diff --git a/doc/build/doctrees/environment.pickle b/doc/build/doctrees/environment.pickle
index a86f2925517ebfe5b4df67f2076cee999bbaf5ec..19be6e17d80895c1df6a85473b3c0c834c539756 100644
Binary files a/doc/build/doctrees/environment.pickle and b/doc/build/doctrees/environment.pickle differ
diff --git a/doc/build/doctrees/processing.doctree b/doc/build/doctrees/processing.doctree
index 5cd6295a01281823013e3b711385ee8c7ecc8c28..d19e2e5f19a57734a79ccf99bc48cfbbef8ccfd0 100644
Binary files a/doc/build/doctrees/processing.doctree and b/doc/build/doctrees/processing.doctree differ
diff --git a/doc/build/html/_modules/index.html b/doc/build/html/_modules/index.html
index a292dda26b32bead54a59e4f2846e65fb8c343b5..7e95bef384488aac892ed3f4c209c35e5303eaa5 100644
--- a/doc/build/html/_modules/index.html
+++ b/doc/build/html/_modules/index.html
@@ -41,7 +41,9 @@
<h1>All modules for which code is available</h1>
<ul><li><a href="navipy/processing.html">navipy.processing</a></li>
-</ul>
+<ul><li><a href="navipy/processing/mcode.html">navipy.processing.mcode</a></li>
+<li><a href="navipy/processing/pcode.html">navipy.processing.pcode</a></li>
+</ul></ul>
</div>
</div>
diff --git a/doc/build/html/_sources/processing.rst.txt b/doc/build/html/_sources/processing.rst.txt
index fa604b35391873f505c6ec921635b764fe226f5c..40af2eb8917bcf95a03ed00d7c6d039b889ed92f 100644
--- a/doc/build/html/_sources/processing.rst.txt
+++ b/doc/build/html/_sources/processing.rst.txt
@@ -3,30 +3,34 @@ Processing a scene
.. automodule:: navipy.processing
+Place code
+----------
Scene
------
-.. autofunction:: navipy.processing.scene
-
+~~~~~
+.. autofunction:: navipy.processing.pcode.scene
+
Skyline
--------
-.. autofunction:: navipy.processing.skyline
+~~~~~~~
+.. autofunction:: navipy.processing.pcode.skyline
Michelson-contrast
-------------------
-.. autofunction:: navipy.processing.michelson_contrast
+~~~~~~~~~~~~~~~~~~
+.. autofunction:: navipy.processing.pcode.michelson_contrast
Contrast-weighted-nearness
---------------------------
-.. autofunction:: navipy.processing.contrast_weighted_nearness
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+.. autofunction:: navipy.processing.pcode.contrast_weighted_nearness
Place-code vectors
-------------------
-.. autofunction:: navipy.processing.pcv
+~~~~~~~~~~~~~~~~~~
+.. autofunction:: navipy.processing.pcode.pcv
Average place-code vector
--------------------------
-.. autofunction:: navipy.processing.apcv
-
-Optic-flow
-----------
-.. autofunction:: navipy.processing.optic_flow
+~~~~~~~~~~~~~~~~~~~~~~~~~
+.. autofunction:: navipy.processing.pcode.apcv
+
+Motion code
+-----------
+Optic flow
+~~~~~~~~~~
+.. autofunction:: navipy.processing.mcode.optic_flow
diff --git a/doc/build/html/example/processing/apcv.pdf b/doc/build/html/example/processing/apcv.pdf
index 6a3a005656e40403c5a8932be8322fddd559037c..779e5f2d781bc53dd5bee8d14caf71af354b3ce4 100644
Binary files a/doc/build/html/example/processing/apcv.pdf and b/doc/build/html/example/processing/apcv.pdf differ
diff --git a/doc/build/html/example/processing/apcv.py b/doc/build/html/example/processing/apcv.py
index 58fce704d28683e42180ccffe66cc78a8db5695f..6a334a822022d8f2b6e5ecbb5aeb1eefa531d7fc 100644
--- a/doc/build/html/example/processing/apcv.py
+++ b/doc/build/html/example/processing/apcv.py
@@ -1,17 +1,18 @@
import matplotlib.pyplot as plt
from navipy.database import DataBaseLoad
import navipy.processing as processing
-import os
import numpy as np
+import pkg_resources
# 1) Connect to the database
-mydb_filename = os.path.abspath('../database.db')
+mydb_filename = pkg_resources.resource_filename(
+ 'navipy', 'resources/database.db')
mydb = DataBaseLoad(mydb_filename)
# 2) Define the position-orinetation at which
# we want the image
rowid = 12
-my_scene = processing.scene(mydb, rowid=rowid)
-my_apcv = processing.apcv(my_scene, mydb.viewing_directions)
+my_scene = processing.pcode.scene(mydb, rowid=rowid)
+my_apcv = processing.pcode.apcv(my_scene, mydb.viewing_directions)
my_apcv_sph = processing.tools.cartesian_to_spherical(x=my_apcv[..., 0],
y=my_apcv[..., 1],
diff --git a/doc/build/html/example/processing/contrast_weighted_nearness.pdf b/doc/build/html/example/processing/contrast_weighted_nearness.pdf
index 54fc634df0f3ac30cf6fc9b21cb1a230627d8c39..457933fb189385d706c2a997a625ef0c7c08fa76 100644
Binary files a/doc/build/html/example/processing/contrast_weighted_nearness.pdf and b/doc/build/html/example/processing/contrast_weighted_nearness.pdf differ
diff --git a/doc/build/html/example/processing/contrast_weighted_nearness.py b/doc/build/html/example/processing/contrast_weighted_nearness.py
index 379fafc2d7239084f1fa43a655ea7f07dff82a9c..9704ff106bbf974840ad4ba8286fe778dfbee43f 100644
--- a/doc/build/html/example/processing/contrast_weighted_nearness.py
+++ b/doc/build/html/example/processing/contrast_weighted_nearness.py
@@ -1,17 +1,18 @@
import matplotlib.pyplot as plt
from navipy.database import DataBaseLoad
import navipy.processing as processing
-import os
+import pkg_resources
# 1) Connect to the database
-mydb_filename = os.path.abspath('../database.db')
