From 2acd50ded689cd5d29c46d8a300a94862ebc8ff9 Mon Sep 17 00:00:00 2001
From: "Olivier J.N. Bertrand" <olivier.bertrand@uni-bielefeld.de>
Date: Wed, 7 Mar 2018 16:49:47 +0100
Subject: [PATCH] Handle infinite value in blender and a scene checker
---
navipy/database/__init__.py | 14 +++++++++++++-
navipy/sensors/bee_sampling.py | 3 ++-
navipy/sensors/renderer.py | 11 +++++++++++
3 files changed, 26 insertions(+), 2 deletions(-)
diff --git a/navipy/database/__init__.py b/navipy/database/__init__.py
index 511d66b..f81bd01 100644
--- a/navipy/database/__init__.py
+++ b/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
diff --git a/navipy/sensors/bee_sampling.py b/navipy/sensors/bee_sampling.py
index 5d657e0..8284d86 100644
--- a/navipy/sensors/bee_sampling.py
+++ b/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
diff --git a/navipy/sensors/renderer.py b/navipy/sensors/renderer.py
index 469865b..3098394 100644
--- a/navipy/sensors/renderer.py
+++ b/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]
--
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