def get_unknown_regions(self):
"""
:return: list of unknown regions
:type: [Region]
"""
cm = ClusterRegions()
cm.set_region_type(RegionType.unknown)
cm.set_field(self.field)
cm.group_regions()
self.unknown_regions = cm.get_result_regions()
return self.unknown_regions
def get_unknown_regions(self):
"""
:return: list of unknown regions
:type: [Region]
"""
cm = ClusterRegions()
cm.set_region_type(RegionType.unknown)
cm.set_field(self.field)
cm.group_regions()
self.unknown_regions = cm.get_result_regions()
return self.unknown_regions
def get_obstacle_regions(self):
"""
Searches for a list of obstacle regions with the same color. will only be calculated once.
:return: list of obstacle regions with the same color
:type: [Region]
"""
if len(self.obstacle_regions) == 0:
cm = ClusterRegions()
cm.set_field(self.field)
cm.set_region_type(RegionType.blue)
cm.group_regions()
cm.set_region_type(RegionType.green)
cm.group_regions()
cm.set_region_type(RegionType.red)
cm.group_regions()
cm.set_region_type(RegionType.cyan)
cm.group_regions()
cm.set_region_type(RegionType.yellow)
cm.group_regions()
cm.set_region_type(RegionType.magenta)
cm.group_regions()
cm.set_region_type(RegionType.undef)
cm.group_regions()
rospy.logdebug("Clustering results:")
rospy.logdebug(cm.print_segmented_field())
rospy.logdebug(cm.print_field())
self.obstacle_regions = cm.get_result_regions()
return self.obstacle_regions
def test6(self):
test_field = self.make_free_map()
test_field[1][2].set_obstacle()
test_field[1][2].set_blue()
test_field[1][3].set_obstacle()
test_field[1][3].set_blue()
test_field[1][4].set_obstacle()
test_field[1][4].set_blue()
test_field[1][5].set_obstacle()
test_field[1][5].set_blue()
test_field[1][6].set_obstacle()
test_field[1][6].set_green()
test_field[2][2].set_obstacle()
test_field[2][2].set_blue()
test_field[2][3].set_obstacle()
test_field[2][3].set_green()
test_field[2][4].set_obstacle()
test_field[2][4].set_green()
test_field[2][5].set_obstacle()
test_field[2][5].set_green()
test_field[2][6].set_obstacle()
test_field[2][6].set_green()
cm = ClusterRegions(True)
cm.set_field(test_field)
cm.print_field()
cm.set_region_type(RegionType.blue)
cm.group_regions()
cm.set_region_type(RegionType.green)
cm.group_regions()
cm.set_region_type(RegionType.red)
cm.group_regions()
cm.set_region_type(RegionType.cyan)
cm.group_regions()
cm.set_region_type(RegionType.yellow)
cm.group_regions()
cm.set_region_type(RegionType.magenta)
cm.group_regions()
regions = cm.get_result_regions()
for r in regions:
print r.get_color_id()
muh = [[[1, 2], [2, 2], [1, 3], [1, 4], [1, 5]],
[[1, 6], [2, 6], [2, 5], [2, 4], [2, 3]]]
self.assertTrue(regions[0].cell_coords in muh)
self.assertTrue(regions[1].cell_coords in muh)
def test6(self):
test_field = self.make_free_map()
test_field[1][2].set_obstacle()
test_field[1][2].set_blue()
test_field[1][3].set_obstacle()
test_field[1][3].set_blue()
test_field[1][4].set_obstacle()
test_field[1][4].set_blue()
test_field[1][5].set_obstacle()
test_field[1][5].set_blue()
test_field[1][6].set_obstacle()
test_field[1][6].set_green()
test_field[2][2].set_obstacle()
test_field[2][2].set_blue()
test_field[2][3].set_obstacle()
test_field[2][3].set_green()
test_field[2][4].set_obstacle()
test_field[2][4].set_green()
test_field[2][5].set_obstacle()
test_field[2][5].set_green()
test_field[2][6].set_obstacle()
test_field[2][6].set_green()
cm = ClusterRegions(True)
cm.set_field(test_field)
cm.print_field()
cm.set_region_type(RegionType.blue)
cm.group_regions()
cm.set_region_type(RegionType.green)
cm.group_regions()
cm.set_region_type(RegionType.red)
cm.group_regions()
cm.set_region_type(RegionType.cyan)
cm.group_regions()
cm.set_region_type(RegionType.yellow)
cm.group_regions()
cm.set_region_type(RegionType.magenta)
cm.group_regions()
regions = cm.get_result_regions()
for r in regions:
print r.get_color_id()
muh = [[[1, 2], [2, 2], [1, 3], [1, 4], [1, 5]], [[1, 6], [2, 6], [2, 5], [2, 4], [2, 3]]]
self.assertTrue(regions[0].cell_coords in muh)
self.assertTrue(regions[1].cell_coords in muh)
def get_obstacle_regions(self):
"""
Searches for a list of obstacle regions with the same color. will only be calculated once.
:return: list of obstacle regions with the same color
:type: [Region]
"""
if len(self.obstacle_regions) == 0:
cm = ClusterRegions()
cm.set_field(self.field)
cm.set_region_type(RegionType.blue)
cm.group_regions()
cm.set_region_type(RegionType.green)
cm.group_regions()
cm.set_region_type(RegionType.red)
cm.group_regions()
cm.set_region_type(RegionType.cyan)
cm.group_regions()
cm.set_region_type(RegionType.yellow)
cm.group_regions()
cm.set_region_type(RegionType.magenta)
cm.group_regions()
cm.set_region_type(RegionType.undef)
cm.group_regions()
rospy.logdebug("Clustering results:")
rospy.logdebug(cm.print_segmented_field())
rospy.logdebug(cm.print_field())
self.obstacle_regions = cm.get_result_regions()
return self.obstacle_regions