+mydb_filename = pkg_resources.resource_filename(
+ 'navipy', 'resources/database.db')
mydb = DataBaseLoad(mydb_filename)
# 2) Define the position-orinetation at which
# we want the image
rowid = 12
-my_scene = processing.scene(mydb, rowid=rowid)
-my_contrast = processing.contrast_weighted_nearness(my_scene)
+my_scene = processing.pcode.scene(mydb, rowid=rowid)
+my_contrast = processing.pcode.contrast_weighted_nearness(my_scene)
f, axarr = plt.subplots(2, 2, figsize=(15, 8))
axarr = axarr.flatten()
diff --git a/doc/build/html/example/processing/pcv.py b/doc/build/html/example/processing/pcv.py
index 703ae44033c58eda511d0604501c1a783c49bcff..d6251279ec3b0be4d1e3e7d0a3adfaa56eeb6ea0 100644
--- a/doc/build/html/example/processing/pcv.py
+++ b/doc/build/html/example/processing/pcv.py
@@ -1,14 +1,15 @@
# import matplotlib.pyplot as plt
from navipy.database import DataBaseLoad
import navipy.processing as processing
-import os
+import pkg_resources
# 1) Connect to the database
-mydb_filename = os.path.abspath('../database.db')
+mydb_filename = pkg_resources.resource_filename(
+ 'navipy', 'resources/database.db')
mydb = DataBaseLoad(mydb_filename)
# 2) Define the position-orinetation at which
# we want the image
rowid = 12
-my_scene = processing.scene(mydb, rowid=rowid)
-my_pcv = processing.pcv(my_scene, mydb.viewing_directions)
+my_scene = processing.pcode.scene(mydb, rowid=rowid)
+my_pcv = processing.pcode.pcv(my_scene, mydb.viewing_directions)
diff --git a/doc/build/html/example/processing/scene.pdf b/doc/build/html/example/processing/scene.pdf
index ec05266a198ab512e5cda2533b8e1559a0df081b..bb9e6262940d3b15c57ced166b1ca3409658959d 100644
Binary files a/doc/build/html/example/processing/scene.pdf and b/doc/build/html/example/processing/scene.pdf differ
diff --git a/doc/build/html/example/processing/scene.py b/doc/build/html/example/processing/scene.py
index 1f839badc2e7971efec16b7caf7355d211aa3c34..79c699e2c1502b8d338d789ad1d00fb47808391f 100644
--- a/doc/build/html/example/processing/scene.py
+++ b/doc/build/html/example/processing/scene.py
@@ -2,16 +2,17 @@ import numpy as np
import matplotlib.pyplot as plt
from navipy.database import DataBaseLoad
import navipy.processing as processing
-import os
+import pkg_resources
# 1) Connect to the database
-mydb_filename = os.path.abspath('../database.db')
+mydb_filename = pkg_resources.resource_filename(
+ 'navipy', 'resources/database.db')
mydb = DataBaseLoad(mydb_filename)
# 2) Define the position-orinetation at which
# we want the image and get the scene
rowid = 12
-my_scene = processing.scene(mydb, rowid=rowid)
+my_scene = processing.pcode.scene(mydb, rowid=rowid)
f, axarr = plt.subplots(1, 2, figsize=(15, 4))
diff --git a/doc/build/html/genindex.html b/doc/build/html/genindex.html
index bbc1ffd4f3c080887862d4e35d250629ea8f1b63..1f92beff8e898db0b263b75db638fac617b3b697 100644
--- a/doc/build/html/genindex.html
+++ b/doc/build/html/genindex.html
@@ -56,7 +56,7 @@
<h2 id="A">A</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
- <li><a href="processing.html#navipy.processing.apcv">apcv() (in module navipy.processing)</a>
+ <li><a href="processing.html#navipy.processing.pcode.apcv">apcv() (in module navipy.processing.pcode)</a>
</li>
</ul></td>
</tr></table>
@@ -64,7 +64,7 @@
<h2 id="C">C</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
- <li><a href="processing.html#navipy.processing.contrast_weighted_nearness">contrast_weighted_nearness() (in module navipy.processing)</a>
+ <li><a href="processing.html#navipy.processing.pcode.contrast_weighted_nearness">contrast_weighted_nearness() (in module navipy.processing.pcode)</a>
</li>
</ul></td>
</tr></table>
@@ -72,7 +72,7 @@
<h2 id="M">M</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
- <li><a href="processing.html#navipy.processing.michelson_contrast">michelson_contrast() (in module navipy.processing)</a>
+ <li><a href="processing.html#navipy.processing.pcode.michelson_contrast">michelson_contrast() (in module navipy.processing.pcode)</a>
</li>
</ul></td>
</tr></table>
@@ -92,7 +92,7 @@
<h2 id="O">O</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
- <li><a href="processing.html#navipy.processing.optic_flow">optic_flow() (in module navipy.processing)</a>
+ <li><a href="processing.html#navipy.processing.mcode.optic_flow">optic_flow() (in module navipy.processing.mcode)</a>
</li>
</ul></td>
</tr></table>
@@ -100,7 +100,7 @@
<h2 id="P">P</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
- <li><a href="processing.html#navipy.processing.pcv">pcv() (in module navipy.processing)</a>
+ <li><a href="processing.html#navipy.processing.pcode.pcv">pcv() (in module navipy.processing.pcode)</a>
</li>
</ul></td>
</tr></table>
@@ -108,11 +108,11 @@
<h2 id="S">S</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
- <li><a href="processing.html#navipy.processing.scene">scene() (in module navipy.processing)</a>
+ <li><a href="processing.html#navipy.processing.pcode.scene">scene() (in module navipy.processing.pcode)</a>
</li>
</ul></td>
<td style="width: 33%; vertical-align: top;"><ul>
