Python numpy.deg2rad() Examples

def _add_table(self, name):
        p = PoseStamped()
        p.header.frame_id = self._robot.get_planning_frame()
        p.header.stamp = rospy.Time.now()

        p.pose.position.x = 0.5
        p.pose.position.y = 0.0
        p.pose.position.z = 0.22

        q = quaternion_from_euler(0.0, 0.0, numpy.deg2rad(90.0))
        p.pose.orientation = Quaternion(*q)

        # Table size from ~/.gazebo/models/table/model.sdf, using the values
        # for the surface link.
        self._scene.add_box(name, p, (0.5, 0.4, 0.02))

        return p.pose 

def wzeniths(zeniths):
    n = len(zeniths)
    if not n:
        return np.array([0, 180]), np.array([1, 1])
    inds = np.argsort(zeniths)
    zaz = np.deg2rad(zeniths[inds])
    cz = np.cos(zaz)

    wz = np.zeros((2*n))
    za = np.zeros((2*n))
    for i in range(n-1):
        N = i*2
        za[N:N+2] = zaz[i:i+2]
        wz[0+N] = wz[1+N] = 0.5 * (cz[i] - cz[i+1])

    return za, wz 

def test_both_limit_angle_limit(self, optimization_variables_avg):
        l, Q, A = optimization_variables_avg
        Q_in = 5e1 * np.eye(len(l))
        max_angle = 25
        m = 2e-3
        m1 = 4e-3
        f = .02
        x = optimization_methods.optimize_focality(l, Q, f,
                                                   max_el_current=m,
                                                   max_total_current=m1,
                                                   Qin=Q_in,
                                                   max_angle=max_angle)
        x_sp = optimize_focality(
            l, Q, f, max_el_current=m, max_total_current=m1,
            Qin=Q_in, max_angle=max_angle)
        assert np.linalg.norm(x, 1) <= 2 * m1 + 1e-4
        assert np.all(np.abs(x) <= m + 1e-4)
        assert np.isclose(np.sum(x), 0)
        assert np.isclose(l.dot(x), f)
        assert np.arccos(l.dot(x) / np.sqrt(x.dot(Q_in).dot(x))) <= np.deg2rad(max_angle)
        assert np.allclose(x.dot(Q.dot(x)), x_sp.dot(Q.dot(x_sp)), rtol=1e-4, atol=1e-5) 

def test_both_limit_angle_Q_iteration(self, optimization_variables_avg_QCQP):
        l, Q, A, Q_in = optimization_variables_avg_QCQP
        # l, Q, A = optimization_variables_avg
        # Q_in = 6 * np.eye(len(l)) + np.outer(l, l)
        max_angle = 20
        m = 2e-3
        m1 = 4e-3
        f = .01
        x = optimization_methods.optimize_focality(l, Q, f,
                                                   max_el_current=m,
                                                   max_total_current=m1,
                                                   Qin=Q_in,
                                                   max_angle=max_angle)
        x_sp = optimize_focality(
            l, Q, f, max_el_current=m, max_total_current=m1,
            Qin=Q_in, max_angle=max_angle)
        assert np.linalg.norm(x, 1) <= 2 * m1 + 1e-4
        assert np.all(np.abs(x) <= m + 1e-4)
        assert np.isclose(np.sum(x), 0)
        assert np.isclose(l.dot(x), f)
        assert np.arccos(l.dot(x) / np.sqrt(x.dot(Q_in).dot(x))) <= np.deg2rad(max_angle)
        assert np.allclose(x.dot(Q.dot(x)), x_sp.dot(Q.dot(x_sp)), rtol=1e-4, atol=1e-5) 

def test_both_limit_angle_infeasible_field(self, optimization_variables_avg_QCQP):
        l, Q, A, Q_in = optimization_variables_avg_QCQP
        max_angle = 15
        m = 2e-3
        m1 = 4e-3
        f = 2
        x = optimization_methods.optimize_focality(l, Q, f,
                                                   max_el_current=m,
                                                   max_total_current=m1,
                                                   Qin=Q_in,
                                                   max_angle=max_angle)

        assert np.linalg.norm(x, 1) <= 2 * m1 + 1e-4
        assert np.all(np.abs(x) <= m + 1e-4)
        assert np.isclose(np.sum(x), 0)
        assert np.arccos(l.dot(x) / np.sqrt(x.dot(Q_in).dot(x))) <= np.deg2rad(max_angle) 

