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<title>Coverage for navipy/processing/pcode.py: 68%</title>
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<h1>Coverage for <b>navipy/processing/pcode.py</b> :
<span class="pc_cov">68%</span>
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140 statements
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<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
<p id="t2" class="pln"><span class="str">place code derived from scene</span><span class="strut"> </span></p>
<p id="t3" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
<p id="t4" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
<p id="t5" class="stm run hide_run"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
<p id="t6" class="stm run hide_run"><span class="key">from</span> <span class="nam">scipy</span><span class="op">.</span><span class="nam">ndimage</span> <span class="key">import</span> <span class="nam">maximum_filter</span><span class="op">,</span> <span class="nam">minimum_filter</span><span class="strut"> </span></p>
<p id="t7" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">__spherical_indeces__</span><span class="strut"> </span></p>
<p id="t8" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">__cartesian_indeces__</span><span class="strut"> </span></p>
<p id="t9" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">__ibpc_indeces__</span><span class="strut"> </span></p>
<p id="t10" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">__obpc_indeces__</span><span class="strut"> </span></p>
<p id="t11" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">is_ibpc</span><span class="strut"> </span></p>
<p id="t12" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">is_obpc</span><span class="strut"> </span></p>
<p id="t13" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span><span class="op">.</span><span class="nam">coordinates</span> <span class="key">import</span> <span class="nam">spherical_to_cartesian</span><span class="strut"> </span></p>
<p id="t14" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">check_scene</span><span class="strut"> </span></p>
<p id="t15" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">check_viewing_direction</span><span class="strut"> </span></p>
<p id="t16" class="pln"><span class="strut"> </span></p>
<p id="t17" class="pln"><span class="strut"> </span></p>
<p id="t18" class="stm run hide_run"><span class="key">def</span> <span class="nam">skyline</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t19" class="pln"> <span class="str">"""Return the average along the elevation of a scene</span><span class="strut"> </span></p>
<p id="t20" class="pln"><span class="strut"> </span></p>
<p id="t21" class="pln"><span class="str"> :param scene: the scenery at a given location (a 4d numpy array)</span><span class="strut"> </span></p>
<p id="t22" class="pln"><span class="str"> :returns: the skyline [1,azimuth,channel,1]</span><span class="strut"> </span></p>
<p id="t23" class="pln"><span class="str"> :rtype: np.ndarray</span><span class="strut"> </span></p>
<p id="t24" class="pln"><span class="strut"> </span></p>
<p id="t25" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
<p id="t26" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t27" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'scene should be image based to compute a skyline'</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t28" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t29" class="stm run hide_run"> <span class="nam">skyline</span> <span class="op">=</span> <span class="nam">scene</span><span class="op">.</span><span class="nam">mean</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="nam">__ibpc_indeces__</span><span class="op">[</span><span class="str">'elevation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t30" class="stm run hide_run"> <span class="key">return</span> <span class="nam">skyline</span><span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t31" class="pln"><span class="strut"> </span></p>
<p id="t32" class="pln"><span class="strut"> </span></p>
<p id="t33" class="stm run hide_run"><span class="key">def</span> <span class="nam">michelson_contrast</span><span class="op">(</span><span class="nam">scene</span><span class="op">,</span> <span class="nam">size</span><span class="op">=</span><span class="num">3</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t34" class="pln"> <span class="str">"""Return the michelson constrast</span><span class="strut"> </span></p>
<p id="t35" class="pln"><span class="strut"> </span></p>
<p id="t36" class="pln"><span class="str"> .. math::</span><span class="strut"> </span></p>
<p id="t37" class="pln"><span class="strut"> </span></p>
<p id="t38" class="pln"><span class="str"> \\frac{I_\\text{max}-I_\\text{min}}{I_\\text{max}+I_\\text{min}}</span><span class="strut"> </span></p><p id="t39" class="pln"><span class="strut"> </span></p>
<p id="t40" class="pln"><span class="str"> with :math:`I_\\text{max}` and :math:`I_\\text{min}` representing the \</span><span class="strut"> </span></p>
<p id="t41" class="pln"><span class="str">highest and lowest luminance in an image region around each pixel.</span><span class="strut"> </span></p>
<p id="t42" class="pln"><span class="strut"> </span></p>
