diff --git a/navipy/database/__init__.py b/navipy/database/__init__.py
index 63b107ce6fbcf7ad82abfa195c05553d06188302..d5074ac65ef9a62669c2d5e1b9badabc24bac6b9 100644
--- a/navipy/database/__init__.py
+++ b/navipy/database/__init__.py
@@ -116,10 +116,8 @@ It creates three sql table on initialisation.
def __init__(self, filename, channels=['R', 'G', 'B', 'D']):
"""Initialisation of the database """
- if not isinstance(filename, str):
- raise TypeError('filename should be a string')
- if not isinstance(channels, list):
- raise TypeError('nb_channel should be a list')
+ assert isinstance(filename, str), 'filename should be a string'
+ assert isinstance(channels, list), 'nb_channel should be an integer'
self.filename = filename
self.channels = channels
self.normalisation_columns = list()
@@ -145,13 +143,14 @@ It creates three sql table on initialisation.
if os.path.exists(filename):
# Check database
self.db = sqlite3.connect(
- filename, detect_types=sqlite3.PARSE_DECLTYPES)
+ 'file:' + filename + '?cache=shared', uri=True,
+ detect_types=sqlite3.PARSE_DECLTYPES,
+ timeout=10)
self.db_cursor = self.db.cursor()
for tablename, _ in self.tablecolumns.items():
- if not self.table_exist(tablename):
- raise Exception('{} does not contain\
- a table named {}'.format(
- filename, tablename))
+ assert self.table_exist(tablename),\
+ '{} does not contain a table named {}'.format(
+ filename, tablename)
elif self.create():
# Create database
self.db = sqlite3.connect(
@@ -176,8 +175,7 @@ It creates three sql table on initialisation.
self.viewing_directions[..., 1] = ma
def table_exist(self, tablename):
- if not isinstance(tablename, str):
- raise TypeError('tablename should be a string')
+ assert isinstance(tablename, str), 'tablename should be a string'
self.db_cursor.execute(
"""
SELECT count(*)
@@ -191,19 +189,22 @@ It creates three sql table on initialisation.
"""
SELECT count(*)
FROM position_orientation
- WHERE rowid=?;""", (rowid,))
+ WHERE rowid=?;
+ """, (rowid,))
valid = bool(self.db_cursor.fetchone()[0])
self.db_cursor.execute(
"""
SELECT count(*)
FROM normalisation
- WHERE rowid=?;""", (rowid,))
+ WHERE rowid=?;
+ """, (rowid,))
valid = valid and bool(self.db_cursor.fetchone()[0])
self.db_cursor.execute(
"""
SELECT count(*)
FROM image
- WHERE rowid=?;""", (rowid,))
+ WHERE rowid=?;
+ """, (rowid,))
valid = valid and bool(self.db_cursor.fetchone()[0])
return valid
@@ -309,8 +310,8 @@ database
return posorient
def read_posorient(self, posorient=None, rowid=None):
- if (posorient is None) and (rowid is None):
- raise ValueError('posorient and rowid can not be both None')
+ assert (posorient is None) or (rowid is None),\
+ 'posorient and rowid can not be both None'
if posorient is not None:
rowid = self.get_posid(posorient)
# Read images
@@ -336,8 +337,8 @@ database
:returns: an image
:rtype: numpy.ndarray
"""
- if (posorient is None) and (rowid is None):
- raise ValueError('posorient and rowid can not be both None')
+ assert (posorient is None) or (rowid is None),\
+ 'posorient and rowid can not be both None'
if posorient is not None:
rowid = self.get_posid(posorient)
# Read images
@@ -357,20 +358,19 @@ database
FROM {}
WHERE (rowid={})
""".format(tablename, rowid), self.db)
- if not cmaxminrange.shape[0] == 1:
- raise Exception('Error while reading normalisation factors')
+ assert cmaxminrange.shape[0] == 1,\
+ 'Error while reading normalisation factors'
cmaxminrange = cmaxminrange.iloc[0, :]
return self.denormalise_image(image, cmaxminrange)
def denormalise_image(self, image, cmaxminrange):
- if not len(image.shape) == 3:
- raise Exception('image should be 3D array')
- if not image.shape[2] == len(self.channels):
- raise Exception('image does not have the\
- required number of channels {}'.format(