def test_limit_nr_angle(seld, optimization_variables_avg_QCQP):
        l, Q, A, Q_in = optimization_variables_avg_QCQP
        max_angle = 15
        m = 2e-3
        m1 = 4e-3
        f = 2
        n = 4
        x = optimization_methods.optimize_focality(l, Q, f,
                                                   max_el_current=m,
                                                   max_total_current=m1,
                                                   Qin=Q_in,
                                                   max_angle=max_angle,
                                                   max_active_electrodes=n)

        assert np.linalg.norm(x, 1) <= 2 * m1 + 1e-4
        assert np.all(np.abs(x) <= m + 1e-4)
        assert np.isclose(np.sum(x), 0)
        assert np.linalg.norm(x, 0) <= n
        assert np.arccos(l.dot(x) / np.sqrt(x.dot(Q_in).dot(x))) <= np.deg2rad(max_angle) 

def test_limit_nr_angle_change_Q(seld, optimization_variables_avg_QCQP):
        l, Q, A, Q_in = optimization_variables_avg_QCQP
        max_angle = 15
        m = 2e-3
        m1 = 4e-3
        f = .01
        n = 4
        x = optimization_methods.optimize_focality(l, Q, f,
                                                   max_el_current=m,
                                                   max_total_current=m1,
                                                   Qin=Q_in,
                                                   max_angle=max_angle,
                                                   max_active_electrodes=n)

        assert np.linalg.norm(x, 1) <= 2 * m1 + 1e-4
        assert np.all(np.abs(x) <= m + 1e-4)
        assert np.isclose(np.sum(x), 0)
        assert np.linalg.norm(x, 0) <= n
        assert np.arccos(l.dot(x) / np.sqrt(x.dot(Q_in).dot(x))) <= np.deg2rad(max_angle) 

def update(_):
        ang = np.deg2rad( cv2.getTrackbarPos('angle', win) )
        d = cv2.getTrackbarPos('d', win)
        noise = 10**(-0.1*cv2.getTrackbarPos('SNR (db)', win))

        if defocus:
            psf = defocus_kernel(d)
        else:
            psf = motion_kernel(ang, d)
        cv2.imshow('psf', psf)

        psf /= psf.sum()
        psf_pad = np.zeros_like(img)
        kh, kw = psf.shape
        psf_pad[:kh, :kw] = psf
        PSF = cv2.dft(psf_pad, flags=cv2.DFT_COMPLEX_OUTPUT, nonzeroRows = kh)
        PSF2 = (PSF**2).sum(-1)
        iPSF = PSF / (PSF2 + noise)[...,np.newaxis]
        RES = cv2.mulSpectrums(IMG, iPSF, 0)
        res = cv2.idft(RES, flags=cv2.DFT_SCALE | cv2.DFT_REAL_OUTPUT )
        res = np.roll(res, -kh//2, 0)
        res = np.roll(res, -kw//2, 1)
        cv2.imshow(win, res) 

def _rotate_system(R, angle_limits, angle_res):
    ''' Rotates the vector "y" aroud "z" between the given limits and in the given
    resolution and return rotation matrices'''
    # Define rotation matrix around Z
    n_steps = int((angle_limits[1] - angle_limits[0])/angle_res + 1)
    angles = np.linspace(angle_limits[0], angle_limits[1], n_steps)
    angles = np.deg2rad(angles[(angles > -180.1) * (angles < 180.)])
    matrices = []
    for a in angles:
        Rz = np.array((
            (np.cos(a), -np.sin(a), 0),
            (np.sin(a), np.cos(a), 0),
            (0, 0, 1),
        ))
        matrices.append(R.dot(Rz))
    return matrices 

def update_bbox_position_size(self, renderer):
        """
        Update the location and the size of the bbox. This method
        should be used when the position and size of the bbox needs to
        be updated before actually drawing the bbox.
        """