<p id="t43" class="pln"><span class="str"> :param scene: an image based scene</span><span class="strut"> </span></p>
<p id="t44" class="pln"><span class="str"> :param size: the size of the region to calculate the maximum \</span><span class="strut"> </span></p>
<p id="t45" class="pln"><span class="str">and minimum of the local image intensity</span><span class="strut"> </span></p>
<p id="t46" class="pln"><span class="str"> :returns: the michelson-contrast</span><span class="strut"> </span></p>
<p id="t47" class="pln"><span class="str"> :rtype: np.ndarray</span><span class="strut"> </span></p>
<p id="t48" class="pln"><span class="strut"> </span></p>
<p id="t49" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
<p id="t50" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t51" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t52" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'scene should be image based\</span><span class="strut"> </span></p>
<p id="t53" class="pln"><span class="str"> to compute the michelson constrast'</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t54" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">size</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t55" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'size must be integer'</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t56" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">size</span> <span class="op"><</span> <span class="num">2</span> <span class="key">or</span> <span class="nam">size</span> <span class="op">></span> <span class="num">5</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t57" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'size must be between 2 and 5'</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t58" class="stm run hide_run"> <span class="nam">contrast</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros_like</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t59" class="stm run hide_run"> <span class="key">for</span> <span class="nam">channel</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">__ibpc_indeces__</span><span class="op">[</span><span class="str">'channel'</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t60" class="stm run hide_run"> <span class="nam">i_max</span> <span class="op">=</span> <span class="nam">maximum_filter</span><span class="op">(</span><span class="nam">scene</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">channel</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
<p id="t61" class="pln"> <span class="nam">size</span><span class="op">=</span><span class="nam">size</span><span class="op">,</span> <span class="nam">mode</span><span class="op">=</span><span class="str">'wrap'</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t62" class="stm run hide_run"> <span class="nam">i_min</span> <span class="op">=</span> <span class="nam">minimum_filter</span><span class="op">(</span><span class="nam">scene</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">channel</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
<p id="t63" class="pln"> <span class="nam">size</span><span class="op">=</span><span class="nam">size</span><span class="op">,</span> <span class="nam">mode</span><span class="op">=</span><span class="str">'wrap'</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t64" class="stm run hide_run"> <span class="nam">divider</span> <span class="op">=</span> <span class="nam">i_max</span> <span class="op">+</span> <span class="nam">i_min</span><span class="strut"> </span></p>
<p id="t65" class="stm run hide_run"> <span class="nam">nonzero</span> <span class="op">=</span> <span class="nam">divider</span> <span class="op">!=</span> <span class="num">0</span><span class="strut"> </span></p>
<p id="t66" class="stm run hide_run"> <span class="nam">eqzero</span> <span class="op">=</span> <span class="nam">divider</span> <span class="op">==</span> <span class="num">0</span><span class="strut"> </span></p>
<p id="t67" class="stm run hide_run"> <span class="nam">i_min</span> <span class="op">=</span> <span class="nam">i_min</span><span class="op">[</span><span class="nam">nonzero</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t68" class="stm run hide_run"> <span class="nam">i_max</span> <span class="op">=</span> <span class="nam">i_max</span><span class="op">[</span><span class="nam">nonzero</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t69" class="stm run hide_run"> <span class="nam">divider</span> <span class="op">=</span> <span class="nam">divider</span><span class="op">[</span><span class="nam">nonzero</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t70" class="stm run hide_run"> <span class="nam">contrast</span><span class="op">[</span><span class="nam">nonzero</span><span class="op">,</span> <span class="nam">channel</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">i_max</span> <span class="op">-</span> <span class="nam">i_min</span><span class="op">)</span> <span class="op">/</span> <span class="nam">divider</span><span class="strut"> </span></p>
<p id="t71" class="stm run hide_run"> <span class="nam">contrast</span><span class="op">[</span><span class="nam">eqzero</span><span class="op">,</span> <span class="nam">channel</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
