpu['arg']
if len(arug)<1:
ncomb=bc.bc0(n,p)
else:
ncomb=arug[0]
if len(arug)<2:
msg=1
else:
msg=arug[1]
seq=np.arange(1,n+1)
######################################################
## Combinatorial part to extract the subsamples
# Key combinatorial variables used:
# C = matrix containing the indexes of the subsets (subsamples) of size p
# nselected = size(C,1), the number of all selected subsamples.
# nselected = number of combinations on which the procedure is run.
# rndsi = vector of nselected indexes randomly chosen between 1 e ncomb.
Tcomb = 5e+7
T2comb = 1e+8
print("ncomb: "+str(ncomb)+" Tcomb: "+str(Tcomb))
if (nsamp==0 or ncomb <= Tcomb):
if nsamp==0:
if (ncomb > 100000 and msg==1):
print('Warning: you have specified to extract all subsets (ncomb='+str(ncomb)+')')
print('The problem is combinatorial and the run may be very lengthy')
nselected = ncomb
else:
nselected = nsamp
# If nsamp = 0 matrix C contains the indexes of all possible subsets
print("+++++++++++++++++++++++++++++++++++++**************************")
C=cs.combsFS0(seq,p)
#print(C)
# If nsamp is > 0 just select randomly ncomb rows from matrix C
if nsamp>0:
print("ncomb: "+str(ncomb))
print("nsamp: "+str(nsamp))
# Extract without replacement nsamp elements from ncomb
rndsi=rs.randsampleFS0(ncomb,nsamp,2)
#print(rndsi)
print("gooooooooooooooooooooooooooooooooooz")
C = C[rndsi-1,:] ###########################################
#print(C.shape)
#print(C)
#end
else:
print(" the codes have not been checked yet, they might be funny")
if (nsamp > 100000 and msg==1):
print('Warning: you have specified to extract more than 100000 subsets')
print('To iterate so many times may be lengthy')
nselected = nsamp
usepascal=0
if (ncomb>Tcomb and ncomb<T2comb):
# Extract without replacement nsamp elements from ncomb
rndsi=rs.randsampleFS0(ncomb,nsamp,2)
if platform.system()=='Windows':
print("yoooohoooo")
stat = MEMORYSTATUSEX()
ctypes.windll.kernel32.GlobalMemoryStatusEx(ctypes.byref(stat))
print(stat.ullAvailPhys)
#[~,sys]=memory
bytesavailable=stat.ullAvailPhys
if bytesavailable > 2*8*n**2:
pascalM=pascal(n)
else:
pascalM=pascal(n)
usepascal=1
if n < 2**15:
C=np.zeros((nselected,p),'int16')
else:
C=np.zeros((nselected,p),'int32')
print(rndsi)
for i in range(1,nselected+1):
if (ncomb>Tcomb and ncomb<T2comb):
if usepascal:
#print(" here n is: "+str(n))
#print(" here p is: "+str(p))
#print(" here rndsi[i] is: "+str(rndsi[i]))
#print(" here pascalM is: "+str(pascalM))
s, calls=lx.lexunrank0(n,p,rndsi[i-1],pascalM)
#print("sssssssssssssssssss")
#print(s)
else:
s, calls=lx.lexunrank0(n,p,rndsi[i-1])
else:
s, calls=rs.randsampleFS0(n,p)
C[i-1,:]=s
return C, nselected
def time_pascal(self, size):
sl.pascal(size)