        # For arrow_patch, use textbox as patchA by default.

        if not isinstance(self.arrow_patch, FancyArrowPatch):
            return

        if self._bbox_patch:
            posx, posy = self._x, self._y

            x_box, y_box, w_box, h_box = _get_textbox(self, renderer)
            self._bbox_patch.set_bounds(0., 0., w_box, h_box)
            theta = np.deg2rad(self.get_rotation())
            tr = mtransforms.Affine2D().rotate(theta)
            tr = tr.translate(posx + x_box, posy + y_box)
            self._bbox_patch.set_transform(tr)
            fontsize_in_pixel = renderer.points_to_pixels(self.get_size())
            self._bbox_patch.set_mutation_scale(fontsize_in_pixel) 

def _add_table(self, name):
        p = PoseStamped()
        p.header.frame_id = self._robot.get_planning_frame()
        p.header.stamp = rospy.Time.now()

        p.pose.position.x = 0.5
        p.pose.position.y = 0.0
        p.pose.position.z = 0.22

        q = quaternion_from_euler(0.0, 0.0, numpy.deg2rad(90.0))
        p.pose.orientation = Quaternion(*q)

        # Table size from ~/.gazebo/models/table/model.sdf, using the values
        # for the surface link.
        self._scene.add_box(name, p, (0.5, 0.4, 0.02))

        return p.pose 

def to_radians(arr, is_delta=False):
    """Force data with units either degrees or radians to be radians."""
    # Infer the units from embedded metadata, if it's there.
    try:
        units = arr.units
    except AttributeError:
        pass
    else:
        if units.lower().startswith('degrees'):
            warn_msg = ("Conversion applied: degrees -> radians to array: "
                        "{}".format(arr))
            logging.debug(warn_msg)
            return np.deg2rad(arr)
    # Otherwise, assume degrees if the values are sufficiently large.
    threshold = 0.1*np.pi if is_delta else 4*np.pi
    if np.max(np.abs(arr)) > threshold:
        warn_msg = ("Conversion applied: degrees -> radians to array: "
                    "{}".format(arr))
        logging.debug(warn_msg)
        return np.deg2rad(arr)
    return arr 

def test_both_limit_angle_inactive(self, optimization_variables_avg):
        l, Q, A = optimization_variables_avg
        Q_in = 5e1 * np.eye(len(l))
        max_angle = 45
        m = 2e-3
        m1 = 4e-3
        f = .02
        x = optimization_methods.optimize_focality(l, Q, f,
                                                   max_el_current=m,
                                                   max_total_current=m1,
                                                   Qin=Q_in,
                                                   max_angle=max_angle)
        x_sp = optimize_focality(
            l, Q, f, max_el_current=m, max_total_current=m1,
            Qin=Q_in, max_angle=max_angle)

        assert np.linalg.norm(x, 1) <= 2 * m1 + 1e-4
        assert np.all(np.abs(x) <= m + 1e-4)
        assert np.isclose(np.sum(x), 0)
        assert np.isclose(l.dot(x), f)
        assert np.arccos(l.dot(x) / np.sqrt(x.dot(Q_in).dot(x))) <= np.deg2rad(max_angle)
        assert np.allclose(x.dot(Q.dot(x)), x_sp.dot(Q.dot(x_sp)), rtol=1e-4, atol=1e-5) 

def half_power_radius(r, bwhalf):
    """
    Half-power radius [m].

    Battan (1973),

    Parameters
    ----------
    r : float or array
        Range [m]
    bwhalf : float
        Half-power beam width [degrees]
    """
    # Convert earth's radius to km for common dN/dH values and then
    # multiply by 1000 to return radius in meters
    return (np.asarray(r) * np.deg2rad(bwhalf)) / 2. 

def start_pan(self, x, y, button):
        angle = np.deg2rad(self._r_label_position.to_values()[4])
        mode = ''
        if button == 1:
            epsilon = np.pi / 45.0
            t, r = self.transData.inverted().transform_point((x, y))
            if t >= angle - epsilon and t <= angle + epsilon:
                mode = 'drag_r_labels'
        elif button == 3:
            mode = 'zoom'

        self._pan_start = cbook.Bunch(
            rmax          = self.get_rmax(),
            trans         = self.transData.frozen(),
            trans_inverse = self.transData.inverted().frozen(),
            r_label_angle = self._r_label_position.to_values()[4],
            x             = x,
            y             = y,
            mode          = mode
            ) 

def sun_topo_azimuth_zenith(latitude, delta_prime, H_prime, temperature=14.6, pressure=1013):
        """Compute the sun's topocentric azimuth and zenith angles
        azimuth is measured eastward from north, zenith from vertical
        temperature = average temperature in C (default is 14.6 = global average in 2013)
        pressure = average pressure in mBar (default 1013 = global average)
        """
        phi = np.deg2rad(latitude)
        dr, Hr = map(np.deg2rad,(delta_prime, H_prime))
        P, T = pressure, temperature
        e0 = np.rad2deg(np.arcsin(np.sin(phi)*np.sin(dr) + np.cos(phi)*np.cos(dr)*np.cos(Hr)))
        tmp = np.deg2rad(e0 + 10.3/(e0+5.11))
        delta_e = (P/1010.0)*(283.0/(273+T))*(1.02/(60*np.tan(tmp)))
        e = e0 + delta_e
        zenith = 90 - e

        gamma = np.rad2deg(np.arctan2(np.sin(Hr), np.cos(Hr)*np.sin(phi) - np.tan(dr)*np.cos(phi))) % 360
        Phi = (gamma + 180) % 360 #azimuth from north
        return Phi, zenith 

def prior_realization(f0, a0, phi0, sigmaf, sigmaa, sigmaphi, dt, nt, nfft):
    """Create realization from prior mean and std for amplitude, frequency and
    phase
    """
    f = np.fft.rfftfreq(nfft, dt)
    df = f[1] - f[0]
    ifreqs = [int(np.random.normal(f, sigma)/df)
              for f, sigma in zip(f0, sigmaf)]
    amps = [np.random.normal(a, sigma) for a, sigma in zip(a0, sigmaa)]
    phis = [np.random.normal(phi, sigma) for phi, sigma in zip(phi0, sigmaphi)]

    # input signal in frequency domain
    X = np.zeros(nfft//2+1, dtype='complex128')
    X[ifreqs] = np.array(amps).squeeze() * \
                np.exp(1j * np.deg2rad(np.array(phis))).squeeze()

    # input signal in time domain
    FFTop = pylops.signalprocessing.FFT(nt, nfft=nfft, real=True)
    x = FFTop.H*X
    return x

# Priors 

def euler_to_quat(a):
    a = np.deg2rad(a)

    cy = np.cos(a[1] * 0.5)
    sy = np.sin(a[1] * 0.5)
    cr = np.cos(a[0] * 0.5)
    sr = np.sin(a[0] * 0.5)
    cp = np.cos(a[2] * 0.5)
    sp = np.sin(a[2] * 0.5)

    q = np.zeros(4)

    q[0] = cy * cr * cp + sy * sr * sp
    q[1] = cy * sr * cp - sy * cr * sp
    q[3] = cy * cr * sp + sy * sr * cp
    q[2] = sy * cr * cp - cy * sr * sp

    return q 

def _generate(self, n: int) -> np.ndarray:
        return np.array(
            [
                self.scale
                * np.sin(
                    np.linspace(0, self.base_freq * 2 * np.pi, n) * factor + offset
                )
                for factor, offset in zip(
                    np.random.uniform(*self.freq_factor, self.wave_count),
                    np.random.uniform(
                        np.deg2rad(self.phase_offset_range[0]),
                        np.deg2rad(self.phase_offset_range[1]),
                        self.wave_count,
                    ),
                )
            ]
        ).prod(axis=0) 

def project_point(self, point, camera):
        model_matrix = np.zeros((4, 4))
        model_matrix[:3, :3] = self.sim.data.get_camera_xmat(camera).T
        model_matrix[-1, -1] = 1

        fovy_radians = np.deg2rad(self.sim.model.cam_fovy[self.sim.model.camera_name2id(camera)])
        uh = 1. / np.tan(fovy_radians / 2)
        uw = uh / (self._frame_width / self._frame_height)
        extent = self.sim.model.stat.extent
        far, near = self.sim.model.vis.map.zfar * extent, self.sim.model.vis.map.znear * extent
        view_matrix = np.array([[uw, 0., 0., 0.],                        # matrix definition from
                                [0., uh, 0., 0.],                        # https://stackoverflow.com/questions/18404890/how-to-build-perspective-projection-matrix-no-api
                                [0., 0., far / (far - near), -1.],
                                [0., 0., -2*far*near/(far - near), 0.]]) # Note Mujoco doubles this quantity

        MVP_matrix = view_matrix.dot(model_matrix)
        world_coord = np.ones((4, 1))
        world_coord[:3, 0] = point - self.sim.data.get_camera_xpos(camera)

        clip = MVP_matrix.dot(world_coord)
        ndc = clip[:3] / clip[3]  # everything should now be in -1 to 1!!
        col, row = (ndc[0] + 1) * self._frame_width / 2, (-ndc[1] + 1) * self._frame_height / 2

        return self._frame_height - row, col                 # rendering flipped around in height 

def rotate(img, magnitude):
    img = np.array(img)
    magnitudes = np.linspace(-30, 30, 11)
    theta = np.deg2rad(random.uniform(magnitudes[magnitude], magnitudes[magnitude+1]))
    transform_matrix = np.array([[np.cos(theta), -np.sin(theta), 0],
                                 [np.sin(theta), np.cos(theta), 0],
                                 [0, 0, 1]])
    transform_matrix = transform_matrix_offset_center(transform_matrix, img.shape[0], img.shape[1])
    affine_matrix = transform_matrix[:2, :2]
    offset = transform_matrix[:2, 2]
    img = np.stack([ndimage.interpolation.affine_transform(
                    img[:, :, c],
                    affine_matrix,
                    offset) for c in range(img.shape[2])], axis=2)
    img = Image.fromarray(img)
    return img 

def camera_info(param):
    theta = np.deg2rad(param[0])
    phi = np.deg2rad(param[1])

    camY = param[3] * np.sin(phi)
    temp = param[3] * np.cos(phi)
    camX = temp * np.cos(theta)    
    camZ = temp * np.sin(theta)        
    cam_pos = np.array([camX, camY, camZ])        

    axisZ = cam_pos.copy()
    axisY = np.array([0, 1, 0], dtype=np.float32)
    axisX = np.cross(axisY, axisZ)
    axisY = np.cross(axisZ, axisX)
    
    # cam_mat = np.array([axisX, axisY, axisZ])
    cam_mat = np.array([unit(axisX), unit(axisY), unit(axisZ)])
    
    return cam_mat, cam_pos


##################################################### 

def sample_vol_ideal(r, bw_h, bw_v, pulse_length):
    """
    Idealized Sample volume [m^3] assuming all power in half-power beamwidths.

    From Rinehart (1997), Eqn 5.2

    Parameters
    ----------
    r : float or array
        Distance to sample volume from radar [m]
    bw_h : float
        Horizontal beamwidth [deg]
    bw_v : float
        Vertical beamwidth deg]
    pulse_length : float
        Pulse length [m]

    Notes
    -----
    This form assumes all transmitted energy is in the half-power beamwidths.
    A more realistic solution is found in the sample_vol_gauss function
    """
    return (np.pi * (np.asarray(r) * np.deg2rad(bw_h)/2.) * (np.asarray(r) *
            np.deg2rad(bw_v)/2.) * (pulse_length/2.)) 

def rotate(img, magnitude):
    img = np.array(img)
    magnitudes = np.linspace(-30, 30, 11)
    theta = np.deg2rad(random.uniform(magnitudes[magnitude], magnitudes[magnitude+1]))
    transform_matrix = np.array([[np.cos(theta), -np.sin(theta), 0],
                                 [np.sin(theta), np.cos(theta), 0],
                                 [0, 0, 1]])
    transform_matrix = transform_matrix_offset_center(transform_matrix, img.shape[0], img.shape[1])
    affine_matrix = transform_matrix[:2, :2]
    offset = transform_matrix[:2, 2]
    img = np.stack([ndimage.interpolation.affine_transform(
                    img[:, :, c],
                    affine_matrix,
                    offset) for c in range(img.shape[2])], axis=2)
    img = Image.fromarray(img)
    return img 

def load_RSM(filename):
    om, tt, psd = xu.io.getxrdml_map(filename)
    om = np.deg2rad(om)
    tt = np.deg2rad(tt)
    wavelength = 1.54056

    q_y = (1 / wavelength) * (np.cos(tt) - np.cos(2 * om - tt))
    q_x = (1 / wavelength) * (np.sin(tt) - np.sin(2 * om - tt))

    xi = np.linspace(np.min(q_x), np.max(q_x), 100)
    yi = np.linspace(np.min(q_y), np.max(q_y), 100)
    psd[psd < 1] = 1
    data_grid = griddata(
        (q_x, q_y), psd, (xi[None, :], yi[:, None]), fill_value=1, method="cubic"
    )
    nx, ny = data_grid.shape

    range_values = [np.min(q_x), np.max(q_x), np.min(q_y), np.max(q_y)]
    output_data = (
        Panel(np.log(data_grid).reshape(nx, ny, 1), minor_axis=["RSM"])
        .transpose(2, 0, 1)
        .to_frame()
    )

    return range_values, output_data 

def sun_ra_decl(llambda, epsilon, beta):
        """Calculate the sun's geocentric right ascension (alpha, in degrees) and declination (delta, in degrees)"""
        l, e, b = map(np.deg2rad, (llambda, epsilon, beta))
        alpha = np.arctan2(np.sin(l)*np.cos(e) - np.tan(b)*np.sin(e), np.cos(l)) #x1 / x2
        alpha = np.rad2deg(alpha) % 360
        delta = np.arcsin(np.sin(b)*np.cos(e) + np.cos(b)*np.sin(e)*np.sin(l))
        delta = np.rad2deg(delta)
        return alpha, delta 

def _parse_config(self, config):
        """Reads parameters from the config into class members.
        """
        # camera params
        self.min_f = config['focal_length']['min']
        self.max_f = config['focal_length']['max']
        self.min_delta_c = config['delta_optical_center']['min']
        self.max_delta_c = config['delta_optical_center']['max']
        self.im_height = config['im_height']
        self.im_width = config['im_width']

        self.mean_cx = float(self.im_width - 1) / 2
        self.mean_cy = float(self.im_height - 1) / 2
        self.min_cx = self.mean_cx + self.min_delta_c
        self.max_cx = self.mean_cx + self.max_delta_c
        self.min_cy = self.mean_cy + self.min_delta_c
        self.max_cy = self.mean_cy + self.max_delta_c

        # viewsphere params
        self.min_radius = config['radius']['min']
        self.max_radius = config['radius']['max']
        self.min_az = np.deg2rad(config['azimuth']['min'])
        self.max_az = np.deg2rad(config['azimuth']['max'])
        self.min_elev = np.deg2rad(config['elevation']['min'])
        self.max_elev = np.deg2rad(config['elevation']['max'])
        self.min_roll = np.deg2rad(config['roll']['min'])
        self.max_roll = np.deg2rad(config['roll']['max'])

        # params of translation in plane
        self.min_x = config['x']['min']
        self.max_x = config['x']['max']
        self.min_y = config['y']['min']
        self.max_y = config['y']['max'] 

def greenwich_sidereal_time(jd, delta_psi, epsilon):
        """Calculate the apparent Greenwich sidereal time (v, in degrees) given the Julian Day"""
        jc = _sp.julian_century(jd)
        #mean sidereal time at greenwich, in degrees:
        v0 = (280.46061837 + 360.98564736629*(jd - 2451545) + 0.000387933*(jc**2) - (jc**3)/38710000) % 360
        v = v0 + delta_psi*np.cos(np.deg2rad(epsilon))
        return v 

def test_numpy_method():
    # This type of code is used frequently by PyMC3 users
    x = tt.dmatrix('x')
    data = np.random.rand(5, 5)
    x.tag.test_value = data
    for fct in [np.arccos, np.arccosh, np.arcsin, np.arcsinh,
                np.arctan, np.arctanh, np.ceil, np.cos, np.cosh, np.deg2rad,
                np.exp, np.exp2, np.expm1, np.floor, np.log,
                np.log10, np.log1p, np.log2, np.rad2deg,
                np.sin, np.sinh, np.sqrt, np.tan, np.tanh, np.trunc]:
        y = fct(x)
        f = theano.function([x], y)
        utt.assert_allclose(np.nan_to_num(f(data)),
                            np.nan_to_num(fct(data))) 

def impl(self, x):
        # If x is an int8 or uint8, numpy.deg2rad will compute the result in
        # half-precision (float16), where we want float32.
        x_dtype = str(getattr(x, 'dtype', ''))
        if x_dtype in ('int8', 'uint8'):
            return numpy.deg2rad(x, sig='f')
        return numpy.deg2rad(x)