<p id="t72" class="stm run hide_run"> <span class="key">return</span> <span class="nam">contrast</span><span class="strut"> </span></p>
<p id="t73" class="pln"><span class="strut"> </span></p>
<p id="t74" class="pln"><span class="strut"> </span></p>
<p id="t75" class="stm run hide_run"><span class="key">def</span> <span class="nam">contrast_weighted_nearness</span><span class="op">(</span><span class="nam">scene</span><span class="op">,</span> <span class="nam">contrast_size</span><span class="op">=</span><span class="num">3</span><span class="op">,</span> <span class="nam">distance_channel</span><span class="op">=</span><span class="num">3</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t76" class="pln"> <span class="str">"""Return the michelson contrast wheighted nearness</span><span class="strut"> </span></p>
<p id="t77" class="pln"><span class="strut"> </span></p>
<p id="t78" class="pln"><span class="str"> :param scene: an image based scene</span><span class="strut"> </span></p>
<p id="t79" class="pln"><span class="str"> :param contrast_size: the size of the region to calculate the maximum \</span><span class="strut"> </span></p>
<p id="t80" class="pln"><span class="str">and minimum of the local image intensity in the michelson-contrast.</span><span class="strut"> </span></p>
<p id="t81" class="pln"><span class="str"> :param distance_channel: the index of the distance-channel.</span><span class="strut"> </span></p>
<p id="t82" class="pln"><span class="strut"> </span></p>
<p id="t83" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
<p id="t84" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t85" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">contrast_size</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t86" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'constrast size must be of type integer'</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t87" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">distance_channel</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t88" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'distance channel must be of type integer'</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t89" class="stm run hide_run"> <span class="key">if</span> <span class="nam">contrast_size</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">6</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t90" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'contrast size out of range'</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t91" class="stm run hide_run"> <span class="key">if</span> <span class="nam">distance_channel</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="num">4</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t92" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'distance channel out of range'</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t93" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t94" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'scene should be image based to\</span><span class="strut"> </span></p>
<p id="t95" class="pln"><span class="str"> compute the contrast weighted nearness'</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t96" class="stm run hide_run"> <span class="nam">contrast</span> <span class="op">=</span> <span class="nam">michelson_contrast</span><span class="op">(</span><span class="nam">scene</span><span class="op">,</span> <span class="nam">size</span><span class="op">=</span><span class="nam">contrast_size</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t97" class="stm run hide_run"> <span class="nam">distance</span> <span class="op">=</span> <span class="nam">scene</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">distance_channel</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t98" class="stm run hide_run"> <span class="nam">distance</span> <span class="op">=</span> <span class="nam">distance</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t99" class="stm run hide_run"> <span class="nam">distance</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">tile</span><span class="op">(</span><span class="nam">distance</span><span class="op">,</span> <span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="op">-</span><span class="num">2</span><span class="op">]</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t100" class="stm run hide_run"> <span class="key">return</span> <span class="nam">contrast</span> <span class="op">/</span> <span class="nam">distance</span><span class="strut"> </span></p>
<p id="t101" class="pln"><span class="strut"> </span></p>
<p id="t102" class="pln"><span class="strut"> </span></p>
<p id="t103" class="stm run hide_run"><span class="key">def</span> <span class="nam">pcv</span><span class="op">(</span><span class="nam">place_code</span><span class="op">,</span> <span class="nam">viewing_directions</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t104" class="pln"> <span class="str">"""Place code vectors</span><span class="strut"> </span></p>
<p id="t105" class="pln"><span class="strut"> </span></p>
<p id="t106" class="pln"><span class="str"> :param place_code: the place code at a given location (e.g. an ibs scene)</span><span class="strut"> </span></p>
<p id="t107" class="pln"><span class="str"> :param viewing_directions: viewing direction of each pixel</span><span class="strut"> </span></p>
