diff --git a/doc/source/brain.rst b/doc/source/brain.rst
deleted file mode 100644
index 222f808ab512e800b07e3d2c5d04732de29b7a5e..0000000000000000000000000000000000000000
--- a/doc/source/brain.rst
+++ /dev/null
@@ -1,4 +0,0 @@
-Brain
-=====
-
-.. automodule:: navipy
diff --git a/doc/source/comparing.rst b/doc/source/comparing.rst
deleted file mode 100644
index 7d9a4add49cbcd4bdeb06fdf5ed439f9786c1c5f..0000000000000000000000000000000000000000
--- a/doc/source/comparing.rst
+++ /dev/null
@@ -1,27 +0,0 @@
-Comparing
-=========
-
-.. automodule:: navipy.comparing
-
-Place code
-----------
-
-Image diff
-~~~~~~~~~~
-.. autofunction:: navipy.comparing.simple_imagediff
-
-Euclidian image diff
-~~~~~~~~~~~~~~~~~~~~
-.. autofunction:: navipy.comparing.imagediff
-
-Rotational image difference function
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-.. autofunction:: navipy.comparing.rot_imagediff
-
-Differential optic flow
-~~~~~~~~~~~~~~~~~~~~~~~
-.. autofunction:: navipy.comparing.diff_optic_flow
-
-
-Memory in networks
-------------------
diff --git a/doc/source/database.rst b/doc/source/database.rst
deleted file mode 100644
index 7b6604c0201529b50e0390e26f7fa9f3673a79bb..0000000000000000000000000000000000000000
--- a/doc/source/database.rst
+++ /dev/null
@@ -1,7 +0,0 @@
-Database
-========
-
-.. automodule:: navipy.database
-
-.. autoclass:: navipy.database.DataBaseLoad
- :members:
diff --git a/doc/source/example/moving/multi_agent.py b/doc/source/example/moving/multi_agent.py
deleted file mode 100644
index 771404d8e6c369f82af692c7bed4fbbe56063e23..0000000000000000000000000000000000000000
--- a/doc/source/example/moving/multi_agent.py
+++ /dev/null
@@ -1,3 +0,0 @@
-"""
-An example of how to use Multi agent
-"""
diff --git a/doc/source/index.rst b/doc/source/index.rst
index aeda5a52cb35cde3ebed1fed2e031e7bb042956c..d87a51c7294f70615e173c4b2f8890633bf38009 100644
--- a/doc/source/index.rst
+++ b/doc/source/index.rst
@@ -23,13 +23,9 @@ Content
:maxdepth: 1
gettingstarted
- brain
- rendering
- processing
- comparing
- moving
- database
- tutorials
+ overview/index
+ tutorials/index
+ references/index
Indices and tables
diff --git a/doc/source/moving.rst b/doc/source/moving.rst
deleted file mode 100644
index 4156fd241780535b860d5ad2c6d258aa72fff94d..0000000000000000000000000000000000000000
--- a/doc/source/moving.rst
+++ /dev/null
@@ -1,28 +0,0 @@
-Moving
-######
-
-Overview
-********
-.. automodule:: navipy.moving
-
-Close-loop agent
-****************
-
-Online rendering
-================
-.. autoclass:: navipy.moving.agent.CyberBeeAgent
- :members:
-
-Pre-rendered
-============
-.. autoclass:: navipy.moving.agent.GridAgent
- :members:
-
-Graph agent
-***********
-.. autoclass:: navipy.moving.agent.GraphAgent
- :members:
-
-Summary
-*******
-.. automodule:: navipy.moving.agent
diff --git a/doc/source/overview/brain.rst b/doc/source/overview/brain.rst
new file mode 100644
index 0000000000000000000000000000000000000000..3439ddadb3c2770b8826cd098b96c42c27a46e55
--- /dev/null
+++ b/doc/source/overview/brain.rst
@@ -0,0 +1,41 @@
+Brain
+=====
+
+Every agent comes with a brain processing the about of \
+senses or sensors for biological or technical agent, respectively.
+
+The senses of agents in navipy are limited
+to:
+
+* 4d vision (brighness + depth)
+
+The 4d vision sense is controlled by rendering module, either an \
+online rendering or loaded from a database containing pre-rendered images.
+
+For example to use pre-rendered images from a database:
+
+.. literalinclude:: examples/apcv.py
+ :lines: 10-11
+
+Then the brain can be updated at a new position orientation:
+
+.. literalinclude:: examples/apcv.py
+ :lines: 15
+
+Building your own brain
+-----------------------
+
+The Brain class is an abstract Brain, such that it can not control an agent. \
+To control, an agent, the Brain should have a function called velocity.
+
+For example, an stationary agent should always return a null velocity.
