Python utils.Timer方法代码示例

# 需要导入模块: from src import utils [as 别名]
# 或者: from src.utils import Timer [as 别名]
def convert_to_graph_tool(G):
  timer = utils.Timer()
  timer.tic()
  gtG = gt.Graph(directed=G.is_directed())
  gtG.ep['action'] = gtG.new_edge_property('int')

  nodes_list = G.nodes()
  nodes_array = np.array(nodes_list)

  nodes_id = np.zeros((nodes_array.shape[0],), dtype=np.int64)

  for i in range(nodes_array.shape[0]):
    v = gtG.add_vertex()
    nodes_id[i] = int(v)

  # d = {key: value for (key, value) in zip(nodes_list, nodes_id)}
  d = dict(itertools.izip(nodes_list, nodes_id))

  for src, dst, data in G.edges_iter(data=True):
    e = gtG.add_edge(d[src], d[dst])
    gtG.ep['action'][e] = data['action']
  nodes_to_id = d
  timer.toc(average=True, log_at=1, log_str='src.graph_utils.convert_to_graph_tool')
  return gtG, nodes_array, nodes_to_id 

# 需要导入模块: from src import utils [as 别名]
# 或者: from src.utils import Timer [as 别名]
def __init__(self, robot, env, task_params, category_list=None,
               building_name=None, flip=False, logdir=None,
               building_loader=None, r_obj=None):
    tt = utils.Timer()
    tt.tic()
    Building.__init__(self, building_name, robot, env, category_list,
                      small=task_params.toy_problem, flip=flip, logdir=logdir,
                      building_loader=building_loader)

    self.set_r_obj(r_obj)
    self.task_params = task_params
    self.task = None
    self.episode = None
    self._preprocess_for_task(self.task_params.building_seed)
    if hasattr(self.task_params, 'map_scales'):
      self.task.scaled_maps = resize_maps(
          self.traversible.astype(np.float32)*1, self.task_params.map_scales,
          self.task_params.map_resize_method)
    else:
      logging.fatal('VisualNavigationEnv does not support scale_f anymore.')
    self.task.readout_maps_scaled = resize_maps(
      self.traversible.astype(np.float32)*1,
      self.task_params.readout_maps_scales,
      self.task_params.map_resize_method)
    tt.toc(log_at=1, log_str='VisualNavigationEnv __init__: ') 

# 需要导入模块: from src import utils [as 别名]
# 或者: from src.utils import Timer [as 别名]
def generate_graph(valid_fn_vec=None, sc=1., n_ori=6,
                   starting_location=(0, 0, 0), vis=False, directed=True):
  timer = utils.Timer()
  timer.tic()
  if directed: G = nx.DiGraph(directed=True)
  else: G = nx.Graph()
  G.add_node(starting_location)
  new_nodes = G.nodes()
  while len(new_nodes) != 0:
    nodes_to_add = []
    nodes_to_validate = []
    for n in new_nodes:
      if directed:
        na, nv = _get_next_nodes(n, sc, n_ori)
      else:
        na, nv = _get_next_nodes_undirected(n, sc, n_ori)
      nodes_to_add = nodes_to_add + na
      if valid_fn_vec is not None:
        nodes_to_validate = nodes_to_validate + nv
      else:
        node_to_add = nodes_to_add + nv

    # Validate nodes.
    vs = [_[1] for _ in nodes_to_validate]
    valids = valid_fn_vec(vs)

    for nva, valid in zip(nodes_to_validate, valids):
      if valid:
        nodes_to_add.append(nva)

    new_nodes = []
    for n,v,a in nodes_to_add:
      if not G.has_node(v):
        new_nodes.append(v)
      G.add_edge(n, v, action=a)

  timer.toc(average=True, log_at=1, log_str='src.graph_utils.generate_graph')
  return (G) 

# 需要导入模块: from src import utils [as 别名]
# 或者: from src.utils import Timer [as 别名]
def compute_traversibility(map, robot_base, robot_height, robot_radius,
                           valid_min, valid_max, num_point_threshold, shapess,
                           sc=100., n_samples_per_face=200):
  """Returns a bit map with pixels that are traversible or not as long as the
  robot center is inside this volume we are good colisions can be detected by
  doing a line search on things, or walking from current location to final
  location in the bitmap, or doing bwlabel on the traversibility map."""

  tt = utils.Timer()
  tt.tic()
  num_obstcale_points = np.zeros((map.size[1], map.size[0]))
  num_points = np.zeros((map.size[1], map.size[0]))

  for i, shapes in enumerate(shapess):
    for j in range(shapes.get_number_of_meshes()):
      p, face_areas, face_idx = shapes.sample_points_on_face_of_shape(
          j, n_samples_per_face, sc)
      wt = face_areas[face_idx]/n_samples_per_face

      ind = np.all(np.concatenate(
        (p[:, [2]] > robot_base,
         p[:, [2]] < robot_base + robot_height), axis=1),axis=1)
      num_obstcale_points += _project_to_map(map, p[ind, :], wt[ind])

      ind = np.all(np.concatenate(
        (p[:, [2]] > valid_min,
         p[:, [2]] < valid_max), axis=1),axis=1)
      num_points += _project_to_map(map, p[ind, :], wt[ind])

  selem = skimage.morphology.disk(robot_radius / map.resolution)
  obstacle_free = skimage.morphology.binary_dilation(
      _fill_holes(num_obstcale_points > num_point_threshold, 20), selem) != True
  valid_space = _fill_holes(num_points > num_point_threshold, 20)
  traversible = np.all(np.concatenate((obstacle_free[...,np.newaxis],
                                       valid_space[...,np.newaxis]), axis=2),
                       axis=2)
  # plt.imshow(np.concatenate((obstacle_free, valid_space, traversible), axis=1))
  # plt.show()

  map_out = copy.deepcopy(map)
  map_out.num_obstcale_points = num_obstcale_points
  map_out.num_points = num_points
  map_out.traversible = traversible
  map_out.obstacle_free = obstacle_free
  map_out.valid_space = valid_space
  tt.toc(log_at=1, log_str='src.map_utils.compute_traversibility: ')
  return map_out