def OFFtest_saveload(self): # turned off because I run out of RAM and have to start paging.
print "test_saveload"
# TODO use tempfile module?
vmap = self.vmap
fname = '/tmp/vmap.map'
vmap.save(fname)
loaded = mapper.loadmap(fname)
def OFFtest_saveload(
self
): # turned off because I run out of RAM and have to start paging.
print "test_saveload"
# TODO use tempfile module?
vmap = self.vmap
fname = '/tmp/vmap.map'
vmap.save(fname)
loaded = mapper.loadmap(fname)
#fname = '/jcr/data3d/lamp/present/0002.png'
try:
datadir = sys.argv[1]
fnames = os.listdir(datadir)
fnames.sort()
fnames = [datadir + '/' + fname for fname in fnames if fname.endswith('.png')]
except:
print 'Need to specify a valid directory for input'
sys.exit()
visualise = True
freespace2 = False#True # overall, True should be more-accurate, but initial setup will be slower
if visualise:
vis = robotvisualiser.Visualiser()
vis.set_orthographic(Bool=True)
absent_map = mapper.loadmap('absent.map')
res = absent_map.get_resolution()
if freespace2:
freespace_ol = absent_map.generate_freespace2(resolution = res)
else:
freespace_ol = absent_map.generate_freespace(res) # *4 for speed during testing, should just be res
#present_map = mapper.loadmap('present.map')
#pc = present_map.get_points()
#pc = iros_mapper.get_pointcloud(fname)
#bestpose = poseutil.Pose3D()
#bestpose.x = 0.8
#bestpose.y = 1