- len(self.channels)))
- if not isinstance(cmaxminrange, pd.Series):
- raise TypeError('cmaxminrange should be a pandas Series')
+ assert len(image.shape) == 3,\
+ 'image should be 3D array'
+ assert image.shape[2] == len(self.channels),\
+ 'image does not have the required number of channels {}'.format(
+ len(self.channels))
+ assert isinstance(cmaxminrange, pd.Series),\
+ 'cmaxminrange should be a pandas Series'
denormed_im = np.zeros(image.shape, dtype=np.float)
maxval_nim = np.iinfo(image.dtype).max
#
@@ -383,9 +383,8 @@ database
cimage *= crange
cimage += cmin
denormed_im[:, :, chan_i] = cimage
- if not np.max(cimage) == cmax:
- raise Exception('denormalisation failed\
- {}!={}'.format(np.max(cimage), cmax))
+ assert np.max(cimage) == cmax,\
+ 'denormalisation failed {}!={}'.format(np.max(cimage), cmax)
return denormed_im
@@ -421,10 +420,10 @@ class DataBaseSave(DataBase):
self.insert_replace(tablename, params)
def insert_replace(self, tablename, params):
- if not isinstance(tablename, str):
- raise TypeError('table are named by string')
- if not isinstance(params, dict):
- raise TypeError('params should be dictionary columns:val')
+ assert isinstance(tablename, str),\
+ 'table are named by string'
+ assert isinstance(params, dict),\
+ 'params should be dictionary columns:val'
params_list = list()
columns_str = ''
for key, val in params.items():
diff --git a/navipy/moving/test_maths.py b/navipy/moving/test_maths.py
index 9e5753028784287d4b7415777cbf4fc0b82d5247..bcc8c801fec6468a0107584b7baa8aef8c43035d 100644
--- a/navipy/moving/test_maths.py
+++ b/navipy/moving/test_maths.py
@@ -4,14 +4,16 @@ Test of maths
import numpy as np
import pandas as pd
import navipy.moving.maths as navimaths
-
-
import unittest
class TestNavipyMovingMaths(unittest.TestCase):
+ """ A class to test some mathy function of the toolbox
+ """
def test_motion_vec_pandas(self):
+ """ Test that a TypeError is correctly raised
+ """
motion_vec = 'NotPandas'
move_mode = 'on_cubic_grid'
mode_param = dict()
@@ -22,6 +24,8 @@ class TestNavipyMovingMaths(unittest.TestCase):
move_mode)
def test_notsupported_mofm(self):
+ """ Test that a TypeError is correctly raised
+ """
motion_vec = pd.Series(data=0,
index=['x', 'y', 'z', 'dx', 'dy', 'dz'])
move_mode = 'NotSupportedMode'
@@ -33,6 +37,12 @@ class TestNavipyMovingMaths(unittest.TestCase):
move_mode)
def test_null_velocity(self):
+ """ Test null velocity
+
+ When the agent has a null velocity, the next postion
+ should be equal to the current position. Here, we
+ test this by series equality.
+ """
# Test if stay at same position.
motion_vec = pd.Series(data=0,
index=['x', 'y', 'z', 'dx', 'dy', 'dz'])
@@ -44,7 +54,13 @@ class TestNavipyMovingMaths(unittest.TestCase):
'At null velocity the agent should not move')
def test_closest_cubic(self):
- """ Test if the snaping to cubic is correct """
+ """ Test if the snaping to cubic is correct
+
+ When the agent move on the grid, its position has to be snapped
+ to the grid position. On a cubic grid, the instability is at
+ 22.5 degrees modulo 45 degrees. We therefore test the functions
+ close to each instability.
+ """
positions = pd.DataFrame({'x': [0, 0, 0, 1, 1, 1, 2, 2, 2],
'y': [0, 1, 2, 0, 1, 2, 0, 1, 2],
'z': [0, 0, 0, 0, 0, 0, 0, 0, 0]},
diff --git a/navipy/processing/pcode.py b/navipy/processing/pcode.py
index b552906ae05249e684d20b0c60acda3702f9bb97..f2f8824cc15bc54d200f2c39cf6e0f28c44e8e01 100644
--- a/navipy/processing/pcode.py
+++ b/navipy/processing/pcode.py
@@ -1,53 +1,5 @@
"""
-The scene processing part of the toolbox defines methodes
-to transform an image into a place code in the sense
-of Basten and Mallot (2010).
-
-The scene is either
-
-* a 4d numpy array, used when the image is a equirectangular \
-projection, i.e. a panoramic image.
