Skylark0924/Rofunc

TP-GMM can only show a single GMM in visualization

Closed this issue · 3 comments

Skylark0924 commented

The bug is caused by sampling the Gaussian to plot. It is useful when plotting the TP-GMR with Gaussian more than 10, but just shows one Gaussian in TP_GMM which has Gaussian less than 10.

+ if n_gaussian >= max_gaussian:
+     index_to_plot = np.linspace(0, n_gaussian, num=max_gaussian, dtype=np.int8)
+ else:
+    index_to_plot = np.arange(0, n_gaussian)
-  for i in tqdm(range(0, n_gaussians, 10)):
+ for i in tqdm(index_to_plot):
    # Plot the ellipsoid
    R = np.real(sp.linalg.sqrtm(scale * covariance[i, :]))
    rf.visualab.sphere_plot3d(mu[i, :], R, color=color, alpha=alpha, ax=ax)
Skylark0924 commented

Fixed by ef21eee

Skylark0924 commented

The correct plotting of TP-GMM
Image