properly extracting data from .npz

dtree_synth_agbot.py

@@ -11,14 +11,28 @@ from typing import Dict, Hashable, List, Tuple
 import numpy as np
 import z3
 from dtree_learner import DTreeLearner as Learner
-from gem_stanley_teacher import DTreeGEMStanleyGurobiTeacher as Teacher
+from agbot_stanley_teacher import DTreeAgBotStanleyGurobiTeacher as AgBotTeacher
 
 
-def load_examples_from_npz(file_name: str, spec) -> Tuple[List[Tuple[float, ...]], List[Tuple[float, ...]]]:
-    print("Loading examples")
-    npz_data = np.load(file_name,allow_pickle=True)
+def load_examples_from_npz(file_name: str, teacher:AgBotTeacher, partition):
+    print("Loading examples from .npz")
+    
+    #with open(file_name, "rb") as npz_file_io:
+    npz_data = np.load(file_name)
+    files = npz_data._files
+    data_5d =npz_data['dps_arr']
+
+    #print(npz_data._files)   
+    # x_arr[:-1], except the last one, x_arr[1:]except the first one 
+    print(data_5d[0])
+    print(len(data_5d))
+    
+    print(teacher.is_positive_example(data_5d[0]))
+
     exit(0)
 
+    
+
 
     with open(file_name, "rb") as pickle_file_io:
         pkl_data = pickle.load(pickle_file_io)
@@ -40,5 +54,23 @@ def load_examples_from_npz(file_name: str, spec) -> Tuple[List[Tuple[float, ...]
 
 
 if __name__ == "__main__":
-    load_examples_from_npz("data/800_truths-uniform_partition_4x20-1.2m-pi_12-one_straight_road-2021-10-27-08-49-17.bag.pickle", None)
+    NPZ_FILE_PATH="data/perceptor-agbot-collect_images_2021-10-29-01-37-44-0.0-50.0.npz"
+    
+    X_LIM = np.inf
+    X_ARR = np.array([-X_LIM, X_LIM])
+
+    Y_LIM = 1.2
+    NUM_Y_PARTS = 4
+    Y_ARR = np.linspace(-Y_LIM, Y_LIM, NUM_Y_PARTS + 1)
+
+    YAW_LIM = np.pi / 12
+    NUM_YAW_PARTS = 10
+    YAW_ARR = np.linspace(-YAW_LIM, YAW_LIM, NUM_YAW_PARTS + 1)
+
+    PARTITION = (X_ARR, Y_ARR, YAW_ARR)
+
+    
+    main_teacher= AgBotTeacher()
+      
+    load_examples_from_npz(NPZ_FILE_PATH, main_teacher, PARTITION)