diff --git a/navipy/comparing/__init__.py b/navipy/comparing/__init__.py
index ee04adc1d00ab1e198ba5e8d695815900d9d9bbd..9dbf9ae7558d0602edae313e6b49239d5b4410d9 100644
--- a/navipy/comparing/__init__.py
+++ b/navipy/comparing/__init__.py
@@ -87,7 +87,8 @@ the current and memorised place code.
# (M)
ridf = np.zeros((current.shape[1], current.shape[2]))
for azimuth_i in range(0, current.shape[1]):
- rot_im = np.roll(current, azimuth_i, axis=1)
+ # Perform a counter clock wise rotation
+ rot_im = np.roll(current, -azimuth_i, axis=1)
ridf[azimuth_i, :] = np.squeeze(imagediff(rot_im, memory)) # rot_im
return ridf
diff --git a/navipy/moving/agent.py b/navipy/moving/agent.py
index 0c4775cf34c9da016efae9c6f380156ed5f65675..3be7d48aa1d66d8a060ed0e19e269507d3f6be9d 100644
--- a/navipy/moving/agent.py
+++ b/navipy/moving/agent.py
@@ -49,27 +49,35 @@ class DefaultBrain():
raise NameError('No Callback')
+def posorient_columns(convention):
+ return [('location', 'x'),
+ ('location', 'y'),
+ ('location', 'z'),
+ (convention, 'alpha_0'),
+ (convention, 'alpha_1'),
+ (convention, 'alpha_2')]
+
+
+def velocities_columns(convention):
+ return [('location', 'dx'),
+ ('location', 'dy'),
+ ('location', 'dz'),
+ (convention, 'dalpha_0'),
+ (convention, 'dalpha_1'),
+ (convention, 'dalpha_2')]
+
+
class AbstractAgent():
def __init__(self, convention='rzyx'):
self._brain = DefaultBrain()
self._alter_posorientvel = defaultcallback
- tuples = [('location', 'x'),
- ('location', 'y'),
- ('location', 'z'),
- (convention, 'alpha_0'),
- (convention, 'alpha_1'),
- (convention, 'alpha_2')]
+ tuples = posorient_columns(convention)
index = pd.MultiIndex.from_tuples(tuples,
names=['position',
'orientation'])
self._posorient_col = index
- tuples_vel = [('location', 'dx'),
- ('location', 'dy'),
- ('location', 'dz'),
- (convention, 'dalpha_0'),
- (convention, 'dalpha_1'),
- (convention, 'dalpha_2')]
+ tuples_vel = velocities_columns(convention)
index_vel = pd.MultiIndex.from_tuples(tuples_vel,
names=['position',
'orientation'])
@@ -159,22 +167,58 @@ class AbstractAgent():
return None
-class CyberBeeAgent(AbstractAgent):
+class CyberBeeAgent(AbstractAgent, Process):
"""
A CyberBeeAgent uses the rendering method of cyberbee. \
CyberBeeAgent is a close loop agent and need to be run within blender \
(see :doc:`rendering`).
+ Single process
+ Here come example of how to use it
+
+ Multi process
+ CyberBeeAgent inherit from the Process \
+ class of the multiprocessing module of the standard python \
+ library. Thus, several GridAgents can safely be run in parallel.