+
+.. literalinclude:: examples/static_brain.py
+ :lines: 3,9-17
+
+An agent using an average skyline homing vector, could be build as follow
+
+.. literalinclude:: examples/asv_brain.py
+ :lines: 4-5,11-36
+
+
diff --git a/doc/source/overview/comparing.rst b/doc/source/overview/comparing.rst
new file mode 100644
index 0000000000000000000000000000000000000000..cb3d6a150bf1e12f835c0fefcdb18a83503ca717
--- /dev/null
+++ b/doc/source/overview/comparing.rst
@@ -0,0 +1,11 @@
+Comparing
+=========
+
+
+Rotational image difference function
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ .. literalinclude:: examples/ridf.py
+ :lines: 4,20
+
+ .. plot:: overview/examples/ridf.py
diff --git a/doc/source/overview/database.rst b/doc/source/overview/database.rst
new file mode 100644
index 0000000000000000000000000000000000000000..26694db5b5098954dfc8ad25f84ccd613ae14413
--- /dev/null
+++ b/doc/source/overview/database.rst
@@ -0,0 +1,64 @@
+Database
+========
+
+Database are generated by the rendering module, and contains all \
+images and there corresponding position-orientations.
+
+* position_orientation: containing all position and orientation of where \
+images were rendered. The position-orientation is described by \
+['x','y','z','alpha_0','alpha_1','alpha_2']
+* image: containing all images ever rendered. Each channel of each image \
+are normalised, so to use the full coding range.
+* normalisation: the normalisation constantes
+
+
+How to load a database
+----------------------
+
+.. literalinclude:: examples/get_posorients.py
+ :lines: 8
+
+How to load all position-orientation
+------------------------------------
+
+The database contains all position-orientation \
+at which an image as been rendered. In certain \
+situation, it may be usefull to know all \
+position-orientation in the database. More technically \
+speaking, loading the full table of position-orientaiton.
+
+.. literalinclude:: examples/get_posorients.py
+ :lines: 9-10
+
+.. plot:: overview/examples/get_posorients.py
+
+How to load an image
+--------------------
+
+The database contains images which can be processed differently \
+depending on the navigation strategy beeing used.
+
+Images are at given position-orientations. To load an image \
+the position-orientation can be given. The DataBaseLoader will \
+look if this position-orientation has been rendered. If it is \
+the case, the image will be returned.
+
+.. literalinclude:: examples/load_image_posorient.py
+ :lines: 14-23
+
+.. plot:: overview/examples/load_image_posorient.py
+
+However, looking in the database if an image has already been \
+rendered at a given position-orientation can cost time. To speed up \
+certain calculation, image can instead be access by row number. \
+Indeed each position-orientation can be identified by a unique row \
+number. This number is consistant through the entire database. Thus, \
+an image can be loaded by providing the row number.
+
+.. literalinclude:: examples/load_image_rowid.py
+ :lines: 13-15
+
+.. plot:: overview/examples/load_image_rowid.py
+
+
+.. todo: channels as part of database
diff --git a/doc/source/example/blender/Cam_blender.svg b/doc/source/overview/examples/Cam_blender.svg
similarity index 100%
rename from doc/source/example/blender/Cam_blender.svg
rename to doc/source/overview/examples/Cam_blender.svg
diff --git a/doc/source/example/blender/Python_blender.svg b/doc/source/overview/examples/Python_blender.svg
similarity index 100%
rename from doc/source/example/blender/Python_blender.svg
rename to doc/source/overview/examples/Python_blender.svg
diff --git a/doc/source/example/processing/apcv.py b/doc/source/overview/examples/apcv.py
similarity index 55%
rename from doc/source/example/processing/apcv.py
rename to doc/source/overview/examples/apcv.py
index 2d5433d9d820e50694363b5da85b0efa9604b127..2af5b6de7aa2f4110f0a02f49e547c40611ebb84 100644
--- a/doc/source/example/processing/apcv.py
+++ b/doc/source/overview/examples/apcv.py
@@ -1,6 +1,8 @@
import matplotlib.pyplot as plt
from navipy.database import DataBaseLoad
-import navipy.processing as processing
+from navipy.processing import pcode
+from navipy.processing import tools
+from navipy.processing import constants
from navipy import Brain
import pkg_resources
@@ -13,17 +15,17 @@ mybrain = Brain(renderer=mydb)
# we want the image
posorient = mydb.posorients.loc[12, :]
mybrain.update(posorient)
-my_apcv = processing.pcode.apcv(mybrain.vision.scene,
- mybrain.vision.viewing_directions)
+my_apcv = pcode.apcv(mybrain.vision.scene,
+ mybrain.vision.viewing_directions)
-my_apcv_sph = processing.tools.cartesian_to_spherical(x=my_apcv[..., 0],
- y=my_apcv[..., 1],
- z=my_apcv[..., 2])
+my_apcv_sph = tools.cartesian_to_spherical(x=my_apcv[..., 0],
+ y=my_apcv[..., 1],
+ z=my_apcv[..., 2])
elevation = mydb.viewing_directions[...,
- processing.constants.__spherical_indeces__[
+ constants.__spherical_indeces__[
'elevation']]
azimuth = mydb.viewing_directions[...,
- processing.constants.__spherical_indeces__[
+ constants.__spherical_indeces__[
'azimuth']]
diff --git a/doc/source/example/brain/asv_brain.py b/doc/source/overview/examples/asv_brain.py
similarity index 100%
rename from doc/source/example/brain/asv_brain.py
rename to doc/source/overview/examples/asv_brain.py
diff --git a/doc/source/example/rendering/blenddemo_beesampling.py b/doc/source/overview/examples/blenddemo_beesampling.py
similarity index 100%
rename from doc/source/example/rendering/blenddemo_beesampling.py