- <li><a href="processing.html#navipy.processing.skyline">skyline() (in module navipy.processing)</a>
+ <li><a href="processing.html#navipy.processing.pcode.skyline">skyline() (in module navipy.processing.pcode)</a>
</li>
</ul></td>
</tr></table>
diff --git a/doc/build/html/objects.inv b/doc/build/html/objects.inv
index 22ec0b2c4385cd48de3e834cde432810ca7f2434..afada50bab01ee33c439414e131a9333d8e1bfa2 100644
Binary files a/doc/build/html/objects.inv and b/doc/build/html/objects.inv differ
diff --git a/doc/build/html/processing.html b/doc/build/html/processing.html
index 0af773f423b847c728c438d7e9f46a591f6e5d59..88294b074272245435051d45bde89a4ee702cd3d 100644
--- a/doc/build/html/processing.html
+++ b/doc/build/html/processing.html
@@ -81,11 +81,13 @@ In that case the scene is a 3d numpy array
</dl>
<p>Abusing the terminology of a place-code, a scene can be a place-code.
Therefore ibs and obs have 4 and 3 dimension, respectively.</p>
+<div class="section" id="place-code">
+<h2>Place code<a class="headerlink" href="#place-code" title="Permalink to this headline">¶</a></h2>
<div class="section" id="scene">
-<h2>Scene<a class="headerlink" href="#scene" title="Permalink to this headline">¶</a></h2>
+<h3>Scene<a class="headerlink" href="#scene" title="Permalink to this headline">¶</a></h3>
<dl class="function">
-<dt id="navipy.processing.scene">
-<code class="descclassname">navipy.processing.</code><code class="descname">scene</code><span class="sig-paren">(</span><em>database</em>, <em>posorient=None</em>, <em>rowid=None</em><span class="sig-paren">)</span><a class="headerlink" href="#navipy.processing.scene" title="Permalink to this definition">¶</a></dt>
+<dt id="navipy.processing.pcode.scene">
+<code class="descclassname">navipy.processing.pcode.</code><code class="descname">scene</code><span class="sig-paren">(</span><em>database</em>, <em>posorient=None</em>, <em>rowid=None</em><span class="sig-paren">)</span><a class="headerlink" href="#navipy.processing.pcode.scene" title="Permalink to this definition">¶</a></dt>
<dd><p>Return a scene at a position orientation or given rowid in a given database.</p>
<table class="docutils field-list" frame="void" rules="none">
<col class="field-name" />
@@ -106,7 +108,7 @@ Therefore ibs and obs have 4 and 3 dimension, respectively.</p>
</tbody>
</table>
<div class="highlight-default"><div class="highlight"><pre><span></span><span class="n">rowid</span> <span class="o">=</span> <span class="mi">12</span>
-<span class="n">my_scene</span> <span class="o">=</span> <span class="n">processing</span><span class="o">.</span><span class="n">scene</span><span class="p">(</span><span class="n">mydb</span><span class="p">,</span> <span class="n">rowid</span><span class="o">=</span><span class="n">rowid</span><span class="p">)</span>
+<span class="n">my_scene</span> <span class="o">=</span> <span class="n">processing</span><span class="o">.</span><span class="n">pcode</span><span class="o">.</span><span class="n">scene</span><span class="p">(</span><span class="n">mydb</span><span class="p">,</span> <span class="n">rowid</span><span class="o">=</span><span class="n">rowid</span><span class="p">)</span>
</pre></div>
</div>
<p>(<a class="reference external" href="./example/processing/scene.py">Source code</a>, <a class="reference external" href="./example/processing/scene.png">png</a>, <a class="reference external" href="./example/processing/scene.hires.png">hires.png</a>, <a class="reference external" href="./example/processing/scene.pdf">pdf</a>)</p>
@@ -117,10 +119,10 @@ Therefore ibs and obs have 4 and 3 dimension, respectively.</p>
</div>
<div class="section" id="skyline">
-<h2>Skyline<a class="headerlink" href="#skyline" title="Permalink to this headline">¶</a></h2>
+<h3>Skyline<a class="headerlink" href="#skyline" title="Permalink to this headline">¶</a></h3>
<dl class="function">
-<dt id="navipy.processing.skyline">
-<code class="descclassname">navipy.processing.</code><code class="descname">skyline</code><span class="sig-paren">(</span><em>scene</em><span class="sig-paren">)</span><a class="headerlink" href="#navipy.processing.skyline" title="Permalink to this definition">¶</a></dt>
+<dt id="navipy.processing.pcode.skyline">
+<code class="descclassname">navipy.processing.pcode.</code><code class="descname">skyline</code><span class="sig-paren">(</span><em>scene</em><span class="sig-paren">)</span><a class="headerlink" href="#navipy.processing.pcode.skyline" title="Permalink to this definition">¶</a></dt>
<dd><p>Return the average along the elevation of a scene
:param scene: the scenery at a given location (a 4d numpy array)
:returns: the skyline [1,azimuth,channel,1]
@@ -138,10 +140,10 @@ Therefore ibs and obs have 4 and 3 dimension, respectively.</p>
</div>
<div class="section" id="michelson-contrast">
-<h2>Michelson-contrast<a class="headerlink" href="#michelson-contrast" title="Permalink to this headline">¶</a></h2>
+<h3>Michelson-contrast<a class="headerlink" href="#michelson-contrast" title="Permalink to this headline">¶</a></h3>
<dl class="function">
-<dt id="navipy.processing.michelson_contrast">
-<code class="descclassname">navipy.processing.</code><code class="descname">michelson_contrast</code><span class="sig-paren">(</span><em>scene</em>, <em>size=3</em><span class="sig-paren">)</span><a class="headerlink" href="#navipy.processing.michelson_contrast" title="Permalink to this definition">¶</a></dt>
+<dt id="navipy.processing.pcode.michelson_contrast">
+<code class="descclassname">navipy.processing.pcode.</code><code class="descname">michelson_contrast</code><span class="sig-paren">(</span><em>scene</em>, <em>size=3</em><span class="sig-paren">)</span><a class="headerlink" href="#navipy.processing.pcode.michelson_contrast" title="Permalink to this definition">¶</a></dt>
<dd><p>Return the michelson constrast</p>
<div class="math">
\[\frac{I_\text{max}-I_\text{min}}{I_\text{max}+I_\text{min}}\]</div>
@@ -177,10 +179,10 @@ Therefore ibs and obs have 4 and 3 dimension, respectively.</p>
</div>
<div class="section" id="contrast-weighted-nearness">
-<h2>Contrast-weighted-nearness<a class="headerlink" href="#contrast-weighted-nearness" title="Permalink to this headline">¶</a></h2>
+<h3>Contrast-weighted-nearness<a class="headerlink" href="#contrast-weighted-nearness" title="Permalink to this headline">¶</a></h3>
<dl class="function">
-<dt id="navipy.processing.contrast_weighted_nearness">
-<code class="descclassname">navipy.processing.</code><code class="descname">contrast_weighted_nearness</code><span class="sig-paren">(</span><em>scene</em>, <em>contrast_size=3</em>, <em>distance_channel=3</em><span class="sig-paren">)</span><a class="headerlink" href="#navipy.processing.contrast_weighted_nearness" title="Permalink to this definition">¶</a></dt>
+<dt id="navipy.processing.pcode.contrast_weighted_nearness">
+<code class="descclassname">navipy.processing.pcode.</code><code class="descname">contrast_weighted_nearness</code><span class="sig-paren">(</span><em>scene</em>, <em>contrast_size=3</em>, <em>distance_channel=3</em><span class="sig-paren">)</span><a class="headerlink" href="#navipy.processing.pcode.contrast_weighted_nearness" title="Permalink to this definition">¶</a></dt>
<dd><p>Return the michelson contrast wheighted nearness</p>
<table class="docutils field-list" frame="void" rules="none">
<col class="field-name" />
@@ -196,8 +198,8 @@ Therefore ibs and obs have 4 and 3 dimension, respectively.</p>
</tbody>
</table>
<div class="highlight-default"><div class="highlight"><pre><span></span><span class="n">rowid</span> <span class="o">=</span> <span class="mi">12</span>
-<span class="n">my_scene</span> <span class="o">=</span> <span class="n">processing</span><span class="o">.</span><span class="n">scene</span><span class="p">(</span><span class="n">mydb</span><span class="p">,</span> <span class="n">rowid</span><span class="o">=</span><span class="n">rowid</span><span class="p">)</span>
-<span class="n">my_contrast</span> <span class="o">=</span> <span class="n">processing</span><span class="o">.</span><span class="n">contrast_weighted_nearness</span><span class="p">(</span><span class="n">my_scene</span><span class="p">)</span>
+<span class="n">my_scene</span> <span class="o">=</span> <span class="n">processing</span><span class="o">.</span><span class="n">pcode</span><span class="o">.</span><span class="n">scene</span><span class="p">(</span><span class="n">mydb</span><span class="p">,</span> <span class="n">rowid</span><span class="o">=</span><span class="n">rowid</span><span class="p">)</span>
+<span class="n">my_contrast</span> <span class="o">=</span> <span class="n">processing</span><span class="o">.</span><span class="n">pcode</span><span class="o">.</span><span class="n">contrast_weighted_nearness</span><span class="p">(</span><span class="n">my_scene</span><span class="p">)</span>
</pre></div>
</div>
<p>(<a class="reference external" href="./example/processing/contrast_weighted_nearness.py">Source code</a>, <a class="reference external" href="./example/processing/contrast_weighted_nearness.png">png</a>, <a class="reference external" href="./example/processing/contrast_weighted_nearness.hires.png">hires.png</a>, <a class="reference external" href="./example/processing/contrast_weighted_nearness.pdf">pdf</a>)</p>
@@ -208,10 +210,10 @@ Therefore ibs and obs have 4 and 3 dimension, respectively.</p>
</div>
<div class="section" id="place-code-vectors">
-<h2>Place-code vectors<a class="headerlink" href="#place-code-vectors" title="Permalink to this headline">¶</a></h2>
+<h3>Place-code vectors<a class="headerlink" href="#place-code-vectors" title="Permalink to this headline">¶</a></h3>
<dl class="function">
-<dt id="navipy.processing.pcv">
-<code class="descclassname">navipy.processing.</code><code class="descname">pcv</code><span class="sig-paren">(</span><em>place_code</em>, <em>viewing_directions</em><span class="sig-paren">)</span><a class="headerlink" href="#navipy.processing.pcv" title="Permalink to this definition">¶</a></dt>
+<dt id="navipy.processing.pcode.pcv">
