def getRadarData(start, end, step, r_idx):
# 创建地图、增加两个货包块
map = ExpSetting.getBasicMap()
radar = ExpSetting.getBasicRadar()
ret = []
ret.append(getGroupData(radar, map, [0, 0, 0], r_idx))
for i in range(start, end, step):
ret.append(getGroupData(radar, map, [500, i, 0], 1))
return ret
def exp_jiao_radardata(radar_pos):
map = ExpSetting.getBasicMap()
fig = MapFigure(map)
radar = ExpSetting.getBasicRadar()
radar_data = radar.getMeasureData(map, radar_pos)
rag = DBSCAN.getFeatureRange(radar_data, radar_pos)
colors = ['b.', 'r.', 'g.']
xs = [x[0] for x in radar_data]
ys = [x[1] for x in radar_data]
for i in range(len(rag)):
s = rag[i][0]
e = rag[i][1]
fig.drawRadarPoints(xs[s:e], ys[s:e], colors[i])
fig.setXYLabel(u'距离/mm', u'距离/mm')
fig.setXYLim(0, 2500, 0, 3200)
fig.showFigure()
def estimateLine2():
# 创建地图、增加两个货包块
map = ExpSetting.getBasicMap()
# 创建激光雷达、设置位置、扫描数据
radar = ExpSetting.getBasicRadar()
radar_pos = [0, 0, 0]
radar_data = radar.getMeasureData(map, radar_pos)
# 获取
rag = DBSCAN.getFeatureRange(radar_data, radar_pos)
mid = Split.getSingleSplitPoint(radar_data, rag[1])
theta, p_val = LeastSquare.normalCal(radar_data, rag[1][0], mid - 2)
ls = LeastSquare(theta, p_val)
for i in range(1000, 2000, 100):
radar_pos = [500, i, 0]
radar_data = radar.getMeasureData(map, radar_pos)
rag = DBSCAN.getFeatureRange(radar_data, radar_pos)
print rag
mid = Split.getSingleSplitPoint(radar_data, rag[1])
print ls.recursiveCal(radar_data, rag[1][0], mid - 5, 0.98)