def FromImages(tcname, id_discdds, image1, image2, true_plan=None):
config = get_current_config()
discdds = config.discdds.instance(id_discdds)
shape = discdds.get_shape()
rgb1 = config.images.instance(image1)
image1 = resize(rgb1, shape[1], shape[0])
assert_allclose(image1.shape[:2], shape)
rgb2 = config.images.instance(image2)
image2 = resize(rgb2, shape[1], shape[0])
assert_allclose(image2.shape[:2], shape)
# predict the result
y0 = UncertainImage(image1)
y1 = UncertainImage(image2)
tc = TestCase(id_tc=tcname, id_discdds=id_discdds,
y0=y0, y1=y1, true_plan=true_plan)
return tc
def ManualMotion(tcname, id_discdds, id_image, planstring):
# Get a random plan
config = get_current_config()
discdds = config.discdds.instance(id_discdds)
rgb = config.images.instance(id_image)
shape = discdds.get_shape()
image1 = resize(rgb, shape[1], shape[0])
assert_allclose(image1.shape[:2], shape)
chars = "abcdefghilmnopqrst"
char2int = dict([(c, i) for i, c in enumerate(chars)])
plan = tuple(map(char2int.__getitem__, planstring))
# predict the result
y0 = UncertainImage(image1)
y1 = discdds.predict(y0, plan)
tc = TestCase(id_tc=tcname, id_discdds=id_discdds,
y0=y0, y1=y1, true_plan=plan)
return tc