-* a 3d numpy array, used when the viewing direction can not \
-be mapped/projected on a regular image (e.g. insect eye).
-
-We thus define the following for 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].
-
-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.
-
-.. todo:
-
- * implement optic flow vector
-
+place code
"""
import numpy as np
import pandas as pd
@@ -58,35 +10,8 @@ from .constants import __obpc_indeces__
from .tools import is_ibpc
from .tools import is_obpc
from .tools import spherical_to_cartesian
-
-
-def is_numeric_array(array):
- """Checks if the dtype of the array is numeric.
-
- Booleans, unsigned integer, signed integer, floats and complex are
- considered numeric.
-
- Parameters
- ----------
- array : `numpy.ndarray`-like
- The array to check.
-
- Returns
- -------
- is_numeric : `bool`
- True if it is a recognized numerical and False if object or
- string.
- """
- numerical_dtype_kinds = {'b', # boolean
- 'u', # unsigned integer
- 'i', # signed integer
- 'f', # floats
- 'c'} # complex
- try:
- return array.dtype.kind in numerical_dtype_kinds
- except AttributeError:
- # in case it's not a numpy array it will probably have no dtype.
- return np.asarray(array).dtype.kind in numerical_dtype_kinds
+from .tools import check_scene
+from .tools import check_viewing_direction
def scene(database, posorient=None, rowid=None):
@@ -147,61 +72,6 @@ def scene(database, posorient=None, rowid=None):
raise ValueError('either rowid or posoriend must be given')
-def check_scene(scene):
- if is_ibpc(scene):
- # print("normal")
- if not is_numeric_array(scene):
- raise TypeError('scene is of non numeric type')
- if not ~np.any(np.isnan(scene)):
- raise ValueError('scene contains nans')
- if not len(scene.shape) == 4:
- raise Exception('scene has wrong shape, must have 4 dimensions')
- if not (scene.shape[1] > 0):
- raise Exception('scenes first dimension is empty')
- if not (scene.shape[0] > 0):
- raise Exception('scenes second dimension is empty')
- if not (scene.shape[2] == 4):
- raise Exception('3rd dimension of scene must be four')
- if not (scene.shape[3] == 1):
- raise Exception('4rd dimension of scene must be one')
- # assert ~(np.any(np.isNone(scene)))
- return True
-
- elif is_obpc(scene):
- if not is_numeric_array(scene):
- raise TypeError('scene is of non numeric type')
- if not ~np.any(np.isnan(scene)):
- raise ValueError('scene contains nans')
- if not len(scene.shape) == 3:
- raise Exception('scene has wrong shape, must have 4 dimensions')
- if not ~(scene.shape[1] <= 0):
- raise Exception('scenes first dimension is empty')
- if not ~(scene.shape[0] <= 0):
- raise Exception('scenes second dimension is empty')
- if not (scene.shape[2] == 4):
- raise Exception('3rd dimension of scene must be four')
- if not (scene.shape[3] == 1):
- raise Exception('4rd dimension of scene must be one')
- # assert ~(np.any(np.isNone(scene)))
- return True
-
-
-def check_viewing_direction(viewing_direction):
- if not is_numeric_array(viewing_direction):
- raise TypeError('viewing direction is of non numeric type')
- if not ~np.any(np.isnan(viewing_direction)):
- raise ValueError('viewing direction contains nans')
- if not len(viewing_direction.shape) == 3:
- raise Exception('viewing direction must have 3 dimensions')
- if not (viewing_direction.shape[1] > 0):
- raise Exception('viewing direction has empty second dimension')
- if not (viewing_direction.shape[0] > 0):
- raise Exception('viewing direction has empty first dimension')
- if not (viewing_direction.shape[2] == 2):
- raise Exception(' 3rd dimension of viewing direction must equal 2')
- return True
-
-
def skyline(scene):
"""Return the average along the elevation of a scene
:param scene: the scenery at a given location (a 4d numpy array)
@@ -373,8 +243,3 @@ def apcv(place_code, viewing_directions):
return (scaled_lv.sum(axis=0))[np.newaxis, ...]
else:
raise TypeError('place code is neither an ibpc nor obpc')
-
-
-def optic_flow(place_code, viewing_directions, velocity):
- """NOT IMPLEMENTED"""
- raise NameError('Not Implemented')
diff --git a/navipy/processing/tools.py b/navipy/processing/tools.py
index d61aefa2c9489b5b32dc004e856577f12b67da22..06771d6005c3144a23e73ccdf24fe04488ddebb0 100644
--- a/navipy/processing/tools.py
+++ b/navipy/processing/tools.py
@@ -6,6 +6,84 @@ from .constants import __eye_indeces__
import numpy as np
+def check_scene(scene):
+ if is_ibpc(scene):
+ # print("normal")
+ if not is_numeric_array(scene):
+ raise TypeError('scene is of non numeric type')
+ if not ~np.any(np.isnan(scene)):
+ raise ValueError('scene contains nans')
+ if not len(scene.shape) == 4:
+ raise Exception('scene has wrong shape, must have 4 dimensions')
+ if not (scene.shape[1] > 0):
+ raise Exception('scenes first dimension is empty')
+ if not (scene.shape[0] > 0):
+ raise Exception('scenes second dimension is empty')
+ if not (scene.shape[2] == 4):
+ raise Exception('3rd dimension of scene must be four')
+ if not (scene.shape[3] == 1):
+ raise Exception('4rd dimension of scene must be one')
+ # assert ~(np.any(np.isNone(scene)))
+ return True
+
+ elif is_obpc(scene):
+ if not is_numeric_array(scene):
+ raise TypeError('scene is of non numeric type')
+ if not ~np.any(np.isnan(scene)):
+ raise ValueError('scene contains nans')
+ if not len(scene.shape) == 3:
+ raise Exception('scene has wrong shape, must have 4 dimensions')
+ if not ~(scene.shape[1] <= 0):
+ raise Exception('scenes first dimension is empty')
+ if not ~(scene.shape[0] <= 0):
+ raise Exception('scenes second dimension is empty')
+ if not (scene.shape[2] == 4):
+ raise Exception('3rd dimension of scene must be four')
+ if not (scene.shape[3] == 1):
+ raise Exception('4rd dimension of scene must be one')
+ # assert ~(np.any(np.isNone(scene)))
+ return True
+
+
+def check_viewing_direction(viewing_direction):
+ if not is_numeric_array(viewing_direction):
+ raise TypeError('viewing direction is of non numeric type')
+ if not ~np.any(np.isnan(viewing_direction)):
+ raise ValueError('viewing direction contains nans')
+ if not len(viewing_direction.shape) == 3:
+ raise Exception('viewing direction must have 3 dimensions')
+ if not (viewing_direction.shape[1] > 0):
+ raise Exception('viewing direction has empty second dimension')
+ if not (viewing_direction.shape[0] > 0):
+ raise Exception('viewing direction has empty first dimension')
+ if not (viewing_direction.shape[2] == 2):
+ raise Exception(' 3rd dimension of viewing direction must equal 2')
+ return True
+
+
+def is_numeric_array(array):
+ """Checks if the dtype of the array is numeric.
+
+ Booleans, unsigned integer, signed integer, floats and complex are
+ considered numeric.
+
+ :param array : `numpy.ndarray`-like The array to check.
+ :returns: True if it is a recognized numerical and False \
+ if object or string.
+ :rtype:bool
+ """
+ numerical_dtype_kinds = {'b', # boolean
+ 'u', # unsigned integer
+ 'i', # signed integer
+ 'f', # floats
+ 'c'} # complex
+ try:
+ return array.dtype.kind in numerical_dtype_kinds
+ except AttributeError:
+ # in case it's not a numpy array it will probably have no dtype.
+ return np.asarray(array).dtype.kind in numerical_dtype_kinds
+
+
def is_ibpc(place_code):
"""Test if a place code is image based
diff --git a/navipy/rendering/bee_sampling.py b/navipy/rendering/bee_sampling.py
index ff113ec58ca8d2659e16cc1fd435241c00c916f8..0d91148e273409ba0a098be6ce4ce149cf23ee97 100644
--- a/navipy/rendering/bee_sampling.py
+++ b/navipy/rendering/bee_sampling.py
@@ -88,7 +88,8 @@ harddrive space, as each image is composed of 4 channels of 180x360 pixels.
dataloger = DataBaseSave(database_filename,
channels=['R', 'G', 'B', 'D'],
arr_dtype=np.uint8)
- for frame_i, posorient in self.__grid_posorients.iterrows():
+ for frame_i, posorient in self.__grid_posorients.iloc[::-1].iterrows():
+ print(frame_i)
if np.any(np.isnan(posorient)):
# warnings.warn('frame_i: {} posorient nans'.format(frame_i))
continue