+<code class="descclassname">navipy.processing.pcode.</code><code class="descname">pcv</code><span class="sig-paren">(</span><em>place_code</em>, <em>viewing_directions</em><span class="sig-paren">)</span><a class="headerlink" href="#navipy.processing.pcode.pcv" title="Permalink to this definition">¶</a></dt>
<dd><p>Place code vectors</p>
<table class="docutils field-list" frame="void" rules="none">
<col class="field-name" />
@@ -232,8 +234,8 @@ Therefore ibs and obs have 4 and 3 dimension, respectively.</p>
</tbody>
</table>
<div class="highlight-default"><div class="highlight"><pre><span></span><span class="n">rowid</span> <span class="o">=</span> <span class="mi">12</span>
-<span class="n">my_scene</span> <span class="o">=</span> <span class="n">processing</span><span class="o">.</span><span class="n">scene</span><span class="p">(</span><span class="n">mydb</span><span class="p">,</span> <span class="n">rowid</span><span class="o">=</span><span class="n">rowid</span><span class="p">)</span>
-<span class="n">my_pcv</span> <span class="o">=</span> <span class="n">processing</span><span class="o">.</span><span class="n">pcv</span><span class="p">(</span><span class="n">my_scene</span><span class="p">,</span> <span class="n">mydb</span><span class="o">.</span><span class="n">viewing_directions</span><span class="p">)</span>
+<span class="n">my_scene</span> <span class="o">=</span> <span class="n">processing</span><span class="o">.</span><span class="n">pcode</span><span class="o">.</span><span class="n">scene</span><span class="p">(</span><span class="n">mydb</span><span class="p">,</span> <span class="n">rowid</span><span class="o">=</span><span class="n">rowid</span><span class="p">)</span>
+<span class="n">my_pcv</span> <span class="o">=</span> <span class="n">processing</span><span class="o">.</span><span class="n">pcode</span><span class="o">.</span><span class="n">pcv</span><span class="p">(</span><span class="n">my_scene</span><span class="p">,</span> <span class="n">mydb</span><span class="o">.</span><span class="n">viewing_directions</span><span class="p">)</span>
</pre></div>
</div>
<p>(<a class="reference external" href="./example/processing/pcv.py">Source code</a>)</p>
@@ -241,10 +243,10 @@ Therefore ibs and obs have 4 and 3 dimension, respectively.</p>
</div>
<div class="section" id="average-place-code-vector">
-<h2>Average place-code vector<a class="headerlink" href="#average-place-code-vector" title="Permalink to this headline">¶</a></h2>
+<h3>Average place-code vector<a class="headerlink" href="#average-place-code-vector" title="Permalink to this headline">¶</a></h3>
<dl class="function">
-<dt id="navipy.processing.apcv">
-<code class="descclassname">navipy.processing.</code><code class="descname">apcv</code><span class="sig-paren">(</span><em>place_code</em>, <em>viewing_directions</em><span class="sig-paren">)</span><a class="headerlink" href="#navipy.processing.apcv" title="Permalink to this definition">¶</a></dt>
+<dt id="navipy.processing.pcode.apcv">
+<code class="descclassname">navipy.processing.pcode.</code><code class="descname">apcv</code><span class="sig-paren">(</span><em>place_code</em>, <em>viewing_directions</em><span class="sig-paren">)</span><a class="headerlink" href="#navipy.processing.pcode.apcv" title="Permalink to this definition">¶</a></dt>
<dd><p>Calculate the average scene vector</p>
<table class="docutils field-list" frame="void" rules="none">
<col class="field-name" />
@@ -265,8 +267,8 @@ Therefore ibs and obs have 4 and 3 dimension, respectively.</p>
</tbody>
</table>
<div class="highlight-default"><div class="highlight"><pre><span></span><span class="n">rowid</span> <span class="o">=</span> <span class="mi">12</span>
-<span class="n">my_scene</span> <span class="o">=</span> <span class="n">processing</span><span class="o">.</span><span class="n">scene</span><span class="p">(</span><span class="n">mydb</span><span class="p">,</span> <span class="n">rowid</span><span class="o">=</span><span class="n">rowid</span><span class="p">)</span>
-<span class="n">my_apcv</span> <span class="o">=</span> <span class="n">processing</span><span class="o">.</span><span class="n">apcv</span><span class="p">(</span><span class="n">my_scene</span><span class="p">,</span> <span class="n">mydb</span><span class="o">.</span><span class="n">viewing_directions</span><span class="p">)</span>
+<span class="n">my_scene</span> <span class="o">=</span> <span class="n">processing</span><span class="o">.</span><span class="n">pcode</span><span class="o">.</span><span class="n">scene</span><span class="p">(</span><span class="n">mydb</span><span class="p">,</span> <span class="n">rowid</span><span class="o">=</span><span class="n">rowid</span><span class="p">)</span>
+<span class="n">my_apcv</span> <span class="o">=</span> <span class="n">processing</span><span class="o">.</span><span class="n">pcode</span><span class="o">.</span><span class="n">apcv</span><span class="p">(</span><span class="n">my_scene</span><span class="p">,</span> <span class="n">mydb</span><span class="o">.</span><span class="n">viewing_directions</span><span class="p">)</span>
</pre></div>
</div>