<p id="t108" class="pln"><span class="str"> :returns: the place code vectors in cartesian coordinates</span><span class="strut"> </span></p><p id="t109" class="pln"><span class="str"> :rtype: (np.ndarray)</span><span class="strut"> </span></p>
<p id="t110" class="pln"><span class="strut"> </span></p>
<p id="t111" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
<p id="t112" class="pln"> <span class="com"># print("place code shape",place_code.shape)</span><span class="strut"> </span></p>
<p id="t113" class="stm run hide_run"> <span class="key">if</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">place_code</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t114" class="stm run hide_run"> <span class="nam">component_dim</span> <span class="op">=</span> <span class="nam">__ibpc_indeces__</span><span class="op">[</span><span class="str">'component'</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t115" class="stm run hide_run"> <span class="nam">channel_dim</span> <span class="op">=</span> <span class="nam">__ibpc_indeces__</span><span class="op">[</span><span class="str">'channel'</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t116" class="stm mis"> <span class="key">elif</span> <span class="nam">is_obpc</span><span class="op">(</span><span class="nam">place_code</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t117" class="stm mis"> <span class="nam">component_dim</span> <span class="op">=</span> <span class="nam">__obpc_indeces__</span><span class="op">[</span><span class="str">'component'</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t118" class="stm mis"> <span class="nam">channel_dim</span> <span class="op">=</span> <span class="nam">__obpc_indeces__</span><span class="op">[</span><span class="str">'channel'</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t119" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t120" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'place code should be either an ibpc or obpc'</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t121" class="pln"><span class="strut"> </span></p>
<p id="t122" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">place_code</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t123" class="stm run hide_run"> <span class="nam">check_viewing_direction</span><span class="op">(</span><span class="nam">viewing_directions</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t124" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">place_code</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">==</span> <span class="nam">viewing_directions</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t125" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'dimensions of place code and viewing\</span><span class="strut"> </span></p>
<p id="t126" class="pln"><span class="str"> direction do not match'</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t127" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">place_code</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">==</span> <span class="nam">viewing_directions</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t128" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'dimensions of place code and viewing\</span><span class="strut"> </span></p>
<p id="t129" class="pln"><span class="str"> direction do not match'</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t130" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">viewing_directions</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t131" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'viewing_directions should be a numpy array'</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t132" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">place_code</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">component_dim</span><span class="op">]</span> <span class="op">==</span> <span class="num">1</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t133" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'the last dimension ({}) of the place-code\</span><span class="strut"> </span></p>
<p id="t134" class="pln"><span class="str"> should be 1'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">place_code</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">component_dim</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t135" class="stm run hide_run"> <span class="nam">elevation</span> <span class="op">=</span> <span class="nam">viewing_directions</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">__spherical_indeces__</span><span class="op">[</span><span class="str">'elevation'</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t136" class="stm run hide_run"> <span class="nam">azimuth</span> <span class="op">=</span> <span class="nam">viewing_directions</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">__spherical_indeces__</span><span class="op">[</span><span class="str">'azimuth'</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t137" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">elevation</span> <span class="op"><=</span> <span class="op">-</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">)</span> <span class="key">or</span> <span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">elevation</span> <span class="op">>=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t138" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">" Elevation must be radians in range [-pi;pi]"</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t139" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">max</span><span class="op">(</span><span class="nam">elevation</span><span class="op">)</span> <span class="op">-</span> <span class="nam">np</span><span class="op">.