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import scipy.linalg.norm lazily

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This commit is contained in:
Laura Klünder 2024-02-07 20:05:15 +01:00
parent 43b4b63a63
commit 2b0df524cb
1 changed files with 10 additions and 5 deletions
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15
src/c3nav/routing/locator.py
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@ -6,7 +6,6 @@ from pprint import pprint
from typing import Optional, Self, Sequence, TypeAlias
import numpy as np
import scipy
from django.conf import settings
from c3nav.mapdata.models import MapUpdate, Space
@ -203,6 +202,12 @@ class Locator:
from scipy.optimize import least_squares
return least_squares
@cached_property
def norm_func(self):
# this is effectively a lazy import to save memory… todo: do we need that?
from scipy.linalg import norm
return norm
def locate_range(self, scan_data: ScanData, permissions=None, orig_addr=None):
pprint(scan_data)
@ -238,10 +243,10 @@ class Locator:
# rating the guess by calculating the distances
def diff_func(guess):
result = scipy.linalg.norm(np_ranges[:, :dimensions] - guess[:dimensions], axis=1) - measured_ranges
result = self.norm_func(np_ranges[:, :dimensions] - guess[:dimensions], axis=1) - measured_ranges
# print(result)
return result
# factors = scipy.linalg.norm(np_ranges[:, :dimensions] - guess[:dimensions], axis=1) / measured_ranges
# factors = self.norm_func(np_ranges[:, :dimensions] - guess[:dimensions], axis=1) / measured_ranges
# return factors - np.mean(factors)
def cost_func(guess):
@ -294,12 +299,12 @@ class Locator:
print()
print("measured ranges:", ", ".join(("%.2f" % i) for i in tuple(np_ranges[:, 3])))
print("result ranges:", ", ".join(
("%.2f" % i) for i in tuple(scipy.linalg.norm(np_ranges[:, :dimensions] - result_pos[:dimensions], axis=1))
("%.2f" % i) for i in tuple(self.norm_func(np_ranges[:, :dimensions] - result_pos[:dimensions], axis=1))
))
if orig_xyz is not None:
print("correct ranges:", ", ".join(
("%.2f" % i)
for i in tuple(scipy.linalg.norm(np_ranges[:, :dimensions] - orig_xyz[:dimensions], axis=1))
for i in tuple(self.norm_func(np_ranges[:, :dimensions] - orig_xyz[:dimensions], axis=1))
))
print()
print("diff result-measured:", ", ".join(