Handle infinite value in blender and a scene checker

navipy/database/__init__.py

@@ -8,7 +8,7 @@ import pandas as pd
 import sqlite3
 import io
 import warnings
-from navipy.scene import is_numeric_array
+from navipy.scene import is_numeric_array, check_scene
 
 
 def adapt_array(arr):
@@ -291,6 +291,16 @@ database
         posorient.set_index('id', inplace=True)
         return posorient
 
+    @property
+    def normalisations(self):
+        """Return the position orientations of all points in the \
+database
+        """
+        posorient = pd.read_sql_query(
+            "select * from normalisation;", self.db)
+        posorient.set_index('id', inplace=True)
+        return posorient
+
     def read_posorient(self, posorient=None, rowid=None):
         if posorient is not None:
             if not isinstance(posorient, pd.Series):
@@ -406,6 +416,7 @@ database
         cmaxminrange = cmaxminrange.astype(float)
         toreturn = self.denormalise_image(image, cmaxminrange)
         toreturn = toreturn[..., np.newaxis]
+        check_scene(toreturn)
         return toreturn
 
     def denormalise_image(self, image, cmaxminrange):
@@ -557,4 +568,5 @@ class DataBaseSave(DataBase):
             cmaxminrange.loc[str(chan_n) + '_max'] = cmax
             cmaxminrange.loc[str(chan_n) + '_min'] = cmin
             cmaxminrange.loc[str(chan_n) + '_range'] = crange
+        check_scene(normed_im[...,np.newaxis])
         return normed_im, cmaxminrange

navipy/sensors/bee_sampling.py

@@ -12,7 +12,7 @@ import os
 import numpy as np
 import pandas as pd
 from navipy.database import DataBaseSave
-
+from navipy.scene import check_scene
 
 class BeeSampling():
     """
@@ -163,6 +163,7 @@ so that they are not rendered
             # and the cmaxminrange has not already been assigned
             # so the image need to be rendered
             scene = self.renderer.scene(posorient)
+            check_scene(scene)
             scene = scene[..., 0]
             distance = scene[..., -1]
             distance[distance > self.world_dim] = self.world_dim

navipy/sensors/renderer.py

@@ -324,4 +324,15 @@ is the distance.
         self.update(posorient)
         toreturn = np.concatenate((self.image,
                                    self.distance), axis=2)
+        ninffound=0
+        for chan_i in range(4):
+            cim = toreturn[...,chan_i]
+            cmax=cim.max()
+            if np.isinf(cmax):
+                ninffound += np.sum(np.isinf(cim))
+                cmax=cim[np.isinf(cim)==0].max()
+                toreturn[np.isinf(cim)==1]=cmax
+        
+        if ninffound > 0:
+            warnings.warn('{} Inf found in image'.format(ninffound))
         return toreturn[..., np.newaxis]