rename to doc/source/overview/examples/blenddemo_beesampling.py
diff --git a/doc/source/example/rendering/blenddemo_cyberbee.py b/doc/source/overview/examples/blenddemo_cyberbee.py
similarity index 100%
rename from doc/source/example/rendering/blenddemo_cyberbee.py
rename to doc/source/overview/examples/blenddemo_cyberbee.py
diff --git a/doc/source/example/processing/contrast_weighted_nearness.py b/doc/source/overview/examples/contrast_weighted_nearness.py
similarity index 100%
rename from doc/source/example/processing/contrast_weighted_nearness.py
rename to doc/source/overview/examples/contrast_weighted_nearness.py
diff --git a/doc/source/example/database/get_posorients.py b/doc/source/overview/examples/get_posorients.py
similarity index 100%
rename from doc/source/example/database/get_posorients.py
rename to doc/source/overview/examples/get_posorients.py
diff --git a/doc/source/example/database/load_image_posorient.py b/doc/source/overview/examples/load_image_posorient.py
similarity index 100%
rename from doc/source/example/database/load_image_posorient.py
rename to doc/source/overview/examples/load_image_posorient.py
diff --git a/doc/source/example/database/load_image_rowid.py b/doc/source/overview/examples/load_image_rowid.py
similarity index 100%
rename from doc/source/example/database/load_image_rowid.py
rename to doc/source/overview/examples/load_image_rowid.py
diff --git a/doc/source/example/processing/michelson_contrast.py b/doc/source/overview/examples/michelson_contrast.py
similarity index 100%
rename from doc/source/example/processing/michelson_contrast.py
rename to doc/source/overview/examples/michelson_contrast.py
diff --git a/doc/source/example/processing/pcv.py b/doc/source/overview/examples/pcv.py
similarity index 73%
rename from doc/source/example/processing/pcv.py
rename to doc/source/overview/examples/pcv.py
index 19d517fd4e63415ad4f35b32cde3a179db414ddc..5f0b1070ee6a58707cd7b31c3e63e292b5963c66 100644
--- a/doc/source/example/processing/pcv.py
+++ b/doc/source/overview/examples/pcv.py
@@ -1,6 +1,6 @@
# import matplotlib.pyplot as plt
from navipy.database import DataBaseLoad
-import navipy.processing as processing
+from navipy.processing import pcode
from navipy import Brain
import pkg_resources
@@ -13,5 +13,5 @@ mybrain = Brain(renderer=mydb)
# we want the image
posorient = mydb.posorients.loc[12, :]
mybrain.update(posorient)
-my_pcv = processing.pcode.pcv(mybrain.vision.scene,
- mybrain.vision.viewing_directions)
+my_pcv = pcode.pcv(mybrain.vision.scene,
+ mybrain.vision.viewing_directions)
diff --git a/doc/source/example/comparing/ridf.py b/doc/source/overview/examples/ridf.py
similarity index 100%
rename from doc/source/example/comparing/ridf.py
rename to doc/source/overview/examples/ridf.py
diff --git a/doc/source/example/database/scene.py b/doc/source/overview/examples/scene.py
similarity index 100%
rename from doc/source/example/database/scene.py
rename to doc/source/overview/examples/scene.py
diff --git a/doc/source/example/processing/skyline.py b/doc/source/overview/examples/skyline.py
similarity index 87%
rename from doc/source/example/processing/skyline.py
rename to doc/source/overview/examples/skyline.py
index d8b2440714fefcd121c9fa6c8c57da05bbf0ca74..1932fb78e6351e3485e4966d97899f6b8e1e5bea 100644
--- a/doc/source/example/processing/skyline.py
+++ b/doc/source/overview/examples/skyline.py
@@ -1,6 +1,6 @@
import matplotlib.pyplot as plt
from navipy.database import DataBaseLoad
-import navipy.processing as processing
+from navipy.processing import pcode as processing
from navipy import Brain
import pkg_resources
@@ -13,7 +13,7 @@ mybrain = Brain(renderer=mydb)
# we want the image
posorient = mydb.posorients.loc[12, :]
mybrain.update(posorient)
-my_skyline = processing.pcode.skyline(mybrain.vision.scene)
+my_skyline = processing.skyline(mybrain.vision.scene)
f, axarr = plt.subplots(1, 2, figsize=(15, 4))
for chan_i, chan_n in enumerate(mydb.channels):
diff --git a/doc/source/example/brain/static_brain.py b/doc/source/overview/examples/static_brain.py
similarity index 100%
rename from doc/source/example/brain/static_brain.py
rename to doc/source/overview/examples/static_brain.py
diff --git a/doc/source/overview/index.rst b/doc/source/overview/index.rst
new file mode 100644
index 0000000000000000000000000000000000000000..2fb66a4a74c416ed4fa10f4cd0268a1e7b1aed9b
--- /dev/null
+++ b/doc/source/overview/index.rst
@@ -0,0 +1,13 @@
+
+Overview
+========
+
+.. toctree::
+ :maxdepth: 2
+
+ brain
+ rendering
+ processing
+ comparing
+ moving
+ database
diff --git a/doc/source/overview/moving.rst b/doc/source/overview/moving.rst
new file mode 100644
index 0000000000000000000000000000000000000000..9737f5c6197648505bde0613d3f040bb1f2e65f5
--- /dev/null
+++ b/doc/source/overview/moving.rst
@@ -0,0 +1,10 @@
+Moving
+######
+
+Overview
+********
+.. automodule:: navipy.moving
+
+Summary
+*******
+.. automodule:: navipy.moving.agent
diff --git a/doc/source/overview/processing.rst b/doc/source/overview/processing.rst
new file mode 100644
index 0000000000000000000000000000000000000000..02359bf5bb52f23315f1ca8ed380d5f411156aa5
--- /dev/null
+++ b/doc/source/overview/processing.rst
@@ -0,0 +1,87 @@
+Processing a scene
+==================
+
+An agent comes equipped with a battery of sensors, such as a camera \
+depth estimation sensors, compass, and odometer. Here, we focus on the \
+the processing of retino-topic information provided by a camera and a \
+depth estimation sensor. This retino-topic information is refer as a scene.
+
+image based scene (IBS)
+ A classical image. Each pixel is viewed in a direction
+ (elevation,azimuth) in a regular manner.
+ In that case the scene is a 4d numpy array
+ [elevation-index,azimuth-index,channel-index,1].
+
+Omatidium based scene (OBS)
+ In an ommatidia based scene, the viewing direction
+ do not need to be regularally spaced.
+ In that case the scene is a 3d numpy array
+ [ommatidia-index, channel-index,1].
+
+Place code
+----------
+Processing a scene yield to a certain encoding of information at the location \
+where the scene was acquired, rendered, seen by the agent.
+
+By extension a place-code is either image based or ommatidium based.
+The number of dimension of an ib-place-code is always 4, and of an
+ob-place-code always 3.
+
+image based place-code (IBPC)
+ A place code derived from IBS. Each pixel is viewed in a direction
+ (elevation,azimuth) in a regular manner.
+ In that case the scene is a 4d numpy array
+ [elevation-index,azimuth-index,channel-index,component-index].
+
+Omatidium based place-code (OBPC)
+ A place code derived from OBS, the viewing direction
+ do not need to be regularally spaced.
+ In that case the scene is a 3d numpy array
+ [ommatidia-index, channel-index,component-index].
+
+
+Abusing the terminology of a place-code, a scene can be a place-code.
+Therefore ibs and obs have 4 and 3 dimension, respectively.
+
+Skyline
+~~~~~~~
+
+ .. literalinclude:: examples/skyline.py
+ :lines: 16
+
+ .. plot:: overview/examples/skyline.py
+
+
+Michelson-contrast
+~~~~~~~~~~~~~~~~~~
+
+
+ .. literalinclude:: examples/michelson_contrast.py
+ :lines: 16
+
+ .. plot:: overview/examples/michelson_contrast.py
+
+
+Contrast weighted nearness
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ .. literalinclude:: examples/contrast_weighted_nearness.py
+ :lines: 17-18
+
+ .. plot:: overview/examples/contrast_weighted_nearness.py
+
+Place code vectors
+~~~~~~~~~~~~~~~~~~
+
+ .. literalinclude:: examples/pcv.py
+ :lines: 16-17
+
+ .. plot:: overview/examples/pcv.py
+
+Average place code vectors
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ .. literalinclude:: examples/apcv.py
+ :lines: 16-17
+
+ .. plot:: overview/examples/apcv.py
diff --git a/doc/source/overview/rendering.rst b/doc/source/overview/rendering.rst
new file mode 100644
index 0000000000000000000000000000000000000000..58a546b65c752af603ebea216e43ada1cb464587
--- /dev/null
+++ b/doc/source/overview/rendering.rst
@@ -0,0 +1,81 @@
+Rendering
+=========
+"""
+Navipy & blender
+----------------
+What is blender?
+~~~~~~~~~~~~~~~~
+Explain blender
+
+Create a world
+~~~~~~~~~~~~~~
+Explain How to create env for navipy
+
+Using navipy in blender
+~~~~~~~~~~~~~~~~~~~~~~~
+Blender comes with its own python installation. Thus, we need to \
+tell blender to use our virtualenv where the navigation toolbox \
+is installed. To do we need to import the os module
+
+.. literalinclude:: ../blender_run.py
+ :lines: 6 - 7
+
+then activate the environment by using the following function:
+
+.. literalinclude:: ../blender_run.py
+ :lines: 13 - 18
+
+here venv_path is the path to the virtual environment within which \
+navipy has been installed.
+
+Now, blender can import all modules used by the navigation toolbox.
+
+How to run python code with blender:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+>>> blender path/to/world.blend --background --python path/to/code.py
+
+How to generate a database using blender
+----------------------------------------
+
+.. literalinclude:: examples/blenddemo_beesampling.py
+ :lines: 6
+
+With the toolbox at disposition we just need to configure the \
+BeeSampling to render images on a regular 3D grid.
+
+.. literalinclude:: examples/blenddemo_beesampling.py
+ :lines: 9
+
+.. literalinclude:: examples/blenddemo_beesampling.py
+ :lines: 12-19
+
+If we want to use the distance to objects, we need to tell the \
+BeeSampling what is the maximum distance to objects in the environment.\
+ Otherwise the distance can go until infinity, and since the image are \
+compressed in the database, all distance to object will be equal to \
+zero:
+
+.. literalinclude:: examples/blenddemo_beesampling.py
+ :lines: 23-24
+
+Finally we can generate the database.
+
+.. literalinclude:: examples/blenddemo_beesampling.py
+ :lines: 28-29
+
+Custom sampling
+---------------
+
+ .. literalinclude:: examples/blenddemo_cyberbee.py
+ :lines: 5
+
+ With the toolbox at disposition we just need to configure the \
+ Cyberbee to render images at desired positions.
+
+ .. literalinclude:: examples/blenddemo_cyberbee.py
+ :lines: 8-13
+
+ To render a scene at a given positions we just have to do:
+
+ .. literalinclude:: examples/blenddemo_cyberbee.py
+ :lines: 14-22
diff --git a/doc/source/processing.rst b/doc/source/processing.rst
deleted file mode 100644
index 6322afd977f601caa1573e28028ea4847aca17fd..0000000000000000000000000000000000000000
--- a/doc/source/processing.rst
+++ /dev/null
@@ -1,4 +0,0 @@
-Processing a scene
-==================
-
-.. automodule:: navipy.processing
diff --git a/doc/source/references/brain.rst b/doc/source/references/brain.rst
new file mode 100644
index 0000000000000000000000000000000000000000..71c5a93177d139ef59ff53b686ac6d92371efc41
--- /dev/null
+++ b/doc/source/references/brain.rst
@@ -0,0 +1,4 @@
+Brain
+-----
+
+.. autoclass:: navipy.Brain
diff --git a/doc/source/references/comparing.rst b/doc/source/references/comparing.rst
new file mode 100644
index 0000000000000000000000000000000000000000..d3bd13f4e6a65def7ab5c166a33a06c0332c84aa
--- /dev/null
+++ b/doc/source/references/comparing.rst
@@ -0,0 +1,5 @@
+Comparing
+---------
+
+.. automodule:: navipy.comparing
+ :members:
diff --git a/doc/source/references/database.rst b/doc/source/references/database.rst
new file mode 100644
index 0000000000000000000000000000000000000000..4b7cef688ae242e6c919d257faff828a8cad0a9b
--- /dev/null
+++ b/doc/source/references/database.rst
@@ -0,0 +1,5 @@
+Database
+--------
+
+.. automodule:: navipy.database
+ :members:
diff --git a/doc/source/references/index.rst b/doc/source/references/index.rst
new file mode 100644
index 0000000000000000000000000000000000000000..b3fbe6cac1d62e1d85b4c9be15887ba51dd718f3
--- /dev/null
+++ b/doc/source/references/index.rst
@@ -0,0 +1,12 @@
+References
+==========
+
+.. toctree::
+ :maxdepth: 2
+
+ brain
+ sensors
+ processing
+ comparing
+ moving
+ database
diff --git a/doc/source/references/moving.rst b/doc/source/references/moving.rst
new file mode 100644
index 0000000000000000000000000000000000000000..d484c30d370a466467b0c3656f7ecf17ef947e16
--- /dev/null
+++ b/doc/source/references/moving.rst
@@ -0,0 +1,10 @@
+Moving
+------
+
+.. automodule:: navipy.moving
+
+Agents
+~~~~~~
+
+.. automodule:: navipy.moving.agent
+ :members:
diff --git a/doc/source/references/processing.rst b/doc/source/references/processing.rst
new file mode 100644
index 0000000000000000000000000000000000000000..6f3291bb688c60b03cabe603eb5458e96345598b
--- /dev/null
+++ b/doc/source/references/processing.rst
@@ -0,0 +1,10 @@
+Processing
+----------
+
+.. automodule:: navipy.processing
+
+Place code
+~~~~~~~~~~
+
+.. automodule:: navipy.processing.pcode
+ :members:
diff --git a/doc/source/references/sensors.rst b/doc/source/references/sensors.rst
new file mode 100644
index 0000000000000000000000000000000000000000..08c72fd0a0485c43029eaf101e1a004d749df55e
--- /dev/null
+++ b/doc/source/references/sensors.rst
@@ -0,0 +1,10 @@
+Sensors
+-------
+
+.. automodule:: navipy.sensors
+
+Renderer
+~~~~~~~~
+
+.. automodule:: navipy.sensors.renderer
+ :members:
diff --git a/doc/source/rendering.rst b/doc/source/rendering.rst
deleted file mode 100644
index 2d70aad8e62d546c5591648107a3e9345881eb21..0000000000000000000000000000000000000000
--- a/doc/source/rendering.rst
+++ /dev/null
@@ -1,3 +0,0 @@
-Rendering
-=========
-.. automodule:: navipy.rendering
diff --git a/doc/source/example/tutorials/asv_homing_graph.py b/doc/source/tutorials/examples/asv_homing_graph.py
similarity index 100%
rename from doc/source/example/tutorials/asv_homing_graph.py
rename to doc/source/tutorials/examples/asv_homing_graph.py
diff --git a/doc/source/example/tutorials/asv_homing_grid.py b/doc/source/tutorials/examples/asv_homing_grid.py
similarity index 100%
rename from doc/source/example/tutorials/asv_homing_grid.py
rename to doc/source/tutorials/examples/asv_homing_grid.py
diff --git a/doc/source/tutorials.rst b/doc/source/tutorials/index.rst
similarity index 83%
rename from doc/source/tutorials.rst
rename to doc/source/tutorials/index.rst
index 78c50b6a625fcc696d22e28008d63ae21b0f8b9f..2d4fe5e412fdc517e18cda9c73d8644cf4393ef9 100644
--- a/doc/source/tutorials.rst
+++ b/doc/source/tutorials/index.rst
@@ -24,7 +24,7 @@ the velocity of the agent.
Our agent needs to have a function to convert its current state to a motion. \
This function, velocity, can be added as follow:
-.. literalinclude:: example/tutorials/asv_homing_grid.py
+.. literalinclude:: examples/asv_homing_grid.py
:lines: 12-30
On a grid
@@ -33,33 +33,33 @@ On a grid
By restricting the agent motion on a grid, we can used a database containing \
images rendered at pre defined location (the grid nodes).
-.. literalinclude:: example/tutorials/asv_homing_grid.py
- :lines: 35
+.. literalinclude:: examples/asv_homing_grid.py
+ :lines: 36
And initialise the senses of our virtual agent
-.. literalinclude:: example/tutorials/asv_homing_grid.py
- :lines: 36
+.. literalinclude:: examples/asv_homing_grid.py
+ :lines: 37
Now we have to initialise an agent moving on a grid (i.e. a GridAgent)
-.. literalinclude:: example/tutorials/asv_homing_grid.py
- :lines: 38
+.. literalinclude:: examples/asv_homing_grid.py
+ :lines: 39
at an initial position
-.. literalinclude:: example/tutorials/asv_homing_grid.py
- :lines: 40-43
+.. literalinclude:: examples/asv_homing_grid.py
+ :lines: 42-44
a mode of motion corresponding to the grid used in the database
-.. literalinclude:: example/tutorials/asv_homing_grid.py
- :lines: 36-50
+.. literalinclude:: examples/asv_homing_grid.py
+ :lines: 47-51
Finally our agent is ready to fly for a number of step or until its velocity is null.
-.. literalinclude:: example/tutorials/asv_homing_grid.py
- :lines: 53-54
+.. literalinclude:: examples/asv_homing_grid.py
+ :lines: 54-55
In close loop
~~~~~~~~~~~~~
diff --git a/navipy/comparing/__init__.py b/navipy/comparing/__init__.py
index e33ae9059e0c986705006cc285315ebfd125c282..934ef27fb63a682b96064aaadaea12b71754653e 100644
--- a/navipy/comparing/__init__.py
+++ b/navipy/comparing/__init__.py
@@ -1,7 +1,5 @@
"""
-The Place comparator list different methods to
-compare a current place to a memorised place or
-memorised places.
+Comparing
"""
import numpy as np
from navipy.processing.tools import is_ibpc, is_obpc
@@ -73,10 +71,7 @@ the current and memorised place code.
..note: assume that the image is periodic along the x axis
(the left-right axis)
- .. literalinclude:: example/comparing/ridf.py
- :lines: 4,20
- .. plot:: example/comparing/ridf.py
"""
if not is_ibpc(current): # and not is_obpc(current):
raise TypeError('The current and memory place code\
diff --git a/navipy/database/__init__.py b/navipy/database/__init__.py
index a31f25f12f4870cfb5dcde5bf192a622cfe4926d..1a3d7b6b325baef3e2972fb5becb397cc01fb6e9 100644
--- a/navipy/database/__init__.py
+++ b/navipy/database/__init__.py
@@ -1,65 +1,4 @@
"""
-Database are generated by the rendering module, and contains all \
-images and there corresponding position-orientations.
-
-* position_orientation: containing all position and orientation of where \
-images were rendered. The position-orientation is described by \
-['x','y','z','alpha_0','alpha_1','alpha_2']
-* image: containing all images ever rendered. Each channel of each image \
-are normalised, so to use the full coding range.
-* normalisation: the normalisation constantes
-
-
-How to load a database
-----------------------
-
-.. literalinclude:: example/database/get_posorients.py
- :lines: 8
-
-How to load all position-orientation
-------------------------------------
-
-The database contains all position-orientation \
-at which an image as been rendered. In certain \
-situation, it may be usefull to know all \
-position-orientation in the database. More technically \
-speaking, loading the full table of position-orientaiton.
-
-.. literalinclude:: example/database/get_posorients.py
- :lines: 9-10
-
-.. plot:: example/database/get_posorients.py
-
-How to load an image
---------------------
-
-The database contains images which can be processed differently \
-depending on the navigation strategy beeing used.
-
-Images are at given position-orientations. To load an image \
-the position-orientation can be given. The DataBaseLoader will \
-look if this position-orientation has been rendered. If it is \
-the case, the image will be returned.
-
-.. literalinclude:: example/database/load_image_posorient.py
- :lines: 14-23
-
-.. plot:: example/database/load_image_posorient.py
-
-However, looking in the database if an image has already been \
-rendered at a given position-orientation can cost time. To speed up \
-certain calculation, image can instead be access by row number. \
-Indeed each position-orientation can be identified by a unique row \
-number. This number is consistant through the entire database. Thus, \
-an image can be loaded by providing the row number.
-
-.. literalinclude:: example/database/load_image_rowid.py
- :lines: 13-15
-
-.. plot:: example/database/load_image_rowid.py
-
-
-.. todo: channels as part of database
"""
diff --git a/navipy/moving/__init__.py b/navipy/moving/__init__.py
index 9fddbbf8f836cbcf5f126a4dbc4abcb1be5621ab..7a199eba929470a98a2e5773911f4181b641c690 100644
--- a/navipy/moving/__init__.py
+++ b/navipy/moving/__init__.py
@@ -5,7 +5,7 @@ A standard method to move an agent is to update:
1. update the sensory information at the current agent location :math:`x`
2. deduce the agent motion :math:`vdt` from this information
-3. displace the agent by motion ( :math:`x \rightarrow x + vdt`)
+3. displace the agent by motion ( :math:`x\\rightarrow x + vdt`)
The use of a close loop model including visual rendering is \
diff --git a/navipy/moving/agent.py b/navipy/moving/agent.py
index c03eb97705a721511d7c1f71253b28047e9b1a45..9036c1e68afc3546b1d37d4ea4eb108258e49ea2 100644
--- a/navipy/moving/agent.py
+++ b/navipy/moving/agent.py
@@ -1,13 +1,24 @@
"""
-+----------------+--------------+-------------+
-|Agent class |Type of agent | Rendering +
-+================+==============+=============+
-|:CyberBeeAgent: |Close loop |Online |
-+----------------+ |-------------+
-|:GraphAgent: | |Pre-rendered |
-+----------------+--------------+ |
-|:GridAgent: +Open loop | |
-+----------------+--------------+-------------+
++-------------------------------------------+\
+--------------+-------------+
+|Agent class |\
+Type of agent | Rendering |
++===========================================+\
+==============+=============+
+|:class:`navipy.moving.agent.CyberBeeAgent` |\
+Close loop |Online |
++-------------------------------------------+\
+ +-------------+
+|:class:`navipy.moving.agent.GraphAgent` |\
+ |Pre-rendered |
++-------------------------------------------+\
+--------------+ +
+|:class:`navipy.moving.agent.GridAgent` |\
+Open loop | |
++-------------------------------------------+\
+--------------+-------------+
+
+
"""
import numpy as np
import pandas as pd
@@ -122,7 +133,6 @@ class CyberBeeAgent(AbstractAgent):
CyberBeeAgent is a close loop agent and need to be run within blender \
(see :doc:`rendering`).
- bla
"""
def __init__(self, brain):
diff --git a/navipy/processing/__init__.py b/navipy/processing/__init__.py
index 4729dfbade11ac5b07a14f8d65d7c4284b0d8a16..6af00b004674df4ad22b815aa47576c81459f8f2 100644
--- a/navipy/processing/__init__.py
+++ b/navipy/processing/__init__.py
@@ -1,46 +1,4 @@
"""
-An agent comes equipped with a battery of sensors, such as a camera \
-depth estimation sensors, compass, and odometer. Here, we focus on the \
-the processing of retino-topic information provided by a camera and a \
-depth estimation sensor. This retino-topic information is refer as a scene.
-
-image based scene (IBS)
- A classical image. Each pixel is viewed in a direction
- (elevation,azimuth) in a regular manner.
- In that case the scene is a 4d numpy array
- [elevation-index,azimuth-index,channel-index,1].
-
-Omatidium based scene (OBS)
- In an ommatidia based scene, the viewing direction
- do not need to be regularally spaced.
- In that case the scene is a 3d numpy array
- [ommatidia-index, channel-index,1].
-
-Place code
-----------
-Processing a scene yield to a certain encoding of information at the location \
-where the scene was acquired, rendered, seen by the agent.
-
-By extension a place-code is either image based or ommatidium based.
-The number of dimension of an ib-place-code is always 4, and of an
-ob-place-code always 3.
-
-image based place-code (IBPC)
- A place code derived from IBS. Each pixel is viewed in a direction
- (elevation,azimuth) in a regular manner.
- In that case the scene is a 4d numpy array
- [elevation-index,azimuth-index,channel-index,component-index].
-
-Omatidium based place-code (OBPC)
- A place code derived from OBS, the viewing direction
- do not need to be regularally spaced.
- In that case the scene is a 3d numpy array
- [ommatidia-index, channel-index,component-index].
-
-
-Abusing the terminology of a place-code, a scene can be a place-code.
-Therefore ibs and obs have 4 and 3 dimension, respectively.
-
Skyline
~~~~~~~
.. autofunction:: navipy.processing.pcode.skyline
@@ -61,10 +19,4 @@ Average place-code vector
~~~~~~~~~~~~~~~~~~~~~~~~~
.. 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 b637f19a172a6c4b60665d66f4a2f5c7da139c85..8a6d038853abdfd896271fdfb0fc0d993a52159e 100644
--- a/navipy/processing/pcode.py
+++ b/navipy/processing/pcode.py
@@ -20,11 +20,6 @@ def skyline(scene):
:returns: the skyline [1,azimuth,channel,1]
:rtype: np.ndarray
- .. literalinclude:: example/processing/skyline.py
- :lines: 16
-
- .. plot:: example/processing/skyline.py
-
"""
if not is_ibpc(scene):
raise TypeError('scene should be image based to compute a skyline')
@@ -49,11 +44,6 @@ and minimum of the local image intensity
:returns: the michelson-contrast
:rtype: np.ndarray
- .. literalinclude:: example/processing/michelson_contrast.py
- :lines: 16
-
- .. plot:: example/processing/michelson_contrast.py
-
"""
check_scene(scene)
if not is_ibpc(scene):
@@ -88,11 +78,6 @@ def contrast_weighted_nearness(scene, contrast_size=3, distance_channel=3):
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: 17-18
-
- .. plot:: example/processing/contrast_weighted_nearness.py
-
"""
check_scene(scene)
if not isinstance(contrast_size, int):
@@ -121,11 +106,6 @@ def pcv(place_code, viewing_directions):
:returns: the place code vectors in cartesian coordinates
:rtype: (np.ndarray)
- .. literalinclude:: example/processing/pcv.py
- :lines: 16-17
-
- .. plot:: example/processing/pcv.py
-
"""
# print("place code shape",place_code.shape)
if is_ibpc(place_code):
@@ -171,11 +151,6 @@ def apcv(place_code, viewing_directions):
:returns: the average place-code vector
:rtype: (np.ndarray)
- .. literalinclude:: example/processing/apcv.py
- :lines: 16-17
-
- .. plot:: example/processing/apcv.py
-
"""
check_scene(place_code)
check_viewing_direction(viewing_directions)
diff --git a/navipy/sensors/bee_sampling.py b/navipy/sensors/bee_sampling.py
index 8a9d5f147f9b0f03ea5670b425ee23dee04c4f35..3c1472b9d01aece390ffbff8bba17bc232553620 100644
--- a/navipy/sensors/bee_sampling.py
+++ b/navipy/sensors/bee_sampling.py
@@ -1,29 +1,5 @@
"""
-.. literalinclude:: example/rendering/blenddemo_beesampling.py
- :lines: 6
-
-With the toolbox at disposition we just need to configure the \
-BeeSampling to render images on a regular 3D grid.
-
-.. literalinclude:: example/rendering/blenddemo_beesampling.py
- :lines: 9
-
-.. literalinclude:: example/rendering/blenddemo_beesampling.py
- :lines: 12-19
-
-If we want to use the distance to objects, we need to tell the \
-BeeSampling what is the maximum distance to objects in the environment.\
- Otherwise the distance can go until infinity, and since the image are \
-compressed in the database, all distance to object will be equal to \
-zero:
-
-.. literalinclude:: example/rendering/blenddemo_beesampling.py
- :lines: 23-24
-
-Finally we can generate the database.
-
-.. literalinclude:: example/rendering/blenddemo_beesampling.py
- :lines: 28-29
+Bee sampler / database creator
"""
import warnings
try:
diff --git a/navipy/sensors/renderer.py b/navipy/sensors/renderer.py
index df6bafea555fecefb34c06ca2356f99f7a729665..af791f747999b91cb272b8c9bbcf66c5e17a809b 100644
--- a/navipy/sensors/renderer.py
+++ b/navipy/sensors/renderer.py
@@ -1,52 +1,5 @@
"""
-Navipy & blender
-----------------
-What is blender?
-~~~~~~~~~~~~~~~~
-Explain blender
-
-Create a world
-~~~~~~~~~~~~~~
-Explain How to create env for navipy
-
-Using navipy in blender
-~~~~~~~~~~~~~~~~~~~~~~~
-Blender comes with its own python installation. Thus, we need to \
-tell blender to use our virtualenv where the navigation toolbox \
-is installed. To do we need to import the os module
-
-.. literalinclude:: blender_run.py
- :lines: 6 - 7
-
-then activate the environment by using the following function:
-
-.. literalinclude:: blender_run.py
- :lines: 13 - 18
-
-here venv_path is the path to the virtual environment within which \
-navipy has been installed.
-
-Now, blender can import all modules used by the navigation toolbox.
-
-How to run python code with blender:
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
->>> blender path/to/world.blend --background --python path/to/code.py
-
-How to generate a database using blender
-----------------------------------------
-.. automodule:: navipy.sensors.bee_sampling
-
-Custom sampling
----------------
-.. autoclass:: navipy.sensors.renderer.BlenderRender
-
-Rendering classes
------------------
-.. autoclass:: navipy.sensors.bee_sampling.BeeSampling
- :members:
-
-.. autoclass:: navipy.sensors.renderer.BlenderRender
- :members:
+Renderer
"""
import warnings
try:
@@ -70,20 +23,6 @@ class BlenderRender():
The Bee eye is a panoramic camera with equirectangular projection
The light rays attaining the eyes are filtered with a gaussian.
- .. literalinclude:: example/rendering/blenddemo_cyberbee.py
- :lines: 5
-
- With the toolbox at disposition we just need to configure the \
- Cyberbee to render images at desired positions.
-
- .. literalinclude:: example/rendering/blenddemo_cyberbee.py
- :lines: 8-13
-
- To render a scene at a given positions we just have to do:
-
- .. literalinclude:: example/rendering/blenddemo_cyberbee.py
- :lines: 14-22
-
"""
def __init__(self):