def trip_time(self, cargo):
"""Calculate time needed to deliver cargo."""
# TODO Refactoring.
if not cargo:
return 0
total_time = 0
self.position = self.base
self.used_capacity = sum(parcel.weight for parcel in cargo)
self.fuel = self.max_fuel
for parcel in cargo:
distance = dist(self.position, parcel.position)
velocity = self.absolute_speed(self.position, parcel.position)
self.position = parcel.position
flight_time = (distance +
2 * self.factor * self.altitude) / velocity
total_time += flight_time
total_time += self.waiting_at_client
self.fuel -= self.fuel_consumption * flight_time
self.used_capacity -= parcel.weight
distance = dist(self.position, self.base)
velocity = self.absolute_speed(self.position, self.base)
self.position = self.base
flight_time = (distance + 2 * self.factor * self.altitude) / velocity
total_time += flight_time
total_time += self.waiting_at_base
self.fuel -= self.fuel_consumption * flight_time
return total_time
def is_possible(self):
"""Check whether such a cargo is possible to be delivered in one go."""
# TODO Refactoring.
self.position = self.base
cargo_weight = sum(parcel.weight for parcel in self.cargo)
if cargo_weight > self.max_capacity:
return False
self.used_capacity = cargo_weight
self.fuel = self.max_fuel
for parcel in self.cargo:
distance = dist(self.position, parcel.position)
velocity = self.absolute_speed(self.position, parcel.position)
self.position = parcel.position
flight_time = (distance +
2 * self.factor * self.altitude) / velocity
self.fuel -= self.fuel_consumption * flight_time
self.used_capacity -= parcel.weight
if self.fuel < 0:
return False
distance = dist(self.position, self.base)
velocity = self.absolute_speed(self.position, self.base)
self.position = self.base
flight_time = (distance + 2 * self.factor * self.altitude) / velocity
self.fuel -= self.fuel_consumption * flight_time
if self.fuel < 0:
return False
return True
def makeWeights(options, X, Y, GX, GY):
# hack to compute scores using normalized projections
if options.normalize_projections == 1:
X = common.normalize_rows(X, 2) # note that normalize_rows works on arrays, not matrices.
Y = common.normalize_rows(Y, 2)
X = np.mat(X)
Y = np.mat(Y)
if GX is not None or GY is not None:
GX = np.mat(GX)
GY = np.mat(GY)
Z = np.mat(0)
if options.weight_type == 'inner':
U = X*Y.T # linear kernel
if options.alpha > 0: # TODO: add higher order graphs
Z = GX * U * GY.T
W = (1-options.alpha)*U + options.alpha*Z
else:
W = U
W = np.max(W) - W
elif options.weight_type == 'dist':
U = common.dist(X, Y)
if options.alpha > 0: # TODO: add higher order graph
Z = common.dist(GX * X, GY * Y)
W = (1-options.alpha)*U + options.alpha*Z
else:
W = U
elif options.weight_type == 'sqrdist':
U = common.dist(X, Y, metric='sqeuclidean')
if options.alpha > 0: # TODO: add higher order graph
Z = common.dist(GX * X, GY * Y, metric='sqeuclidean')
W = (1-options.alpha)*U + options.alpha*Z
else:
W = U
elif options.weight_type == 'graph_min_dist':
U = common.dist(X, Y)
GX = np.array(GX)
GY = np.array(GY)
if options.alpha > 0: # TODO: add higher order graph
Z, IX, IY = cy_getGraphMinDist(GX, GY, U)
W = (1-options.alpha)*U + options.alpha*Z
else:
W = []
saveWUZ(U, W, Z, options)
#print 'norm(U) = ', np.linalg.norm(U, 2), '| norm(Z) = ', np.linalg.norm(Z, 2)
return W, U, Z
def build():
global selected_build
# make sure cursor is visible
if selected_build not in range(len(player['inventory'])):
selected_build = 0
max_build_dist = 3
mouse_coords = get_coords_at_mouse()
mouse_x, mouse_y = mouse_coords
mouse_wants_to_build = pygame.mouse.get_pressed()[2] == 1
if not rules['powder_like']:
mouse_distance_good = dist(mouse_coords,
player['pos']) <= max_build_dist
if not mouse_distance_good:
return None
if set(von_neumann_neighborhood(mouse_coords, world)) == {None}:
return None
mouse_on_map = (0 <= mouse_x < len(world[0])) and (0 <= mouse_y <
len(world))
if mouse_on_map and mouse_wants_to_build and player[
'inventory'] and not world[mouse_y][mouse_x]:
block_name = list(player['inventory'].keys())[selected_build]
block_block = get_block_by_name(block_name)
if 'item' not in block_block.tags:
# remove block from inventory
if not rules['powder_like']:
inv_edit(block_name, -1)
# place block in world
world[mouse_y][mouse_x] = block_block
def doplot(prefix='/media/scratch/peri/bad/platonic-form',
images='/media/scratch/peri/does_matter/platonic-form-images.pkl',
forms=['ev-exact-gaussian', 'ev-constrained-cubic', 'ev-lerp', 'ev-logistic'],
labels=['EG', 'CC', 'LP', 'LG']):
print "Generating a image comparison"
images = pickle.load(open(images))
im,pos = images[0]
s,im = create_comparison_state(im, pos)
common.set_image(s, im, 0.0001)
h,l = runner.do_samples(s, 20, 0, stepout=0.1, quiet=True)
h = h.mean(axis=0)
s.obj.pos = np.array([h[:3]])
s.obj.rad = np.array([h[3]])
s.reset()
nn = np.s_[:,:,im.shape[2]/2]
diff = (im - s.get_model_image()[s.inner])
image0, image1 = im[nn], diff[nn]
print "Plotting"
xs, crbs, errors = [], [], []
for i, form in enumerate(forms):
fn = prefix+'-'+form+'.pkl'
crb, val, err, pos, time = pickle.load(open(fn))
pos += 16
xs.append(time)
crbs.append(common.dist(crb))
errors.append(common.errs(val, pos))
common.doplot(image0, image1, xs, crbs, errors, labels, diff_image_scale=0.05,
dolabels=True, multiple_crbs=False, xlim=None, ylim=None, highlight=None,
detailed_labels=True, title='Platonic form', xlabel=r"$1/\rm{SNR}$")
def doplot(prefix='/media/scratch/peri/does_matter/z-jitter',
snrs=[20, 50, 200, 500]):
s, im, pos = zjitter(jitter=0.1, radius=5)
diff = (im - s.get_model_image()[s.inner])
nn = np.s_[:, :, im.shape[2] / 2]
image0, image1 = im[nn], diff[nn]
xs, crbs, errors = [], [], []
for i, snr in enumerate(snrs):
fn = prefix + '-snr-' + str(snr) + '.pkl'
crb, val, err, pos, time = pickle.load(open(fn))
xs.append(time)
crbs.append(common.dist(crb))
errors.append(common.errs(val, pos))
labels = ['SNR %i' % i for i in snrs]
common.doplot(image0,
image1,
xs,
crbs,
errors,
labels,
diff_image_scale=0.05,
dolabels=True,
multiple_crbs=True,
xlim=(0, time[-1]),
ylim=(1e-4, 1e0),
highlight=None,
detailed_labels=False,
title=r"$z$-scan jitter",
xlabel=r"$z$-scan NSR")
def search(unseenX, trainX, k, want_self=False):
""" find K nearest neighbours of unseenX within trainX """
N = trainX.shape[1] # samples are rows
k = np.min([k, N])
# compute euclidean distances from the other points
sqd = dist(unseenX, trainX)
return find_knn(sqd, k, want_self)
def test2():
N = 3000
D = 50
X = common.randn((N, D))
Y = common.randn((N, D))
U = common.dist(X, Y)
import cProfile
#cProfile.runctx('(cost, pi, edge_cost) = approxMatch(U)', globals(), locals())
cProfile.runctx('(cy_cost0, cy_pi0, cy_edge_cost0) = cy_ApproxMatch(U)', globals(), locals())
print cy_cost0
def main():
global mouse_info
game_config = configparser.ConfigParser()
game_config.read(args.game_config)
input_rows = game_config.getint('PinballFieldVideo', 'rows')
input_cols = game_config.getint('PinballFieldVideo', 'cols')
# A standard pinball is 17/16", a standard playfield is 20.25", so the ratio
# between them is ~5%. Assuming we've cropped the playfield correctly, the
# number of columns should represent 20.25" in pixels.
PINBALL_RADIUS_PX = int(17.0 / 16 / 20.25 * input_cols / 2)
video_frames = common.get_all_frames_from_video(
game_config.get('PinballFieldVideo', 'path'))
frame_to_keypoints_list = common.load_json_keypoints_as_list(
game_config.get('PinballFieldVideo', 'keypoints_path'))
if not frame_to_keypoints_list:
print("No keypoints found, starting from scratch.")
frame_to_keypoints_list = [[] for _ in video_frames]
keypoint_circles = common.get_all_keypoint_masks(input_rows, input_cols,
frame_to_keypoints_list,
PINBALL_RADIUS_PX, 1)
# Display our windows and set up their callbacks.
common.display_image(video_frames[0], title=WINDOW_COLOR_FRAME)
cv2.setMouseCallback(WINDOW_COLOR_FRAME, handle_click, WINDOW_COLOR_FRAME)
#if keypoint_circles:
common.display_image(keypoint_circles[0], title=WINDOW_KEYPOINTS)
common.display_image(common.add_bgr_and_gray(video_frames[0],
keypoint_circles[0]),
title=WINDOW_COMBINED)
#else:
# common.display_image(np.zeros_like(video_frames[0]), title=WINDOW_KEYPOINTS)
# common.display_image(np.zeros_like(video_frames[0]), title=WINDOW_COMBINED)
# No callback on the keypoints only window, they're just to help see.
cv2.setMouseCallback(WINDOW_COMBINED, handle_click, WINDOW_COMBINED)
# TODO: Combine the keypoints and golden keypoints into one structured file,
# ideally a sort of per-frame object that contains arbitrary information
# about it. Then we can wrap each frame in a python object, providing utility
# methods on a per-frame basis.
# If the golden keypoints file already exists, load it.
try:
with open(
game_config.get('PinballFieldVideo', 'keypoints_golden_path'),
'r') as golden_keypoints_file:
golden_keypoints = json.load(golden_keypoints_file)
last_frame_processed = None
for i, keypoint in enumerate(reversed(golden_keypoints)):
if keypoint:
last_frame_processed = len(golden_keypoints) - i - 1
print("The last frame processed is", last_frame_processed)
break
except IOError:
print("No golden keypoints found, starting from scratch.")
golden_keypoints = [[]] * len(video_frames)
last_frame_processed = -1
i = last_frame_processed + 1
while i < len(video_frames):
video_frame = video_frames[i]
keypoint_circle = keypoint_circles[i]
keypoints_in_frame = frame_to_keypoints_list[i]
golden_keypoint = golden_keypoints[i]
if golden_keypoint:
print("Frame", i, "has golden keypoint", golden_keypoint)
else:
print("Frame", i, "needs a keypoint")
common.display_image(video_frame, title=WINDOW_COLOR_FRAME)
common.display_image(keypoint_circle, title=WINDOW_KEYPOINTS)
common.display_image(common.add_bgr_and_gray(video_frame,
keypoint_circle),
title=WINDOW_COMBINED)
print("Waiting for key or click...")
while True:
key = cv2.waitKey(1) & 0xFF
if key == ord('q'):
with open(
game_config.get('PinballFieldVideo',
'keypoints_golden_path'),
'w') as golden_keypoints_file:
json.dump(golden_keypoints, golden_keypoints_file)
cv2.destroyAllWindows()
return 0
elif key == ord('n'):
break # The while loop, continue with next frame
elif key == ord('p'):
i -= 2
break # The while loop, continue with previous frame
elif mouse_info:
window, mouse_xy = mouse_info
mouse_info = None
if window == WINDOW_COMBINED:
selected_keypoint = None
for (x, y, size) in keypoints_in_frame:
if common.dist(mouse_xy,
(x, y)) < 5 * PINBALL_RADIUS_PX:
selected_keypoint = [x, y, size]
if selected_keypoint:
print("Setting frame", i, "golden keypoint:",
selected_keypoint)
golden_keypoints[i] = [selected_keypoint]
break # Go to the next frame
else:
# Must've been a missed click / not close enough.
print(
"No keypoint detected close by, please try again.")
elif window == WINDOW_COLOR_FRAME:
golden_keypoints[i] = [mouse_xy + [PINBALL_RADIUS_PX]]
print("Setting frame", i, "golden keypoint:",
golden_keypoints[i])
break
i += 1
print("All done! :)")
with open(game_config.get('PinballFieldVideo', 'keypoints_golden_path'),
'w') as golden_keypoints_file:
json.dump(golden_keypoints, golden_keypoints_file)
cv2.destroyAllWindows()
return 0
def lasttime_adjacency_check(first_ride, second_ride):
return first_ride[2][1] + first_ride[3] + dist(
first_ride[1], second_ride[0]) <= second_ride[2][1]
return G, idx
def toSymmetricStochastic(G, sym=True, stochastic=True, norm='l1'):
if sym:
print >> sys.stderr, 'symmetrizing'
G = (G + G.T) / 2
if stochastic:
print >> sys.stderr, 'normalizing'
G = normalize(G, norm, axis=1) # make stochastic matrix.