+
"""
- def __init__(self, brain, convention):
+ def __init__(self, brain, convention,
+ posorients_queue=None,
+ results_queue=None):
if convention is None:
raise Exception("a convention must be specified")
+ if (posorients_queue is not None) and (results_queue is not None):
+ multiprocessing.Process.__init__(self)
AbstractAgent.__init__(self, convention)
AbstractAgent._alter_posorientvel = \
lambda motion_vec: navimomath.next_pos(motion_vec,
move_mode='free_run')
self.brain = brain
+ self._posorients_queue = posorients_queue
+ self._results_queue = results_queue
+
+ def run(self):
+ """ Only supported when multiprocess"""
+ if self._posorients_queue is None or self._results_queue is None:
+ raise NameError('Single agent class has not be inititialised '
+ + 'with multiprocessing suppport')
+ proc_name = self.name
+ print('Process {} started'.format(proc_name))
+ while True:
+ start_posorient = self._posorients_queue.get(timeout=1)
+ if start_posorient is None:
+ # Poison pill means shutdown)
+ break
+ common_id = list(set(start_posorient.index).intersection(
+ self._posorient_vel.index))
+ self._posorient_vel.loc[common_id] = start_posorient.loc[common_id]
+ self.move()
+ posorient_vel = self._posorient_vel
+ self._posorients_queue.task_done()
+ self._results_queue.put(posorient_vel)
+ self._posorients_queue.task_done()
+ print('Process {} done'.format(proc_name))
class GridAgent(AbstractAgent, Process):
@@ -329,6 +373,49 @@ the agent motion, or
self._graph = graph.copy()
self.check_graph()
+ def compute_velocities(self,
+ ncpu=5,
+ timeout=1):
+ # Create a dataframe to store the velocities
+ convention = self._brain.renderer.rotation_convention
+ tuples_posvel = posorient_columns(convention)
+ tuples_posvel.extend(velocities_columns(convention))
+ index_posvel = pd.MultiIndex.from_tuples(tuples_posvel,
+ names=['position',
+ 'orientation'])
+ self.velocities = pd.DataFrame(columns=index_posvel,
+ index=list(self._graph.nodes()))
+ # Build a list of nodes
+ posorients_queue = JoinableQueue()
+ results_queue = Queue()
+ if version < 2:
+ graph_nodes = list(self._graph.nodes())
+ else:
+ graph_nodes = list(self._graph.nodes)
+ for node in graph_nodes:
+ posorients_queue.put(self._graph.nodes[node]['posorient'])
+
+ # Start ndatabase loader
+ num_agents = ncpu
+ agents = [CyberBeeAgent(copy.copy(self._brain),
+ convention=convention,
+ posorients_queue=posorients_queue,
+ results_queue=results_queue)
+ for _ in range(num_agents)]
+ for w in agents:
+ w.start()
+
+ # Add a poison pill for each agent
+ for _ in range(num_agents):
+ posorients_queue.put(None)
+
+ # Wait for all of the tasks to finish
+ # posorients_queue.join()
+ for _ in range(nx.number_of_nodes(self._graph)):
+ res = results_queue.get(timeout=timeout)
+ self.velocities.loc[res.name, res.index] = res
+ return self.velocities.copy()
+
def build_graph(self,
ncpu=5,
timeout=1):
diff --git a/navipy/scripts/blend_overlaytraj.py b/navipy/scripts/blend_overlaytraj.py
index a4a75ef6d0366e488528ffd07126abfdf63f364f..5b7728e1b6e3a2dbd992acbe145e26e279e873d7 100644
--- a/navipy/scripts/blend_overlaytraj.py
+++ b/navipy/scripts/blend_overlaytraj.py
@@ -106,6 +106,9 @@ def run(trajfile):
break
if not camera_found:
raise NameError('The blender file does not contain a camera')
+ # Remove animation to be able to move the camera
+ # and add animation
+ camera.animation_data_clear()
# set first and last frame
context = bpy.context
context.scene.frame_start = trajectory.index.min()
diff --git a/navipy/sensors/renderer.py b/navipy/sensors/renderer.py
index d351859878d73af098736b923e116da5887ca9b8..b537ade72de9c12ad069414becbe96efbf685de1 100644
--- a/navipy/sensors/renderer.py
+++ b/navipy/sensors/renderer.py
@@ -232,6 +232,9 @@ class BlenderRender(AbstractRender):
camera_found = True
break
assert camera_found, 'The blender file does not contain a camera'
+ # Remove animation to be able to move the camera
+ # and add animation
+ self.camera.animation_data_clear()
# The bee eye is panoramic, and with equirectangular projection
self.camera.data.type = 'PANO'
self.camera.data.cycles.panorama_type = 'EQUIRECTANGULAR'
@@ -479,8 +482,10 @@ class BlenderRender(AbstractRender):
"""
# save image as a temporary file, and then loaded
# sadly the rendered image pixels can not directly be access
+ keyframe = bpy.context.scene.frame_current
filename = os.path.join(self.tmp_fileoutput['Folder'],
- self.tmp_fileoutput['Image'] + '0001' +
+ self.tmp_fileoutput['Image'] +
+ '{:04d}'.format(keyframe) +
self.tmp_fileoutput['ext'])
im_width, im_height = self.camera_resolution
im = bpy.data.images.load(filename)
@@ -505,8 +510,10 @@ class BlenderRender(AbstractRender):
"""
# save image as a temporary file, and then loaded
# sadly the rendered image pixels can not directly be access
+ keyframe = bpy.context.scene.frame_current
filename = os.path.join(self.tmp_fileoutput['Folder'],
- self.tmp_fileoutput['Depth'] + '0001' +
+ self.tmp_fileoutput['Depth'] +
+ '{:04d}'.format(keyframe) +
self.tmp_fileoutput['ext'])
im_width, im_height = self.camera_resolution
im = bpy.data.images.load(filename)