px->cm

Author: FedeClaudi

proj/environment/trajectories.py

@@ -32,13 +32,15 @@ def complete_given_xy(x, y, params, planning_params):
 
     trajectory = np.vstack([x, y, angle, speed, ang_speed]).T
     return (
-        compute_trajectory_stats(trajectory, len(trajectory), planning_params),
+        compute_trajectory_stats(
+            trajectory, len(trajectory), params, planning_params
+        ),
         None,
     )
 
 
 def compute_trajectory_stats(
-    trajectory, duration, planning_params, min_dist_travelled=150
+    trajectory, duration, params, planning_params, min_dist_travelled=150
 ):
     # Compute stats
     n_points = len(trajectory)
@@ -110,7 +112,7 @@ def compute_trajectory_stats(
             extra={"markdown": True},
         )
 
-    if distance_travelled < min_dist_travelled:
+    if distance_travelled < min_dist_travelled * params["px_to_cm"]:
         log.warning("Distance travelled below minimal requirement, erroring")
         return None, None
 
@@ -207,14 +209,15 @@ def from_tracking(n_steps, params, planning_params, cache_fld, *args):
     except:
         fps = 60
 
-    x = trial.body_xy[:, 0]
-    y = trial.body_xy[:, 1]
+    x = trial.body_xy[:, 0] * params["px_to_cm"]
+    y = trial.body_xy[:, 1] * params["px_to_cm"]
 
     angle = interpolate_nans(trial.body_orientation)
     angle = np.radians(90 - angle)
     angle = np.unwrap(angle)
 
     speed = line_smoother(trial.body_speed) * fps
+    speed *= params["px_to_cm"]
     ang_speed = np.ones_like(speed)  # it will be ignored
 
     # get start frame
@@ -241,7 +244,7 @@ def from_tracking(n_steps, params, planning_params, cache_fld, *args):
 
     return (
         compute_trajectory_stats(
-            trajectory, len(x[start:]) / fps, planning_params
+            trajectory, len(x[start:]) / fps, params, planning_params
         ),
         trials,
     )

proj/model/config.py

@@ -63,11 +63,14 @@ class Config:
 
     trajectory = dict(  # parameters of the goals trajectory
         name="tracking",
+        # ? For artificial trajectories
         nsteps=10000,
         distance=150,
         max_speed=100,
         min_speed=80,
         min_dist=5,  # if agent is within this distance from trajectory end the goal is considered achieved
+        # ? for trajectories from data
+        px_to_cm=1 / 30.8,  # convert px values to cm
         # dist_th=60,  # keep frames only after moved away from start location
         dist_th=-1,
         resample=True,  # if True when using tracking trajectory resamples it
@@ -82,7 +85,7 @@ class Config:
     )
 
     # --------------------------------- Plotting --------------------------------- #
-    traj_plot_every = 15
+    traj_plot_every = 80
 
     # ------------------------------ Control params ------------------------------ #
     iLQR = dict(