</span><span class="nam">min</span><span class="op">(</span><span class="nam">elevation</span><span class="op">)</span> <span class="op">>=</span> <span class="num">2</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t140" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">" max difference in elevation must be < 2*pi"</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t141" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">azimuth</span> <span class="op"><=</span> <span class="op">-</span><span class="num">2</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">)</span> <span class="key">or</span> <span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">azimuth</span> <span class="op">>=</span> <span class="num">2</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t142" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">" Azimuth must be radians in range [-2*pi;2*pi]"</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t143" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">max</span><span class="op">(</span><span class="nam">azimuth</span><span class="op">)</span> <span class="op">-</span> <span class="nam">np</span><span class="op">.</span><span class="nam">min</span><span class="op">(</span><span class="nam">azimuth</span><span class="op">)</span> <span class="op">></span> <span class="num">2</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t144" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">" max difference in azimuth must be <= 2*pi"</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t145" class="stm run hide_run"> <span class="nam">x</span><span class="op">,</span> <span class="nam">y</span><span class="op">,</span> <span class="nam">z</span> <span class="op">=</span> <span class="nam">spherical_to_cartesian</span><span class="op">(</span><span class="nam">elevation</span><span class="op">,</span> <span class="nam">azimuth</span><span class="op">,</span> <span class="nam">radius</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t146" class="stm run hide_run"> <span class="nam">unscaled_lv</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="nam">viewing_directions</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
<p id="t147" class="pln"> <span class="nam">viewing_directions</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
<p id="t148" class="pln"> <span class="num">3</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t149" class="stm run hide_run"> <span class="nam">unscaled_lv</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">__cartesian_indeces__</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span><span class="op">]</span> <span class="op">=</span> <span class="nam">x</span><span class="strut"> </span></p>
<p id="t150" class="stm run hide_run"> <span class="nam">unscaled_lv</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">__cartesian_indeces__</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span><span class="op">]</span> <span class="op">=</span> <span class="nam">y</span><span class="strut"> </span></p>
<p id="t151" class="stm run hide_run"> <span class="nam">unscaled_lv</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">__cartesian_indeces__</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span><span class="op">]</span> <span class="op">=</span> <span class="nam">z</span><span class="strut"> </span></p>
<p id="t152" class="stm run hide_run"> <span class="nam">scaled_lv</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros_like</span><span class="op">(</span><span class="nam">place_code</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t153" class="pln"> <span class="com"># (3,) -> (1,1,3) or (1,1,1,3) see numpy.tile</span><span class="strut"> </span></p>
<p id="t154" class="stm run hide_run"> <span class="nam">scaled_lv</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">tile</span><span class="op">(</span><span class="nam">scaled_lv</span><span class="op">,</span> <span class="op">(</span><span class="nam">unscaled_lv</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">,</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t155" class="stm run hide_run"> <span class="key">for</span> <span class="nam">channel_index</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="nam">scaled_lv</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">channel_dim</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t156" class="stm run hide_run"> <span class="nam">radius</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">tile</span><span class="op">(</span><span class="nam">place_code</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">channel_index</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t157" class="pln"> <span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">]</span><span class="op">,</span> <span class="op">(</span><span class="nam">scaled_lv</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">,</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t158" class="stm run hide_run"> <span class="nam">scaled_lv</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">channel_index</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span> <span class="op">=</span> <span class="nam">unscaled_lv</span> <span class="op">*</span> <span class="nam">radius</span><span class="strut"> </span></p>
