def main(): #Initialise Vehicle Class TEG = Vehicle(0,0,2) #Initialise blank image height = 500 width = 500 #Set the current map class to blank agvcmap = map.map(height, width, 255) #Generate a list of objects genObjects.main(agvcmap) #Retrieve objects from file obsList = loader.getObs() #M Mapping of obstacles and lines onto a pixel image and skeleton planning returning GPS (or distance) waypoints #Place obstacles on map agvcmap.updateObstacles(obsList) #Morph the obstacles agvcmap.updateMorph(); nav = Navigation(agvcmap,obsList,TEG) nav.calculatePath()
def main():
#Initialise Vehicle Class
TEG = Vehicle(0, 0, 2)
#Initialise blank image
height = 500
width = 500
#Set the current map class to blank
agvcmap = map.map(height, width, 255)
#Generate a list of objects
genObjects.main(agvcmap)
#Retrieve objects from file
obsList = loader.getObs()
#M Mapping of obstacles and lines onto a pixel image and skeleton planning returning GPS (or distance) waypoints
#Place obstacles on map
agvcmap.updateObstacles(obsList)
#Morph the obstacles
agvcmap.updateMorph()
nav = Navigation(agvcmap, obsList, TEG)
nav.calculatePath()
return [row[i] for row in matrix]
if __name__ == "__main__":
#Initialise Vehicle Class
TEG = Vehicle(0, 0, 2)
#Initialise blank image
height = 500
width = 500
#Set the current map class to blank
agvcmap = map.map(height, width, 255)
#Generate a list of objects
genObjects.main(agvcmap)
#Retrieve objects from file
obsList = loader.getObs()
#M Mapping of obstacles and lines onto a pixel image and skeleton planning returning GPS (or distance) waypoints
#Place obstacles on map
agvcmap.updateObstacles(obsList)
#Morph the obstacles
agvcmap.updateMorph()
#Plan routes through obstacles
#Skeleton Method---------------------------------------
#cv2.imwrite('AGVCmap2.jpg', agvcmap.getImage())
#img = cv2.imread('AGVCmap2.jpg',0)
#size = size(img)
#skel = zeros(img.shape,uint8)
def column(matrix, i):
return [row[i] for row in matrix]
if __name__ == "__main__":
#Initialise Vehicle Class
TEG = Vehicle(0,0,2)
#Initialise blank image
height = 500
width = 500
#Set the current map class to blank
agvcmap = map.map(height, width, 255)
#Generate a list of objects
genObjects.main(agvcmap)
#Retrieve objects from file
obsList = loader.getObs()
#M Mapping of obstacles and lines onto a pixel image and skeleton planning returning GPS (or distance) waypoints
#Place obstacles on map
agvcmap.updateObstacles(obsList)
#Morph the obstacles
agvcmap.updateMorph();
#Plan routes through obstacles
#Skeleton Method---------------------------------------
#cv2.imwrite('AGVCmap2.jpg', agvcmap.getImage())
#img = cv2.imread('AGVCmap2.jpg',0)
#size = size(img)
#skel = zeros(img.shape,uint8)