<p>(<a class="reference external" href="./example/processing/apcv.py">Source code</a>, <a class="reference external" href="./example/processing/apcv.png">png</a>, <a class="reference external" href="./example/processing/apcv.hires.png">hires.png</a>, <a class="reference external" href="./example/processing/apcv.pdf">pdf</a>)</p>
@@ -276,14 +278,18 @@ Therefore ibs and obs have 4 and 3 dimension, respectively.</p>
</dd></dl>
</div>
+</div>
+<div class="section" id="motion-code">
+<h2>Motion code<a class="headerlink" href="#motion-code" title="Permalink to this headline">¶</a></h2>
<div class="section" id="optic-flow">
-<h2>Optic-flow<a class="headerlink" href="#optic-flow" title="Permalink to this headline">¶</a></h2>
+<h3>Optic flow<a class="headerlink" href="#optic-flow" title="Permalink to this headline">¶</a></h3>
<dl class="function">
-<dt id="navipy.processing.optic_flow">
-<code class="descclassname">navipy.processing.</code><code class="descname">optic_flow</code><span class="sig-paren">(</span><em>place_code</em>, <em>viewing_directions</em>, <em>velocity</em><span class="sig-paren">)</span><a class="headerlink" href="#navipy.processing.optic_flow" title="Permalink to this definition">¶</a></dt>
-<dd><p>NOT IMPLEMENTED</p>
+<dt id="navipy.processing.mcode.optic_flow">
+<code class="descclassname">navipy.processing.mcode.</code><code class="descname">optic_flow</code><span class="sig-paren">(</span><em>scene</em>, <em>viewing_directions</em>, <em>velocity</em>, <em>distance_channel=3</em><span class="sig-paren">)</span><a class="headerlink" href="#navipy.processing.mcode.optic_flow" title="Permalink to this definition">¶</a></dt>
+<dd><p>optic flow</p>
</dd></dl>
+</div>
</div>
</div>
@@ -296,13 +302,19 @@ Therefore ibs and obs have 4 and 3 dimension, respectively.</p>
<h3><a href="index.html">Table Of Contents</a></h3>
<ul>
<li><a class="reference internal" href="#">Processing a scene</a><ul>
+<li><a class="reference internal" href="#place-code">Place code</a><ul>
<li><a class="reference internal" href="#scene">Scene</a></li>
<li><a class="reference internal" href="#skyline">Skyline</a></li>
<li><a class="reference internal" href="#michelson-contrast">Michelson-contrast</a></li>
<li><a class="reference internal" href="#contrast-weighted-nearness">Contrast-weighted-nearness</a></li>
<li><a class="reference internal" href="#place-code-vectors">Place-code vectors</a></li>
<li><a class="reference internal" href="#average-place-code-vector">Average place-code vector</a></li>
-<li><a class="reference internal" href="#optic-flow">Optic-flow</a></li>
+</ul>
+</li>
+<li><a class="reference internal" href="#motion-code">Motion code</a><ul>
+<li><a class="reference internal" href="#optic-flow">Optic flow</a></li>
+</ul>
+</li>
</ul>
</li>
</ul>
diff --git a/doc/build/html/searchindex.js b/doc/build/html/searchindex.js
index 0a8c34aacf154a1c7483adc75cdf3468f89adff9..010f43cc62b1ce39c23cf304a9713d49de97e540 100644
--- a/doc/build/html/searchindex.js
+++ b/doc/build/html/searchindex.js
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diff --git a/doc/build/plot_directive/example/processing/apcv.pdf b/doc/build/plot_directive/example/processing/apcv.pdf
index 6a3a005656e40403c5a8932be8322fddd559037c..779e5f2d781bc53dd5bee8d14caf71af354b3ce4 100644
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diff --git a/doc/build/plot_directive/example/processing/contrast_weighted_nearness.pdf b/doc/build/plot_directive/example/processing/contrast_weighted_nearness.pdf
index 54fc634df0f3ac30cf6fc9b21cb1a230627d8c39..457933fb189385d706c2a997a625ef0c7c08fa76 100644
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diff --git a/doc/build/plot_directive/example/processing/scene.pdf b/doc/build/plot_directive/example/processing/scene.pdf
index ec05266a198ab512e5cda2533b8e1559a0df081b..bb9e6262940d3b15c57ced166b1ca3409658959d 100644
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diff --git a/doc/source/example/database.db b/doc/source/example/database.db
deleted file mode 100644
index 450fe54728c12e42263541e1541b71d2e9e2a815..0000000000000000000000000000000000000000
Binary files a/doc/source/example/database.db and /dev/null differ
diff --git a/doc/source/example/processing/apcv.py b/doc/source/example/processing/apcv.py
index 58fce704d28683e42180ccffe66cc78a8db5695f..6a334a822022d8f2b6e5ecbb5aeb1eefa531d7fc 100644
--- a/doc/source/example/processing/apcv.py
+++ b/doc/source/example/processing/apcv.py
@@ -1,17 +1,18 @@
import matplotlib.pyplot as plt
from navipy.database import DataBaseLoad
import navipy.processing as processing
-import os
import numpy as np
+import pkg_resources
# 1) Connect to the database
-mydb_filename = os.path.abspath('../database.db')
+mydb_filename = pkg_resources.resource_filename(
+ 'navipy', 'resources/database.db')
mydb = DataBaseLoad(mydb_filename)
# 2) Define the position-orinetation at which
# we want the image
rowid = 12
-my_scene = processing.scene(mydb, rowid=rowid)
-my_apcv = processing.apcv(my_scene, mydb.viewing_directions)
+my_scene = processing.pcode.scene(mydb, rowid=rowid)