<p id="t159" class="stm run hide_run"> <span class="key">return</span> <span class="nam">scaled_lv</span><span class="strut"> </span></p>
<p id="t160" class="pln"><span class="strut"> </span></p>
<p id="t161" class="pln"><span class="strut"> </span></p>
<p id="t162" class="stm run hide_run"><span class="key">def</span> <span class="nam">apcv</span><span class="op">(</span><span class="nam">place_code</span><span class="op">,</span> <span class="nam">viewing_directions</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t163" class="pln"> <span class="str">"""Calculate the average scene vector</span><span class="strut"> </span></p>
<p id="t164" class="pln"><span class="strut"> </span></p>
<p id="t165" class="pln"><span class="str"> :param place_code: the place code at a given location (e.g. an ibs scene)</span><span class="strut"> </span></p>
<p id="t166" class="pln"><span class="str"> :param viewing_directions: viewing direction of each pixel</span><span class="strut"> </span></p>
<p id="t167" class="pln"><span class="str"> :returns: the average place-code vector</span><span class="strut"> </span></p>
<p id="t168" class="pln"><span class="str"> :rtype: (np.ndarray)</span><span class="strut"> </span></p>
<p id="t169" class="pln"><span class="strut"> </span></p>
<p id="t170" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
<p id="t171" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">place_code</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t172" class="stm run hide_run"> <span class="nam">check_viewing_direction</span><span class="op">(</span><span class="nam">viewing_directions</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t173" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">place_code</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">==</span> <span class="nam">viewing_directions</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t174" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'dimensions of place code and viewing\</span><span class="strut"> </span></p>
<p id="t175" class="pln"><span class="str"> direction do not match'</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t176" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">place_code</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">==</span> <span class="nam">viewing_directions</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t177" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'dimensions of place code and viewing\</span><span class="strut"> </span></p>
<p id="t178" class="pln"><span class="str"> direction do not match'</span><span class="op">)</span><span class="strut"> </span></p><p id="t179" class="stm run hide_run"> <span class="nam">scaled_lv</span> <span class="op">=</span> <span class="nam">pcv</span><span class="op">(</span><span class="nam">place_code</span><span class="op">,</span> <span class="nam">viewing_directions</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t180" class="stm run hide_run"> <span class="key">if</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">place_code</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t181" class="stm run hide_run"> <span class="key">return</span> <span class="op">(</span><span class="nam">scaled_lv</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="op">...</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t182" class="stm mis"> <span class="key">elif</span> <span class="nam">is_obpc</span><span class="op">(</span><span class="nam">place_code</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t183" class="stm mis"> <span class="key">return</span> <span class="op">(</span><span class="nam">scaled_lv</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="op">...</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t184" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t185" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'place code is neither an ibpc nor obpc'</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t186" class="pln"><span class="strut"> </span></p>
<p id="t187" class="pln"><span class="strut"> </span></p>
<p id="t188" class="stm run hide_run"><span class="key">def</span> <span class="nam">nposorient_around_ref</span><span class="op">(</span><span class="nam">mydb</span><span class="op">,</span><span class="strut"> </span></p>
<p id="t189" class="pln"> <span class="nam">position_df</span><span class="op">,</span><span class="strut"> </span></p>
<p id="t190" class="pln"> <span class="nam">ref_pos</span><span class="op">,</span><span class="strut"> </span></p>
<p id="t191" class="pln"> <span class="nam">nb_snapshot</span><span class="op">,</span><span class="strut"> </span></p>
<p id="t192" class="pln"> <span class="nam">radius</span><span class="op">,</span><span class="strut"> </span></p>