return G
# def permute(G, pi):
# (N, _) = G.shape
# M = len(pi)
# pi = np.append(pi, np.arange(M, N))
# G = G[:, pi]
# G = G[pi, :]
# return G
if __name__ == '__main__':
A = np.mat(common.randn((4, 5)))
K = A * A.T
D = np.mat(common.dist(A))
k = 2
(G, I) = knn_graph(A, k)
(KG, KI) = kernel_knn_graph(K, k)
print "G-KG", np.linalg.norm((G-KG).todense())
print 'G:\n', G.todense()
print 'D:\n', D
def doplot(prefix='/media/scratch/peri/does_matter/brownian-motion',
snrs=[20, 50, 200, 500]):
fig = pl.figure(figsize=(14, 7))
ax = fig.add_axes([0.43, 0.15, 0.52, 0.75])
gs = ImageGrid(fig,
rect=[0.05, 0.05, 0.25, 0.90],
nrows_ncols=(2, 1),
axes_pad=0.25,
cbar_location='right',
cbar_mode='each',
cbar_size='10%',
cbar_pad=0.04)
s, im, pos = diffusion(1.0, 0.1, samples=200)
h, l = runner.do_samples(s, 30, 0, quiet=True)
nn = np.s_[:, :, im.shape[2] / 2]
figlbl, labels = ['A', 'B'], ['Reference', 'Difference']
diff = (im - s.get_model_image()[s.inner])[nn]
diffm = 0.1 #np.abs(diff).max()
im0 = gs[0].imshow(im[nn], vmin=0, vmax=1, cmap='bone_r')
im1 = gs[1].imshow(diff, vmin=-diffm, vmax=diffm, cmap='RdBu')
cb0 = pl.colorbar(im0, cax=gs[0].cax, ticks=[0, 1])
cb1 = pl.colorbar(im1, cax=gs[1].cax, ticks=[-diffm, diffm])
cb0.ax.set_yticklabels(['0', '1'])
cb1.ax.set_yticklabels(['-%0.1f' % diffm, '%0.1f' % diffm])
for i in xrange(2):
gs[i].set_xticks([])
gs[i].set_yticks([])
gs[i].set_ylabel(labels[i])
#lbl(gs[i], figlbl[i])
aD = 1.0 / (25. / 0.15)
symbols = ['o', '^', 'D', '>']
for i, snr in enumerate(snrs):
c = common.COLORS[i]
fn = prefix + '-snr-' + str(snr) + '.pkl'
crb, val, err, pos, time = pickle.load(open(fn))
if i == 0:
label0 = r"$\rm{SNR} = %i$ CRB" % snr
label1 = r"$\rm{SNR} = %i$ Error" % snr
else:
label0 = r"$%i$, CRB" % snr
label1 = r"$%i$, Error" % snr
time *= aD # a^2/D, where D=1, and a=5 (see first function)
ax.plot(time, common.dist(crb), '-', c=c, lw=3, label=label0)
ax.plot(time,
common.errs(val, pos),
symbols[i],
ls='--',
lw=2,
c=c,
label=label1,
ms=12)
# 80% glycerol value
ax.vlines(0.100 * aD,
1e-6,
100,
linestyle='-',
lw=40,
alpha=0.2,
color='k')
#pl.text(0.116*aD*1.45, 3e-4, 'G/W')
# 100% water value
ax.vlines(0.100 * aD * 60,
1e-6,
100,
linestyle='-',
lw=40,
alpha=0.2,
color='b')
#ax.text(0.116*aD*75*2, 0.5, 'W')
ax.loglog()
ax.set_ylim(5e-4, 2e0)
ax.set_xlim(time[0], time[-1])
ax.legend(loc='best', ncol=2, prop={'size': 18}, numpoints=1)
ax.set_xlabel(r"$\tau_{\rm{exposure}} / (a^2/D)$")
ax.set_ylabel(r"Position CRB, Error")
ax.grid(False, which='both', axis='both')
ax.set_title("Brownian motion")
def path_length(self):
"""Get recalculated path length."""
path = self.path
return sum(
dist(point1, point2)
for point1, point2 in zip(path[:-1], path[1:]))