+my_apcv = processing.pcode.apcv(my_scene, mydb.viewing_directions)
my_apcv_sph = processing.tools.cartesian_to_spherical(x=my_apcv[..., 0],
y=my_apcv[..., 1],
diff --git a/doc/source/example/processing/contrast_weighted_nearness.py b/doc/source/example/processing/contrast_weighted_nearness.py
index 379fafc2d7239084f1fa43a655ea7f07dff82a9c..9704ff106bbf974840ad4ba8286fe778dfbee43f 100644
--- a/doc/source/example/processing/contrast_weighted_nearness.py
+++ b/doc/source/example/processing/contrast_weighted_nearness.py
@@ -1,17 +1,18 @@
import matplotlib.pyplot as plt
from navipy.database import DataBaseLoad
import navipy.processing as processing
-import os
+import pkg_resources
# 1) Connect to the database
-mydb_filename = os.path.abspath('../database.db')
+mydb_filename = pkg_resources.resource_filename(
+ 'navipy', 'resources/database.db')
mydb = DataBaseLoad(mydb_filename)
# 2) Define the position-orinetation at which
# we want the image
rowid = 12
-my_scene = processing.scene(mydb, rowid=rowid)
-my_contrast = processing.contrast_weighted_nearness(my_scene)
+my_scene = processing.pcode.scene(mydb, rowid=rowid)
+my_contrast = processing.pcode.contrast_weighted_nearness(my_scene)
f, axarr = plt.subplots(2, 2, figsize=(15, 8))
axarr = axarr.flatten()
diff --git a/doc/source/example/processing/pcv.py b/doc/source/example/processing/pcv.py
index 703ae44033c58eda511d0604501c1a783c49bcff..d6251279ec3b0be4d1e3e7d0a3adfaa56eeb6ea0 100644
--- a/doc/source/example/processing/pcv.py
+++ b/doc/source/example/processing/pcv.py
@@ -1,14 +1,15 @@
# import matplotlib.pyplot as plt
from navipy.database import DataBaseLoad
import navipy.processing as processing
-import os
+import pkg_resources
# 1) Connect to the database
-mydb_filename = os.path.abspath('../database.db')
+mydb_filename = pkg_resources.resource_filename(
+ 'navipy', 'resources/database.db')
mydb = DataBaseLoad(mydb_filename)
# 2) Define the position-orinetation at which
# we want the image
rowid = 12
-my_scene = processing.scene(mydb, rowid=rowid)
-my_pcv = processing.pcv(my_scene, mydb.viewing_directions)
+my_scene = processing.pcode.scene(mydb, rowid=rowid)
+my_pcv = processing.pcode.pcv(my_scene, mydb.viewing_directions)
diff --git a/doc/source/example/processing/scene.py b/doc/source/example/processing/scene.py
index 1f839badc2e7971efec16b7caf7355d211aa3c34..79c699e2c1502b8d338d789ad1d00fb47808391f 100644
--- a/doc/source/example/processing/scene.py
+++ b/doc/source/example/processing/scene.py
@@ -2,16 +2,17 @@ import numpy as np
import matplotlib.pyplot as plt
from navipy.database import DataBaseLoad
import navipy.processing as processing
-import os
+import pkg_resources
# 1) Connect to the database
-mydb_filename = os.path.abspath('../database.db')
+mydb_filename = pkg_resources.resource_filename(
+ 'navipy', 'resources/database.db')
mydb = DataBaseLoad(mydb_filename)
# 2) Define the position-orinetation at which
# we want the image and get the scene
rowid = 12
-my_scene = processing.scene(mydb, rowid=rowid)
+my_scene = processing.pcode.scene(mydb, rowid=rowid)
f, axarr = plt.subplots(1, 2, figsize=(15, 4))
diff --git a/doc/source/processing.rst b/doc/source/processing.rst
index fa604b35391873f505c6ec921635b764fe226f5c..40af2eb8917bcf95a03ed00d7c6d039b889ed92f 100644
--- a/doc/source/processing.rst
+++ b/doc/source/processing.rst
@@ -3,30 +3,34 @@ Processing a scene
.. automodule:: navipy.processing
+Place code
+----------
Scene
------
-.. autofunction:: navipy.processing.scene
-
+~~~~~
+.. autofunction:: navipy.processing.pcode.scene
+
Skyline
--------
-.. autofunction:: navipy.processing.skyline
+~~~~~~~
+.. autofunction:: navipy.processing.pcode.skyline
Michelson-contrast
-------------------
-.. autofunction:: navipy.processing.michelson_contrast
+~~~~~~~~~~~~~~~~~~
+.. autofunction:: navipy.processing.pcode.michelson_contrast
Contrast-weighted-nearness
---------------------------
-.. autofunction:: navipy.processing.contrast_weighted_nearness
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+.. autofunction:: navipy.processing.pcode.contrast_weighted_nearness
Place-code vectors
-------------------
-.. autofunction:: navipy.processing.pcv
+~~~~~~~~~~~~~~~~~~
+.. autofunction:: navipy.processing.pcode.pcv
Average place-code vector
--------------------------
-.. autofunction:: navipy.processing.apcv
-
-Optic-flow
-----------
-.. autofunction:: navipy.processing.optic_flow
+~~~~~~~~~~~~~~~~~~~~~~~~~
+.. autofunction:: navipy.processing.pcode.apcv
+
+Motion code
+-----------
+Optic flow
+~~~~~~~~~~
+.. autofunction:: navipy.processing.mcode.optic_flow
diff --git a/navipy/processing/pcode.py b/navipy/processing/pcode.py
index f2f8824cc15bc54d200f2c39cf6e0f28c44e8e01..be7621c81aaee337c18a5f327969b697be6af6e4 100644
--- a/navipy/processing/pcode.py
+++ b/navipy/processing/pcode.py
@@ -28,7 +28,7 @@ def scene(database, posorient=None, rowid=None):
:rtype: np.ndarray
.. literalinclude:: example/processing/scene.py
- :lines: 13-14
+ :lines: 14-15
.. plot:: example/processing/scene.py
"""
@@ -140,7 +140,7 @@ and minimum of the local image intensity in the michelson-contrast.