<p id="t193" class="pln"> <span class="nam">blender_view</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t194" class="pln"> <span class="str">"""Return set of views around and oriented towards memorized location</span><span class="strut"> </span></p>
<p id="t195" class="pln"><span class="str"> :param mydb: Database environment</span><span class="strut"> </span></p>
<p id="t196" class="pln"><span class="str"> :param position_df: dataframe with the positions of the grid</span><span class="strut"> </span></p>
<p id="t197" class="pln"><span class="str"> :param ref_pos: df with x, y and z position of the reference snapshot</span><span class="strut"> </span></p>
<p id="t198" class="pln"><span class="str"> :param nb_snapshot: number of wanted set of views (multiple of 2)</span><span class="strut"> </span></p>
<p id="t199" class="pln"><span class="str"> :param radius: distance from memorized location to take snapshots</span><span class="strut"> </span></p>
<p id="t200" class="pln"><span class="str"> :param blender_view: viewing axis camera id y=90, if x=0</span><span class="strut"> </span></p>
<p id="t201" class="pln"><span class="str"> :returns: list of reoriented image array, snaphots positions</span><span class="strut"> </span></p>
<p id="t202" class="pln"><span class="str"> :rtypes: array of np.array, pd.DataFrame</span><span class="strut"> </span></p>
<p id="t203" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
<p id="t204" class="pln"><span class="strut"> </span></p>
<p id="t205" class="stm mis"> <span class="nam">svp_all</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">columns</span><span class="op">=</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">,</span> <span class="str">'frame'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t206" class="pln"> <span class="com"># angle of rotation</span><span class="strut"> </span></p>
<p id="t207" class="stm mis"> <span class="nam">ang_deg</span> <span class="op">=</span> <span class="num">360</span> <span class="op">/</span> <span class="nam">nb_snapshot</span><span class="strut"> </span></p>
<p id="t208" class="stm mis"> <span class="nam">ang</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">deg2rad</span><span class="op">(</span><span class="nam">ang_deg</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t209" class="pln"> <span class="com"># make the different view</span><span class="strut"> </span></p>
<p id="t210" class="stm mis"> <span class="key">for</span> <span class="nam">i</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="nam">nb_snapshot</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t211" class="stm mis"> <span class="nam">x</span> <span class="op">=</span> <span class="nam">ref_pos</span><span class="op">.</span><span class="nam">x</span> <span class="op">+</span> <span class="nam">radius</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">ang</span> <span class="op">*</span> <span class="nam">i</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t212" class="stm mis"> <span class="nam">y</span> <span class="op">=</span> <span class="nam">ref_pos</span><span class="op">.</span><span class="nam">y</span> <span class="op">+</span> <span class="nam">radius</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">ang</span> <span class="op">*</span> <span class="nam">i</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t213" class="stm mis"> <span class="nam">z</span> <span class="op">=</span> <span class="nam">ref_pos</span><span class="op">.</span><span class="nam">z</span><span class="strut"> </span></p>
<p id="t214" class="stm mis"> <span class="nam">svp_frame</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="op">[</span><span class="str">'frame'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t215" class="stm mis"> <span class="nam">distance_arr</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">position_df</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t216" class="stm mis"> <span class="key">for</span> <span class="nam">index</span><span class="op">,</span> <span class="nam">pos</span> <span class="key">in</span> <span class="nam">position_df</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t217" class="stm mis"> <span class="nam">distance</span> <span class="op">=</span> <span class="op">(</span><span class="nam">pos</span><span class="op">.</span><span class="nam">x</span> <span class="op">-</span> <span class="nam">x</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="strut"> </span></p>
<p id="t218" class="stm mis"> <span class="nam">distance</span> <span class="op">+=</span> <span class="op">(</span><span class="nam">pos</span><span class="op">.</span><span class="nam">y</span> <span class="op">-</span> <span class="nam">y</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="strut"> </span></p>
<p id="t219" class="stm mis"> <span class="nam">distance</span> <span class="op">+=</span> <span class="op">(</span><span class="nam">pos</span><span class="op">.</span><span class="nam">z</span> <span class="op">-</span> <span class="nam">z</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="strut"> </span></p>
<p id="t220" class="stm mis"> <span class="nam">distance_arr</span><span class="op">[</span><span class="nam">index</span><span class="op">]</span> <span class="op">=</span> <span class="nam">distance</span><span class="strut"> </span></p>
