cem_controller.py 文件源码

def save_distrib_visual(self, full_images, use_genimg = True):
        #assumes full_images is already rescaled to [0,1]
        orig_images = np.split(full_images, full_images.shape[0], axis = 0)
        orig_images = [im.reshape(1,64,64,3) for im in orig_images]

        # the first image of corr_gen_images is the first image of the original images!
        file_path =self.policyparams['current_dir'] + '/videos_distrib'
        if use_genimg:
            cPickle.dump([orig_images, self.corr_gen_images, self.rec_input_distrib, self.desig_pix],
                         open(file_path + '/correction.pkl', 'wb'))
            distrib = makegif.pix_distrib_video(self.rec_input_distrib)
            distrib = makegif.add_crosshairs(distrib, self.desig_pix)
            frame_list = makegif.assemble_gif([orig_images, self.corr_gen_images, distrib], num_exp=1)
        else:
            cPickle.dump([orig_images, self.rec_input_distrib],
                         open(file_path + '/correction.pkl', 'wb'))
            distrib = makegif.pix_distrib_video(self.rec_input_distrib)
            distrib = makegif.add_crosshairs(distrib, self.desig_pix)
            frame_list = makegif.assemble_gif([orig_images, distrib], num_exp=1)

        makegif.npy_to_gif(frame_list, self.policyparams['rec_distrib'])