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algo_10
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@railgnam
railgnam committed Aug 2, 2024
1 parent e362333 commit e823ba9
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Showing 6 changed files with 397 additions and 117 deletions.
109 changes: 84 additions & 25 deletions bdm_voxel_builder/agent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
clip_indices_to_grid_size,
get_sub_array,
random_choice_index_from_best_n,
get_array_density_from_zone_xxyyzz
)


Expand Down Expand Up @@ -191,7 +192,7 @@ def get_nb_indices_26(self, pose: tuple[int, int, int]):
return nb_cell_index_list

def get_grid_nb_values_6(self, grid: Grid, pose=None, round_values=False):
# nb_value_dict = {}
"""return list of values"""
value_list = []
for key in self.compass_array:
d = self.compass_array[key]
Expand All @@ -205,6 +206,7 @@ def get_grid_nb_values_6(self, grid: Grid, pose=None, round_values=False):
return v

def get_nb_values_6_of_array(self, array, grid_size, pose, round_values=False):
"""return list of values"""
value_list = []
for key in self.compass_array:
d = self.compass_array[key]
Expand All @@ -218,6 +220,7 @@ def get_nb_values_6_of_array(self, array, grid_size, pose, round_values=False):
return v

def get_nb_values_26_of_array(self, array, voxel_size, pose, round_values=False):
"""return list of values"""
nb_cells = self.get_nb_indices_26(pose)
cells_to_check = list(nb_cells)
value_list = []
Expand All @@ -230,6 +233,39 @@ def get_nb_values_26_of_array(self, array, voxel_size, pose, round_values=False)
v.round()
return v

def get_nb_values_3x3_around_of_array(self, array, round_values=False):
"""return list of values"""
nb_cells = self.get_nb_indices_26(self.pose)
cells_to_check = list(nb_cells)[9:17]
value_list = []
for nb_pose in cells_to_check:
x, y, z = nb_pose
xc, yc, zc = np.clip(np.asarray(nb_pose), [0,0,0], np.asarray(array.shape) - 1)
if x == xc and y == yc and z == zc:
nb_value = array[xc][yc][zc]
value_list.append(nb_value)
v = np.asarray(value_list)
if round_values:
v.round()
return v


def get_nb_values_3x3_below_of_array(self, array, round_values=False):
"""return list of values"""
nb_cells = self.get_nb_indices_26(self.pose)
cells_to_check = list(nb_cells)[17:]
value_list = []
for nb_pose in cells_to_check:
x, y, z = nb_pose
xc, yc, zc = np.clip(np.asarray(nb_pose), [0,0,0], np.asarray(array.shape) - 1)
if x == xc and y == yc and z == zc:
nb_value = array[xc][yc][zc]
value_list.append(nb_value)
v = np.asarray(value_list)
if round_values:
v.round()
return v

def get_grid_nb_values_26(self, grid: Grid, pose=None, round_values=False):
value_list = []
for d in self.cube_array:
Expand Down Expand Up @@ -271,7 +307,7 @@ def get_grid_density(self, grid: Grid, print_=False, nonzero=False):
print(f"grid_density:{density} in pose:{self.pose}")
return density

def get_nb_slice_parametric(
def get_array_slice_parametric(
self,
array,
x_radius=1,
Expand Down Expand Up @@ -339,7 +375,7 @@ def get_grid_density_in_slice_shape(
returns array[-1:2]
"""
# get the sum of the values in the slice
values = self.get_nb_slice_parametric(
values = self.get_array_slice_parametric(
grid.array,
*slice_shape,
self.pose,
Expand All @@ -349,31 +385,54 @@ def get_grid_density_in_slice_shape(
radiis = slice_shape[:3]
slice_volume = 1
for x in radiis:
slice_volume *= (x + 0.5) * 2
density = sum_values / slice_volume
slice_volume *= (x + 0.5) * 2
if not nonzero:
density = sum(values) / slice_volume
density = sum_values / slice_volume
else:
density = np.count_nonzero(values) / slice_volume
# if density > 0:
# print(f'slice_volume: {slice_volume}, density:{density}, n of nonzero = {np.count_nonzero(values)}, sum_values: {sum_values},values:{values}')
return density

# def scan_neighborhood_values(self, array, offset_radius = 1,
# pose = None, format_values = 0):
# """takes sub array around pose, in 'offset_radius'
# format values: returns sum '0', avarage '1', or all_values: '2'"""
# if isinstance(pose, bool):
# pose = self.pose
# x,y,z = pose
# n = offset_radius
# v = array[x - n : x + n][y - n : y + n][z - n : z - n]

# if format_values == 0:
# return np.sum(v)
# elif format_values == 1:
# return np.average(v)
# elif format_values == 2:
# return v
# else: return v
def get_array_density_in_box(self, array, box, nonzero = False):
d = get_array_density_from_zone_xxyyzz(array, self.pose, box, nonzero=True)
return d

def get_array_density_in_slice_shape(
self, array, slice_shape=(1, 1, 0, 0, 0, 1), nonzero=False
):
"""returns grid density
slice shape = [
x_radius = 1,
y_radius = 1,
z_radius = 0,
x_offset = 0,
y_offset = 0,
z_offset = 0
]
*radius: amount of indices in both direction added. r = 1 at i = 0
returns array[-1:2]
"""
# get the sum of the values in the slice
# print(array.shape)
values = self.get_array_slice_parametric(
array,
*slice_shape,
self.pose,
format_values=2,
)
sum_values = np.sum(values)
radiis = slice_shape[:3]
slice_volume = 1
for x in radiis:
slice_volume *= (x + 0.5) * 2
if not nonzero:
density = sum_values / slice_volume
else:
density = np.count_nonzero(values) / slice_volume
# if density > 0:
# print(f'slice_volume: {slice_volume}, density:{density}, n of nonzero = {np.count_nonzero(values)}, sum_values: {sum_values},values:{values}')
return density

def get_move_mask_6(self, grid: Grid):
"""return ground directions as bools
Expand Down Expand Up @@ -646,7 +705,7 @@ def get_chances_by_density_by_slice(
"""
# get the sum of the values in the slice
rx, ry, rz, ox, oy, oz = slice_shape
v = self.get_nb_slice_parametric(
v = self.get_array_slice_parametric(
diffusive_grid.array, rx, ry, rz, ox, oy, oz, self.pose, format_values=0
)

Expand Down Expand Up @@ -680,7 +739,7 @@ def get_chances_by_density_normal_by_slice(
z_offset = 0] = slice_shape
"""
# get the sum of the values in the slice
sum_values = self.get_nb_slice_parametric(
sum_values = self.get_array_slice_parametric(
diffusive_grid.array,
*slice_shape,
self.pose,
Expand Down
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