<p id="t221" class="stm mis"> <span class="nam">svp_frame</span><span class="op">.</span><span class="nam">frame</span> <span class="op">=</span> <span class="nam">int</span><span class="op">(</span><span class="nam">distance_arr</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">argmin</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t222" class="stm mis"> <span class="nam">svp_frame</span><span class="op">.</span><span class="nam">x</span> <span class="op">=</span> <span class="nam">position_df</span><span class="op">.</span><span class="nam">x</span><span class="op">[</span><span class="nam">svp_frame</span><span class="op">.</span><span class="nam">frame</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t223" class="stm mis"> <span class="nam">svp_frame</span><span class="op">.</span><span class="nam">y</span> <span class="op">=</span> <span class="nam">position_df</span><span class="op">.</span><span class="nam">y</span><span class="op">[</span><span class="nam">svp_frame</span><span class="op">.</span><span class="nam">frame</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t224" class="stm mis"> <span class="nam">svp_frame</span><span class="op">.</span><span class="nam">z</span> <span class="op">=</span> <span class="nam">position_df</span><span class="op">.</span><span class="nam">z</span><span class="op">[</span><span class="nam">svp_frame</span><span class="op">.</span><span class="nam">frame</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t225" class="stm mis"> <span class="nam">svp_all</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">i</span><span class="op">]</span> <span class="op">=</span> <span class="op">[</span><span class="nam">svp_frame</span><span class="op">.</span><span class="nam">x</span><span class="op">,</span> <span class="nam">svp_frame</span><span class="op">.</span><span class="nam">y</span><span class="op">,</span><span class="strut"> </span></p>
<p id="t226" class="pln"> <span class="nam">svp_frame</span><span class="op">.</span><span class="nam">z</span><span class="op">,</span> <span class="nam">int</span><span class="op">(</span><span class="nam">svp_frame</span><span class="op">.</span><span class="nam">frame</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t227" class="stm mis"> <span class="nam">reoriented_mem</span> <span class="op">=</span> <span class="op">[</span><span class="op">]</span><span class="strut"> </span></p>
<p id="t228" class="stm mis"> <span class="nam">rot</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t229" class="pln"><span class="strut"> </span></p>
<p id="t230" class="stm mis"> <span class="key">for</span> <span class="nam">i</span><span class="op">,</span> <span class="nam">j</span> <span class="key">in</span> <span class="nam">svp_all</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
<p id="t231" class="stm mis"> <span class="nam">ide</span> <span class="op">=</span> <span class="nam">int</span><span class="op">(</span><span class="nam">j</span><span class="op">.</span><span class="nam">frame</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t232" class="stm mis"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="nam">ide</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t233" class="stm mis"> <span class="nam">alpha</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">floor</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">rad2deg</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="strut"> </span></p>
<p id="t234" class="pln"> <span class="op">(</span><span class="nam">ref_pos</span><span class="op">.</span><span class="nam">y</span> <span class="op">-</span> <span class="nam">j</span><span class="op">.</span><span class="nam">y</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="nam">ref_pos</span><span class="op">.</span><span class="nam">x</span> <span class="op">-</span> <span class="nam">j</span><span class="op">.</span><span class="nam">x</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t235" class="stm mis"> <span class="nam">alpha</span> <span class="op">=</span> <span class="nam">alpha</span> <span class="op">+</span> <span class="nam">blender_view</span> <span class="com"># because y view on blender</span><span class="strut"> </span></p>
<p id="t236" class="stm mis"> <span class="nam">rot</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">alpha</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t237" class="stm mis"> <span class="nam">alpha</span> <span class="op">=</span> <span class="nam">int</span><span class="op">(</span><span class="nam">alpha</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t238" class="stm mis"> <span class="nam">svp_reorient</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">roll</span><span class="op">(</span><span class="nam">image</span><span class="op">,</span> <span class="nam">alpha</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t239" class="stm mis"> <span class="nam">reoriented_mem</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">svp_reorient</span><span class="op">)</span><span class="strut"> </span></p>
<p id="t240" class="stm mis"> <span class="key">return</span> <span class="nam">reoriented_mem</span><span class="op">,</span> <span class="nam">svp_all</span><span class="strut"> </span></p>
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