import sys, time sys.path.append('..') from walldetectionlib import detect_room import pylab as pl from simulator.plotter import * from simulator.points_generator import * import roslib; roslib.load_manifest('controller'); import rospy from utility import * from simulator.evaluator import Evaluator """ setup evaluator """ evaluator = Evaluator("wmm") """ generate points """ points = generate_points(evaluator.sigma) """ non-generated points """ #from simulator.points_dataset_... import points #from outlierfilter import outlierfilterlib #points = outlierfilterlib.filter_outliers(points) """ pre-filtered points """ #from simulator.points_dataset_fish_robot_room import points """ detect room """ #L = detect_room(points, do_preprocessing=False, numwalls=[4, 6, 8, 10], numcalculations=4, fancy_output=True) #L = detect_room(points, do_preprocessing=False, numwalls=[4, 6], numcalculations=2, fancy_output=True) L = detect_room(points, do_preprocessing=False, numwalls=[4], numcalculations=12, fancy_output=True) #L = detect_room(points, do_preprocessing=False, numwalls=[4], numcalculations=1, fancy_output=True) """ evaluate """
import sys, time sys.path.append('..') from walldetectionlib import detect_room import pylab as pl from simulator.plotter import * from simulator.points_generator import * import roslib roslib.load_manifest('controller') import rospy from utility import * from simulator.evaluator import Evaluator """ setup evaluator """ evaluator = Evaluator("wmm") """ generate points """ points = generate_points(evaluator.sigma) """ non-generated points """ #from simulator.points_dataset_... import points #from outlierfilter import outlierfilterlib #points = outlierfilterlib.filter_outliers(points) """ pre-filtered points """ #from simulator.points_dataset_fish_robot_room import points """ detect room """ #L = detect_room(points, do_preprocessing=False, numwalls=[4, 6, 8, 10], numcalculations=4, fancy_output=True) #L = detect_room(points, do_preprocessing=False, numwalls=[4, 6], numcalculations=2, fancy_output=True) L = detect_room(points, do_preprocessing=False, numwalls=[4], numcalculations=12, fancy_output=True) #L = detect_room(points, do_preprocessing=False, numwalls=[4], numcalculations=1, fancy_output=True) """ evaluate """
import sys, subprocess, os, shlex from scipy.io import loadmat, savemat from pylab import * sys.path.append("..") from simulator.plotter import * from simulator.points_generator import * import hough from simulator.evaluator import Evaluator """ setup evaluator """ evaluator = Evaluator("hough", detected_walls="N/A") """ generate points """ points = generate_points(evaluator.sigma) """ non-generated points """ # sys.path.append('../..') # from simulator.points_dataset_real2 import points # from outlierfilter import outlierfilterlib # points = outlierfilterlib.filter_outliers(points) """ hough transform """ rhos, thetas, hgrid = hough.hough_transform(points, n_theta=460, n_rho=360) # print " hough transform complete" """ get lines from hough transform (matlab) """ MATLAB_HOUGH_FILE = "matlab_io/input_hough.mat" MATLAB_PEAKS_FILE = "matlab_io/output_peaks.mat" # check if matlab can be skipped skip_matlab = False
import sys, subprocess, os, shlex from scipy.io import loadmat, savemat from pylab import * sys.path.append('..') from simulator.plotter import * from simulator.points_generator import * import hough from simulator.evaluator import Evaluator """ setup evaluator """ evaluator = Evaluator("hough", detected_walls="N/A") """ generate points """ points = generate_points(evaluator.sigma) """ non-generated points """ #sys.path.append('../..') #from simulator.points_dataset_real2 import points #from outlierfilter import outlierfilterlib #points = outlierfilterlib.filter_outliers(points) """ hough transform """ rhos, thetas, hgrid = hough.hough_transform(points, n_theta=460, n_rho=360) #print " hough transform complete" """ get lines from hough transform (matlab) """ MATLAB_HOUGH_FILE = 'matlab_io/input_hough.mat' MATLAB_PEAKS_FILE = 'matlab_io/output_peaks.mat' # check if matlab can be skipped skip_matlab = False if os.path.isfile(MATLAB_HOUGH_FILE): data = loadmat(MATLAB_HOUGH_FILE) if data['H'].shape == hgrid.T.shape and (data['H'] == hgrid.T).all(): skip_matlab = True #if not skip_matlab: if True: