def update(self):
rgb0 = self.input.rgb
H, W = self.discdds.get_shape()
rgb = resize(rgb0, width=W, height=H)
y0 = UncertainImage(rgb)
y1 = self.action.predict(y0)
pred = y1.get_rgba_fill()
pred2 = resize(pred, height=rgb0.shape[0], width=rgb0.shape[1])
self.output.prediction = pred2[:, :, :3]
def update(self):
rgb0 = self.input.rgb
H, W = self.discdds.get_shape()
rgb = resize(rgb0, width=W, height=H)
y0 = UncertainImage(rgb)
y1 = self.action.predict(y0)
pred = y1.get_rgba_fill()
pred2 = resize(pred, height=rgb0.shape[0], width=rgb0.shape[1])
self.output.prediction = pred2[:, :, :3]
def show_symdiffeo(config, parser): #@UnusedVariable
""" Creates a report for symbolically-defined DDS. """
parser.add_option("-o",
"--output",
help="Output directory",
default='out/dp-show-symdiffeo/')
parser.add_option("-i", "--id_image", help="ID image.", default='lena')
parser.add_option("-d", "--id_diffeo", help="ID diffeo.")
parser.add_option("-r",
"--resolution",
default=64,
help="Resolution (pixels)")
options, which = parser.parse()
outdir = options.output
resolution = int(options.resolution)
if not which:
todo = config.symdiffeos.keys()
else:
todo = config.symdiffeos.expand_names(which)
id_image = options.id_image
image = config.images.instance(id_image)
image = resize(image, resolution, resolution)
for id_diffeo in todo:
diffeo = config.symdiffeos.instance(id_diffeo)
report = Report(id_diffeo)
symdiffeo_display(report, image, diffeo, resolution)
write_report_files(report, basename=os.path.join(outdir, id_diffeo))
def show_symdiffeo(config, parser): #@UnusedVariable
""" Creates a report for symbolically-defined DDS. """
parser.add_option("-o", "--output", help="Output directory",
default='out/dp-show-symdiffeo/')
parser.add_option("-i", "--id_image", help="ID image.", default='lena')
parser.add_option("-d", "--id_diffeo", help="ID diffeo.")
parser.add_option("-r", "--resolution", default=64,
help="Resolution (pixels)")
options, which = parser.parse()
outdir = options.output
resolution = int(options.resolution)
if not which:
todo = config.symdiffeos.keys()
else:
todo = config.symdiffeos.expand_names(which)
id_image = options.id_image
image = config.images.instance(id_image)
image = resize(image, resolution, resolution)
for id_diffeo in todo:
diffeo = config.symdiffeos.instance(id_diffeo)
report = Report(id_diffeo)
symdiffeo_display(report, image, diffeo, resolution)
write_report_files(report, basename=os.path.join(outdir, id_diffeo))
def update(self):
rgb0 = self.input.rgb
pad = self.config.pad
H, W = self.discdds.get_shape()
rgb = resize(rgb0, width=W, height=H)
y0 = UncertainImage(rgb)
uimages = [a.predict(y0) for a in self.actions]
images = [x.get_rgba_fill()[..., :3] for x in uimages]
images = [resize(x, height=rgb0.shape[0], width=rgb0.shape[1])
for x in images]
canvas = make_images_grid(images, pad=pad)
self.output.prediction = canvas
def obs2ui(self, y):
""" Converts observatiosn from outside in an UncertainImage
of the right dimensions to deal with this DDS. """
shape = self.discdds.get_shape()
y = (y * 255).astype('uint8')
y = resize(y, width=shape[1], height=shape[0])
ui = UncertainImage(y)
return ui
def obs2ui(self, y):
""" Converts observatiosn from outside in an UncertainImage
of the right dimensions to deal with this DDS. """
shape = self.discdds.get_shape()
y = (y * 255).astype('uint8')
y = resize(y, width=shape[1], height=shape[0])
ui = UncertainImage(y)
return ui
def observations_from_messages(self, messages):
""" Converts the topics listed here to a class of XX """
from procgraph_ros.conversions import ros2rgb
msg = messages[self.topic]
rgb = ros2rgb(msg)
rgb2 = resize(rgb, width=self.shape[1], height=self.shape[0])
rgb2 = np.clip(rgb2 / 255.0, 0, 1)
return rgb2
def update(self):
rgb0 = self.input.rgb
pad = self.config.pad
H, W = self.discdds.get_shape()
rgb = resize(rgb0, width=W, height=H)
y0 = UncertainImage(rgb)
uimages = [a.predict(y0) for a in self.actions]
images = [x.get_rgba_fill()[..., :3] for x in uimages]
images = [
resize(x, height=rgb0.shape[0], width=rgb0.shape[1])
for x in images
]
canvas = make_images_grid(images, pad=pad)
self.output.prediction = canvas
def discdds_make_test_cases(config, outdir, id_discdds,
id_image, num_cases, plan_length):
# Get the DiffeoSystem
discdds = config.discdds.instance(id_discdds)
# Get the RGB image
rgb = config.images.instance(id_image)
shape = discdds.get_shape()
rgb = resize(rgb, shape[1], shape[0])
assert rgb.shape[0] == shape[0]
assert rgb.shape[1] == shape[1]
image = UncertainImage(rgb)
for i in range(num_cases):
tcname = 'tc_%s_%s_d%d_%03d' % (id_discdds, id_image, plan_length, i)
discdds_make_test_case(outdir, tcname, id_discdds,
discdds, image, plan_length)
def discdds_make_test_cases(config, outdir, id_discdds, id_image, num_cases,
plan_length):
# Get the DiffeoSystem
discdds = config.discdds.instance(id_discdds)
# Get the RGB image
rgb = config.images.instance(id_image)
shape = discdds.get_shape()
rgb = resize(rgb, shape[1], shape[0])
assert rgb.shape[0] == shape[0]
assert rgb.shape[1] == shape[1]
image = UncertainImage(rgb)
for i in range(num_cases):
tcname = 'tc_%s_%s_d%d_%03d' % (id_discdds, id_image, plan_length, i)
discdds_make_test_case(outdir, tcname, id_discdds, discdds, image,
plan_length)
