type=float,
default=0.0,
help='hysteresis threshold')
parser.add_argument('pathfile', help='path waypoint file')
args = parser.parse_args()
# Load path waypoints.
print('Loading path waypoints...')
points = []
with open(args.pathfile, 'r') as pf:
for line in pf.readlines():
points.append(Point(*[float(s) for s in line.rstrip().split(',')]))
path = interpolate_points(points)
# Set up displays and load the model.
print('Loading model...')
ex = Experiment(zoom=True)
ex.add_display()
ex.display.autoscale = True
ex.display.userspin = False
ex.display.forward = (0, 0, -1)
ex.display.up = (0, 1, 0)
ex.execute('loadmodel follow.yaml')
ex.execute('loadconfig')
# Compute the vision graph.
if os.path.exists('vgraph.pickle'):
print('Loading vision graph...')
vision_graph = pickle.load(open('vgraph.pickle', 'r'))
else:
try:
print('Computing vision graph...')
vision_graph = ex.model.coverage_hypergraph(ex.tasks['scene'], K=2)
with open('vgraph.pickle', 'w') as vgf:
type=int, default=100, help='interpolation pitch')
parser.add_argument('-t', '--threshold', dest='threshold', type=float,
default=0.0, help='hysteresis threshold')
parser.add_argument('pathfile', help='path waypoint file')
args = parser.parse_args()
# Load path waypoints.
print('Loading path waypoints...')
points = []
with open(args.pathfile, 'r') as pf:
for line in pf.readlines():
points.append(Point(*[float(s) for s in line.rstrip().split(',')]))
path = interpolate_points(points)
# Set up displays and load the model.
print('Loading model...')
ex = Experiment(zoom=True)
ex.add_display()
ex.display.autoscale = True
ex.display.userspin = False
ex.display.forward = (0, 0, -1)
ex.display.up = (0, 1, 0)
ex.execute('loadmodel follow.yaml')
ex.execute('loadconfig')
# Compute the vision graph.
if os.path.exists('vgraph.pickle'):
print('Loading vision graph...')
vision_graph = pickle.load(open('vgraph.pickle', 'r'))
else:
try:
print('Computing vision graph...')
vision_graph = ex.model.coverage_hypergraph(ex.tasks['scene'], K=2)
with open('vgraph.pickle', 'w') as vgf:
