diff --git a/doc/source/tutorials/index.rst b/doc/source/tutorials/index.rst
index 5bd7cf63d3f4ddad18aeda8e50273b2e6568a483..719a9a33df75788345396cfd88a661a7baa1b0e1 100644
--- a/doc/source/tutorials/index.rst
+++ b/doc/source/tutorials/index.rst
@@ -42,7 +42,7 @@ Tutorials
.. container:: descr
- .. figure:: /tutorials/database.jpeg
+ .. figure:: /tutorials/examples/database.svg
:target: database.html
:doc:`/tutorials/database`
@@ -50,7 +50,7 @@ Tutorials
.. container:: descr
- .. figure:: /tutorials/renderimage.svg
+ .. figure:: /tutorials/examples/renderimage.svg
:target: renderimage.html
:doc:`/tutorials/renderimage`
diff --git a/navipy/__init__.py b/navipy/__init__.py
index 9c66ee80b65d7488f53dd330799b206e620f0829..d1a86f5360ce71170998de25cef1ec913c89700b 100644
--- a/navipy/__init__.py
+++ b/navipy/__init__.py
@@ -38,6 +38,7 @@ An agent using an average skyline homing vector, could be build as follow
"""
from navipy.database import DataBaseLoad
+import numpy as np
class Bunch:
diff --git a/navipy/comparing/__init__.py b/navipy/comparing/__init__.py
index 934ef27fb63a682b96064aaadaea12b71754653e..7d32eaadc2e720b744212fd09d1fd2402671808d 100644
--- a/navipy/comparing/__init__.py
+++ b/navipy/comparing/__init__.py
@@ -2,8 +2,7 @@
Comparing
"""
import numpy as np
-from navipy.processing.tools import is_ibpc, is_obpc
-from navipy.processing.tools import check_scene
+from navipy.scene import is_ibpc, is_obpc, check_scene
def simple_imagediff(current, memory):
diff --git a/navipy/comparing/test.py b/navipy/comparing/test.py
index 7770aa46493072404e44960c6ce6d0f356f3e2d3..03df852834d84984f6fbd04d7d898d4f0c32cd60 100644
--- a/navipy/comparing/test.py
+++ b/navipy/comparing/test.py
@@ -2,7 +2,7 @@ import unittest
import numpy as np
import navipy.database as database
import navipy.comparing as comparing
-from navipy.processing.tools import is_numeric_array
+from navipy.scene import is_numeric_array
import pkg_resources
diff --git a/navipy/database/__init__.py b/navipy/database/__init__.py
index 1a3d7b6b325baef3e2972fb5becb397cc01fb6e9..511d66b173e16ae32e39156f5f38a852e332a632 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
-import navipy.processing.tools as tools
+from navipy.scene import is_numeric_array
def adapt_array(arr):
@@ -528,7 +528,7 @@ class DataBaseSave(DataBase):
if image.shape[2] != len(self.channels):
raise Exception('image channels number differs from\
given channel number')
- if not tools.is_numeric_array(image):
+ if not is_numeric_array(image):
raise TypeError('scene is of non numeric type')
normed_im = np.zeros(image.shape, dtype=dtype)
maxval_nim = np.iinfo(normed_im.dtype).max
diff --git a/navipy/maths/__init__.py b/navipy/maths/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/navipy/maths/coordinates.py b/navipy/maths/coordinates.py
new file mode 100644
index 0000000000000000000000000000000000000000..e670d9e8d6f80aa74f66929aeb28b599ea63b3b8
--- /dev/null
+++ b/navipy/maths/coordinates.py
@@ -0,0 +1,23 @@
+"""
+ Conversion between coordinates systems
+"""
+import numpy as np
+
+
+def cartesian_to_spherical(x, y, z):
+ radius = np.sqrt(x**2 + y**2 + z**2)
+ elevation = np.arctan2(z, np.sqrt(x**2 + y**2))
+ azimuth = np.arctan2(y, x)
+ spherical = np.zeros_like(x)
+ spherical = np.tile(spherical[..., np.newaxis], (3,))
+ return elevation, azimuth, radius
+
+
+def spherical_to_cartesian(elevation, azimuth, radius=1):
+ cartesian = np.zeros_like(elevation)
+ cartesian = np.tile(cartesian[..., np.newaxis], (3,))
+ x = np.cos(elevation) * np.cos(azimuth)
+ y = np.cos(elevation) * np.sin(azimuth)
+ z = np.sin(elevation)
+ cartesian = radius * cartesian
+ return x, y, z
diff --git a/navipy/processing/constants.py b/navipy/processing/constants.py
deleted file mode 100644
index b2570be93b5c89e30db43b797d4f15476d8a8625..0000000000000000000000000000000000000000
--- a/navipy/processing/constants.py
+++ /dev/null
@@ -1,22 +0,0 @@
-"""
-Define some constant
-"""
-
-__spherical_indeces__ = {'elevation': 0,
- 'azimuth': 1,
- 'radius': 2}
-__cartesian_indeces__ = {'x': 0,
- 'y': 1,
- 'z': 2}
-__ibpc_indeces__ = {'elevation': 0,
- 'azimuth': 1,
- 'channel': 2,
- 'component': 3}
-__obpc_indeces__ = {'ommatidia': 0,
- 'channel': 1,
- 'component': 2}
-__eye_indeces__ = {'elevation': 0,
- 'azimuth': 1,
- 'component': 2}
-__ommadia_indeces__ = {'ommatidia': 0,
- 'component': 1}
diff --git a/navipy/processing/pcode.py b/navipy/processing/pcode.py
index 8a6d038853abdfd896271fdfb0fc0d993a52159e..8ed0ead6aae61fcd727dd7a30bf0fd211f42bd55 100644
--- a/navipy/processing/pcode.py
+++ b/navipy/processing/pcode.py
@@ -3,14 +3,15 @@ place code derived from scene
"""
import numpy as np
from scipy.ndimage import maximum_filter, minimum_filter
-from .constants import __spherical_indeces__
-from .constants import __ibpc_indeces__
-from .constants import __obpc_indeces__
-from .tools import is_ibpc
-from .tools import is_obpc
-from .tools import spherical_to_cartesian
-from .tools import check_scene
-from .tools import check_viewing_direction
+from navipy.scene import __spherical_indeces__
+from navipy.scene import __cartesian_indeces__
+from navipy.scene import __ibpc_indeces__
+from navipy.scene import __obpc_indeces__
+from navipy.scene import is_ibpc
+from navipy.scene import is_obpc
+from navipy.maths.coordinates import spherical_to_cartesian
+from navipy.scene import check_scene
+from navipy.scene import check_viewing_direction
def skyline(scene):
@@ -132,7 +133,13 @@ def pcv(place_code, viewing_directions):
should be 1'.format(place_code.shape[component_dim]))
elevation = viewing_directions[..., __spherical_indeces__['elevation']]
azimuth = viewing_directions[..., __spherical_indeces__['azimuth']]
- unscaled_lv = spherical_to_cartesian(elevation, azimuth, radius=1)
+ x, y, z = spherical_to_cartesian(elevation, azimuth, radius=1)
+ unscaled_lv = np.zeros((viewing_directions.shape[0],
+ viewing_directions.shape[1],
+ 3))
+ unscaled_lv[..., __cartesian_indeces__['x']] = x
+ unscaled_lv[..., __cartesian_indeces__['y']] = y
+ unscaled_lv[..., __cartesian_indeces__['z']] = z
scaled_lv = np.zeros_like(place_code)
# (3,) -> (1,1,3) or (1,1,1,3) see numpy.tile
scaled_lv = np.tile(scaled_lv, (unscaled_lv.shape[-1],))
diff --git a/navipy/processing/test.py b/navipy/processing/test.py
index 1722cae04be61dd17d64ff6ec233d390628f535e..ff13c23084fe5212967bd6bf97cfe752e5bc212a 100644
--- a/navipy/processing/test.py
+++ b/navipy/processing/test.py
@@ -4,7 +4,7 @@ import numpy as np
import pandas as pd
import navipy.database as database
import navipy.processing.pcode as pcode
-from navipy.processing.tools import is_numeric_array
+from navipy.scene import is_numeric_array
import pkg_resources
diff --git a/navipy/processing/tools.py b/navipy/scene.py
similarity index 82%
rename from navipy/processing/tools.py
rename to navipy/scene.py
index 42e0cc8de33ee128ce9353d095412b1f32fbc87a..8b422615f484e259c096335102bfe65812257f11 100644
--- a/navipy/processing/tools.py
+++ b/navipy/scene.py
@@ -1,11 +1,32 @@
-from .constants import __ibpc_indeces__
-from .constants import __spherical_indeces__
-from .constants import __cartesian_indeces__
-from .constants import __obpc_indeces__
-from .constants import __eye_indeces__
+"""
+ Define what a scene is
+"""
import numpy as np
+#
+# Define constants
+#
+__spherical_indeces__ = {'elevation': 0,
+ 'azimuth': 1,
+ 'radius': 2}
+__cartesian_indeces__ = {'x': 0,
+ 'y': 1,
+ 'z': 2}
+__ibpc_indeces__ = {'elevation': 0,
+ 'azimuth': 1,
+ 'channel': 2,
+ 'component': 3}
+__obpc_indeces__ = {'ommatidia': 0,
+ 'channel': 1,
+ 'component': 2}
+__eye_indeces__ = {'elevation': 0,
+ 'azimuth': 1,
+ 'component': 2}
+__ommadia_indeces__ = {'ommatidia': 0,
+ 'component': 1}
+
+
def check_scene(scene):
if is_ibpc(scene):
# print("normal")
@@ -139,27 +160,3 @@ def ibs_to_obs(scene, eye_map):
eye_map.shape[__ibpc_indeces__['component']])
ommatidia_map = eye_map.reshape(omm_size)
return (obs_scene, ommatidia_map)
-
-
-def cartesian_to_spherical(x, y, z):
- radius = np.sqrt(x**2 + y**2 + z**2)
- elevation = np.arctan2(z, np.sqrt(x**2 + y**2))
- azimuth = np.arctan2(y, x)
- spherical = np.zeros_like(x)
- spherical = np.tile(spherical[..., np.newaxis], (3,))
- spherical[..., __spherical_indeces__['elevation']] = elevation
- spherical[..., __spherical_indeces__['azimuth']] = azimuth
- spherical[..., __spherical_indeces__['radius']] = radius
- return spherical
-
-
-def spherical_to_cartesian(elevation, azimuth, radius=1):
- cartesian = np.zeros_like(elevation)
- cartesian = np.tile(cartesian[..., np.newaxis], (3,))
- cartesian[..., __cartesian_indeces__['x']] = np.cos(
- elevation) * np.cos(azimuth)
- cartesian[..., __cartesian_indeces__['y']] = np.cos(
- elevation) * np.sin(azimuth)
- cartesian[..., __cartesian_indeces__['z']] = np.sin(elevation)
- cartesian = radius * cartesian
- return cartesian