:param distance_channel: the index of the distance-channel.
.. literalinclude:: example/processing/contrast_weighted_nearness.py
- :lines: 12-14
+ :lines: 13-15
.. plot:: example/processing/contrast_weighted_nearness.py
@@ -173,7 +173,7 @@ def pcv(place_code, viewing_directions):
:rtype: (np.ndarray)
.. literalinclude:: example/processing/pcv.py
- :lines: 12-14
+ :lines: 13-15
.. plot:: example/processing/pcv.py
@@ -223,7 +223,7 @@ def apcv(place_code, viewing_directions):
:rtype: (np.ndarray)
.. literalinclude:: example/processing/apcv.py
- :lines: 12-14
+ :lines: 13-15
.. plot:: example/processing/apcv.py
diff --git a/navipy/processing/test.py b/navipy/processing/test.py
index 94d2778e2537b4e58baf97cf7cb3ac417317129d..536d7c33d36104d22432228b3b9afc56b2c9f9ff 100644
--- a/navipy/processing/test.py
+++ b/navipy/processing/test.py
@@ -4,82 +4,17 @@ import numpy as np
import pandas as pd
import navipy.database as database
import navipy.processing as processing
+from navipy.processing.tools import is_numeric_array
import pkg_resources
-def is_numeric_array(array):
- """Checks if the dtype of the array is numeric.
-
- Booleans, unsigned integer, signed integer, floats and complex are
- considered numeric.
-
- Parameters
- ----------
- array : `numpy.ndarray`-like
- The array to check.
-
- Returns
- -------
- is_numeric : `bool`
- True if it is a recognized numerical and False if object or
- string.
- """
- numerical_dtype_kinds = {'b', # boolean
- 'u', # unsigned integer
- 'i', # signed integer
- 'f', # floats
- 'c'} # complex
- try:
- return array.dtype.kind in numerical_dtype_kinds
- except AttributeError:
- # in case it's not a numpy array it will probably have no dtype.
- return np.asarray(array).dtype.kind in numerical_dtype_kinds
-
-
-def build_test_db():
- db_filename = 'test_db_1'
-
- conn = sqlite3.connect(db_filename)
- c = conn.cursor()
- conn.close()
-
- db_filename = 'test_db_2'
-
- conn = sqlite3.connect(db_filename)
- c = conn.cursor()
-
- c.execute('''CREATE TABLE normalisation
- (R_max, R_min, R_range,
- G_max, G_min, G_range,
- B_max, B_min, B_range,
- D_max, D_min, D_range)''')
-
- c.execute('''CREATE TABLE position_orientation
- (x,y,z,alpha_0,alpha_1,alpha_2)''')
-
- c.execute('''CREATE TABLE image
- (data)''')
- conn.close()
-
-
class TestCase(unittest.TestCase):
def setUp(self):
self.mydb_filename = pkg_resources.resource_filename(
'navipy', 'resources/database.db')
self.mydb = database.DataBaseLoad(self.mydb_filename)
-
-# def test_scene_rowID(self):
-# for rowid in [-1,-6,9.4,3.0,5.4,'e',np.nan,None]:
-# with self.assertRaises(TypeError):
-# image = self.mydb.read_image(rowid=rowid)
-# self.assertIsNotNone(image)
-# self.assertFalse(sum(image.shape)==0)
-
def test_scene_posorient(self):
- # get existing position for which also an image is contained in the db
- # db_filename='/media/luiza/Daten/Repos/proj-ASV3Dnavi/data/raw/ASV_data_0_db.npy'
-
conn = sqlite3.connect(self.mydb_filename)
c = conn.cursor()
c.execute(""" SELECT * FROM position_orientation WHERE (rowid=1) """)
@@ -253,8 +188,8 @@ class TestCase(unittest.TestCase):
processing.contrast_weighted_nearness(scene,
distance_channel=d)
with self.assertRaises(ValueError):
- processing.contrast_weighted_nearness(scene,
- distance_channel=-1)
+ processing.contrast_weighted_nearness(scene,
+ distance_channel=-1)
# should work
for d in [0, 1, 2, 3]: