CHANGELOG.md

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog.

Unreleased

1.9.3 - 2023-06-06

Added

• Criterions
  • Profile
    • Parameter save_solution_csv treates $ as name of the current log.
    • Check for overlap consistency, as short overlaps might not smoothen the velocity enough.
    • Display points that invalid because of the distance to the reference.
    • Show points where overtaking occurs (across whole budget).

Changed

• 'ng_plot'
  • Parameter -O is now optional. When not given, plots are displayed directly in a sequence.

1.9.2 - 2023-05-25

Added

• 'ng_generate_data'
  • Parameter --inflate that inflates the walls before processing the map.

Changed

• 'ng_generate_data'
  • Function for filtering points is no longer imported from the package.
  • Generated image is not in grayscale; centerline points are shown green, start points are red.

Fixed

• Criterions
  • Profile
    • Parameter overlap is properly handled via ParameterList.
• 'ng_generate_data'
  • Centerline is properly filtered when more then one is present.
  • Duplicit points are removed before filtering to avoid unfilterable path sections.

1.9.1 - 2023-05-24

Fixed

• Criterions
  • Profile
    • Parameter reference_rotate no longer flips axes.
• 'ng_generate_data'
  • Points of the centerline are not duplicated anymore.
• Require numpy versions <1.24 as newer ones are not compatible with nevergrad==0.3.0.

1.9.0 - 2023-05-18

Added

• Criterions
  • Profile
    • Argument lap_time for profileCompute() to obtain lap time of the trajectory.
    • Parameter reference to set file for loading reference trajectory that needs to be avoided in time.
    • Parameter reference_dist to set the minimum allowed distance from the reference trajectory.
    • Parameter reference_rotate to set the rotation of reference trajectory.
    • Parameters plot_reference, plot_reference_width to control plotting of reference trajectory.
    • Parameter plot_solution to control plotting of optimized solution.
    • Parameters plot_timelines, plot_timelines_size, plot_timelines_width to control plotting of lines between points of the same time.
    • Parameter save_solution_csv to save final solution to a CSV file.
    • Parameters _lf and _lr to set the car wheelbase for the saved trajectory.
  • Parameter optimization (default to True) that when True indicates that the criterion is run during optimization sequence (similarly to penalizer).
  • Parameter penalty is passed to criterion during optimization.
  • When enabled, final trajectory is saved to a csv file.
• Interpolators
  • Cubic_spline
    • Parameter closed_loop to set interpolator to create closed/unclosed lines.
• Optimizers
  • Matryoshka
    • Function indicesToRealCoordinatesInt() to convert indices using slice.
    • Parameter load_matryoshka to set file for loading Matryoshka instead of creating it.
    • Parameter save_matryoshka to set file for saving Matryoshka after it is created.
    • Parameter plot_group_indices (default to True) to turn off group indices in the plot.
    • Parameter plot_group_borders (default to True) to turn off group borders in the plot.
    • Parameter fixed_segments to determine points (and their segments) that are not optimized.
• Penalizers
  • Function eInvalidPoints() to iterate over invalid points obtained by segmentated map.
• Segmentators
  • Flood_fill
    • Parameter parallel_flood to run the segmentation with a ProcessPool.
  • Function pointInBounds() along with global MAP_BOUNDS to check whether point lies inside the map bounds.
• 'ng_generate_data'
  • Repeatable parameter -v to increase verbosity.
  • Centerline is generated between all walls, but only the section without dead-ends is returned. If this fails, centerline for the largest wall is returned instead.
  • Inflated map is saved when verbosity is set to at least 2.
• 'ng_run'
  • Parameter --help to show help for the command.
  • Support for +[PARAMETER] parameters that modifies the loaded configuration.
  • Support for +[PARAMETER]/[PARAMETER] to modify subdictionaries.
• Documentation for package plotter.
• Function configurationMerge() to merge another configuration to self.
• Variate run can properly handle floats when generating a name of the log file.

Changed

• Criterions
  • Profile
    • Criterion is using the true lap_time.
    • Overlap is upper bound by the number of points.
• Optimizers
  • Matryoshka
    • Use list comprehension in groupsCenterCompute().
    • Force new transformation when number of segments does not correspond to the current mapping.
    • Matryoshka is plotted even with held transformation.
• Penalizers
  • Count
    • Use segmentated map for getting the invalid points instead of numpy vectors.
  • Use eInvalidPoints() where applicable.
• 'ng_generate_data'
  • Arguments are parsed by argparse instead of getopt.
  • Map inflation is much faster because of helper array.
  • Centerline points are filtered by Matryoshka's pointsFilter().
  • Quantization PIL.quantize() uses median cut method instead of maximum coverage.

Fixed

• Criterions
  • Profile
    • Profiling uses curvature that is not modified for straight sections.
• Optimizers
  • Matryoshka
    • ParameterList is updated with keyword arguments.
  • Set optimization parameter of criterions/penalizers to True during optimizer initialization.
• 'ng_help' no longer requires an argument for -h.
• Matplotlib internal variables should not be longer garbage collected from different thread.

1.8.0 - 2023-03-15

Added

• Criterions
  • [NEW] Jazar_model
    • Criterion 'Jazar_model' computes speed profile using model from Jazar's book.
• 'ng_graph'
  • Parameter --show-legend to display figure legend.
  • Parameter --loc-legend to set position of shown legend.
  • Parameter --label to set legend labels for each dataset.
  • Parameter --title to set the title of generated figure.
  • Parameter -j %d to enable parallel processing of log files.
  • Parameters --width and --height to set the size of the generated figure.
  • Parameter --tight to adjust figure padding.
  • Parameter --variates to select which 'x' values should be displayed in the figure.
  • Parameter --datasets to determine dataset indices for configuration files.
  • Parameter --no-header to skip header when using -p.
  • When using --merged-min with -l logs are merged together (and output new "merged-min" statistics).
  • Show segment value when using --segments together with -lp.
  • Parameter --marker-avg to set the marker style of dataset averages.
• Field _label in a configuration file is used when --label not given.

Changed

• 'ng_graph'
  • Logs described by JSON files are looked for inside the folder of configuration file instead of the current folder.
  • Data loading with '--merged-min' skips some steps to make the process faster.
  • Input files are not opened right away, but only when actually used.
  • Progress is shown when processing logs with -g.
  • When using --merged-min, statistics of a merged log show:
    • Rate: Success rate of individual runs (% of finding a solution).
    • Length: Number of successful runs.

Fixed

• 'ng_graph'
  • Parameter -r is now shown in the correct group.
  • Parameters are now set properly and should not "eat" more values than expected.
  • Parameter --segments is now properly handled.
  • Standard deviation is not computed when only one log is obtained.
  • Success rate of a log is not computed when empty.

1.7.2 - 2023-01-05

Fixed

• Interpolators
  • Argument from_left is properly handled inside trajectoryClosest().
• Selectors
  • Uniform_time
    • A proper exception is raised when passing negative remain value.

1.7.1 - 2022-08-09

Added

• Parameter -r for 'ng_graph' to recursively dig through the subfolders when looking for the log files.
• Parameter -g for 'ng_graph' to show a graph for log files.
• Parameter --segments for 'ng_graph' to set number of segments for used log files.
• Multiple log files can be processed at once in 'ng_graph'.

Changed

• Parameters for 'ng_graph' are now grouped.

Fixed

• Log's filename is properly shown in 'ng_graph' with '-l'.

1.7.0 - 2022-08-02

Added

• Interpolators
  • Arguments from_left for trajectoryClosest*() to get closest point from the path beginning.
• Penalizers
  • Variable INVALID_POINTS to store invalid points so that they are not computed multiple times.
  • [NEW] Curvature
    • Penalizer 'Curvature' operates on the curvature of feasible paths.
• Selectors
  • Uniform_distance
    • Parameter rotate for rotating the selection.
    • Parameter fixed_points to fix some points during selection, and to split the selection into multiple parts.
• Script 'ng_plot' for generating maps and GIFs from log files.
• Parameter '-p' for 'ng_graph' to show log statistics in plot-friendly csv format.

Changed

• Selectors
  • Curvature2
    • Parameters of the selector are not reset to default state every select().

Fixed

• Optimizers
  • Braghin
    • Invalid points plotting is hidden behind plot parameter.
• Properly compute quantiles in 'ng_graph'.

1.6.0 - 2022-05-24

Added

• Interpolators
  • Function trajectoryRotate() for rotating the trajectory points along the line. Used by selectors.
  • Function trajectoryClosestIndex() to receive index of the closest point.
  • Functions trajectoryFarthest() and trajectoryFarthestIndex() to receive the most distant points.
• Penalizers
  • Parameter optimization (default to True) that when True indicates that the Penalizer is run during optimization sequence.
  • Penalizer utils with optimization methods.
  • Centerline
    • Methods sum and avg for computing the resulting penalty.
    • Parameters huber_loss and huber_delta for using a Huber loss function when computing the penalty.
  • [NEW] Segment
    • Penalizer 'Segment' operates on the distance of the invalid points from the valid area.
• Segmentators
  • Functions hood4Obtain() and hood8Obtain() for obtaining the neighbour cells in the grid map.
  • Function borderCheck() to check whether cell point is on valid area border.
  • Function pointToWorld() as a approximate inverse function of pointToMap().
  • Function validCheck() to find whether cell point is valid.
• Selectors
  • [NEW] Uniform_time
    • Selector 'Uniform_time' equidistantly samples the path with respect to the time estimated by 'profile' criterion.
• New dependency tqdm.
• Script 'ng_graph' for generating graphs from configuration files and log files.

Changed

• Selectors
  • Uniform
    • Use trajectoryRotate() instead of the current implementation.
• Penalizer init() now receives the full combined keywords dictionary. Therefore, e.g., method for centerline penalizer can be varied.
• Target build-wagon is not run when using build target.

Fixed

• Script 'ng_generate_data' now properly handles images with alpha channel and images without unknown area.
• Generated documentation is automatically commited on new release.

1.5.3 - 2022-04-05

Added

• Target build-wagon for creating wagons for 'x86_64' and 'aarch64'.

Changed

• Target uninstall is generic.
• Renamed original build to build-wheel.
• Target build now runs build-wheel and build-wagon.

Fixed

• Sorting bug while obtaining borders of the segments.

1.5.2 - 2022-03-14

Fixed

• Citation file should now contain correct fields and values to be properly parsed by GitHub.

1.5.1 - 2022-03-04

Added

• Argument -y for 'ng_generate_data' to obtain map information from a YAML file (used in ROS maps).
• Citation (cff) file.
• Reference to the original paper.
• License file.

1.5.0 - 2022-01-03

Added

• Interpolators
  • Function pointsDistance() for computing distances between points in a set.
  • Parameter verify_sort for trajectorySort() that removes outliers from the trajectory.
• Optimizers
  • Matryoshka
    • Use verify_sort when obtaining borders.
    • Support for penalizing the optimization results using borderlines. The algorithm returns PENALTY * d, where d is the distance to the nearest borderline point that the candidate point belongs to.
    • Parameter use_borderlines that activates borderline-based penalization.
    • Parameter plot_mapping that shows the transformation by mapping a grid onto the track. (Use only for demonstration.)
• [NEW] Penalizers
  • New group of algorithms which are used for evaluating whether the candidate is incorrect. In that case penalty is computed.
  • In constrast to other algorithms, init() of penalizers should be executed during init() of optimizers.
  • Count
    • Penalizer 'Count' is the basic penalizer used in ng_trajectory. It counts number of points outside the valid area.
  • Borderlines
    • Penalizer 'Borderlines' calculates minimum of maximum of the distances between misplaced points and their associated borderline (sets of points on the borders between two adjacent segments).
    • Warning Currently, this works only for Matryoshka.
    • Warning Currently, this works only for Flood Fill segmentator.
  • Centerline
    • Penalizer 'Centerline' finds the minimum of maximum of the distances between misplaced points and their associated part of the centerline.
    • Parameter method that allows selecting whether the penalty is minimum or maximum of all found distances.
• Segmentators
  • Flood Fill
    • Function segmentDistance() that computes distance from a point to a segment.
    • Parameter reserve_width that creates a reserved region for each segment in order to touch both (outer and inner) walls.
    • Parameter reserve_selected with list of segments that should use the reservation method. When unset, all are used.
    • Parameter reserve_distance that sets the distance from the wall-segment connector that is reserved for the segment.
    • Parameter create_borderlines that creates a nested dict of borderlines between segments.
    • Parameter plot_flood to plot the flooded areas into the figure. (Only for demonstration.)
• Selectors
  • Curvature
    • Parameter downsample_factor that controls downsampling prior to the interpolation.
    • Option show_plot that hides the plot even though it is saved to file.
    • Parameter split_peaks that was used for some time that adds +-1 points around the peaks.
  • [NEW] Fixed
    • Selector 'Fixed' returns preset list of points.
  • [NEW] Curvature2
    • Selector 'Curvature2' uses metric units for peaks identification and operates more automatically than 'Curvature'.
  • [NEW] Uniform_distance
    • Selector 'Uniform_distance' equidistantly samples the path.
• Intermediate results are stored inside logs, allowing to pause the experiments. (Only at the loop end.)
• Checking for already present logs and resuming the experiment at the loop it has ended.
• Variable __version__ to be used for scripts.
• Current version is reported on every 'ng_run' start and at the beginning of every log (when logging enabled).
• Script 'ng_curvature_gui' for testing the Curvature selector parameters.
• Function figureClose() for closing the figures. It should be called after saving the figure to free used memory.
• Parameter --gendoc for 'ng_help' to generate the README in the repository.
• Script 'release.sh' as a guideline for successful creating of a new release.

Changed

• Segmentators
  • Flood Fill
    • Remove empty segments caused mostly by a selected group center outside of the valid area. This will probably change in the future.
• Track is plotted using lighter gray that is not in the standard palette. Therefore the colors should not overlap anymore.
• Algorithms are passed to the optimizer as modules not callables. Therefore it is possible to call other functions of the module as well.
• Figures created during the optimization are closed after saving.

Fixed

• Selectors
  • Curvature
    • Track with identified turns is plotted with equal axes.

1.4.3 - 2021-11-12

Changed

• Un-nested plot functions return created objects.

Fixed

• Selectors: Resolve missing peaks for Curvature selector.
• Optimizers: Plot in Matryoshka only when it is allowed.
• Add PHONY target to Makefile to get around 'target is up-to-date'.
• Figure/pyplot wrappers are protected by plot_only decorator.

1.4.2 - 2021-11-09

Added

• Makefile for building/installing/removing the package.
• Functions reset() and resetAll() to restore default states of parameters.
• Parameter 'reset' for updateAll() to automatically reset all parameters.
• Documentation exported from 'ng_help' to README.

Fixed

• Segmentators: Flood_fill is no longer using old parameters when restarting the cascade.

1.4.1 - 2021-11-08

Changed

• Selectors: Curvature selector no longer imports pyplot directly.
• 'ng_generate_data': Numpy is using Python builtin data types.

Fixed

• Running the scripts without matplotlib no longer raises an exception.

1.4.0 - 2021-09-14

Changed

• Optimizers: Matryoshka does not sort centerline before the selection (for segmentation).

1.3.0 - 2021-06-08

Added

• Script 'ng_help' for showing help for the algorithms and their parameters.
• Utilizy 'parameter' for documented usage of parameters within the algorithms.

Changed

• Use newly introduced ParameterList inside the algorithms, at least for the documentation.

1.2.2 - 2021-06-07

Added

• Selectors: Curvature_sample selector (based on the Botta, 2012 article) by Ondra Benedikt.

Changed

• Optimizers: Default number of workers is set to the number of logical processors.

1.2.1 - 2021-05-27

Fixed

• 'ng_generate_data': Resampling method used when resizing the image is now explicitly set to 'PIL.Image.BILINEAR' as it was changed in an older version of Pillow package.
• 'ng_generate_data': Add Pillow>=4.2.0 dependency to the setup file.

1.2.0 - 2021-05-27

Added

• Optimizers: Final graph now contains invalid points as well (if present).
• Selectors: When using negative selection, leave the number of points on the selector.
• Selectors: Curvature selector by Ondra Benedikt.
• Script 'ng_generate_data' for generating numpy files for the algorithm from an image of the map.

Changed

• Optimizers: Individual plotting is now forced on the main figure, instead of the global one.

1.1.1 - 2021-05-20

Added

• Segmentators/Utils: gridCompute() to obtain square grid size of the points.
• Substitute not selected algorithms with a stub.
• Parameter silent_stub that suppresses errors when calling stub.

Changed

• Selectors: Uniform selector now treats rotate as factor between two consecutive points, instead of rotating the whole path.

Fixed

• Optimizers: Invalidity of points is compared to the specified or computed square grid size instead of a fixed value.
• Optimizers: Constant for penalty is no longer fixed and can be set via parameter penalty.

1.1.0 - 2021-05-18

Added

• Automatic versioning of the package.
• Optimizers: Braghin supports parameter path_reduction for reducing the path prior to the interpolation.
• Selectors as a class of methods used for retrieving group centers from the centerline.
• Selectors: Uniform selector that supports selection rotation.
• Script 'ng_run' for invoking the algorithm directly from Terminal.

Changed

• Optimizers: Braghin's parameters endpoint_distance and endpoint_accuracy are modifiable.
• Optimizers: Braghin during its transformation works with the full length of the centerline instead of a subset.

Fixed

• Exception message is shown when parsing JSON fails.
• Variate run is using string formatting to properly display non-int variables.

1.0.0 - 2021-03-16

Added

• Reimplementation of ng_trajectory as a standalone Python package.