def main(args): map_name = args["map"] map_size = args["map_size"] map_offset = args["map_offset"] map_resolution = args["map_resolution"] position_list_path = args["position_list"] number_sample = args["number_sample"] point_cloud_size = args["point_cloud_size"] rangefinder_noise = args["rangefinder_noise"] prefix = args["file_prefix"] dir_name = args["directory_name"] points = load_position_list(position_list_path, map_size=map_size, map_offset=map_offset) environment = load_svg_environment("./geometries/" + map_name + ".svg", map_size, map_offset) grid_map = GridMap(map_size, map_resolution) grid_map.load_environment(environment) scan_match_filter_evaluation.generate_map_data( grid_map=grid_map, environment=environment, map_name=map_name, sample_count=number_sample, cloud_size=point_cloud_size, points=points, prefix=prefix, dir_name=dir_name, rangefinder_noise=rangefinder_noise) store_param_list(args)
def evaluate(): # init params sensor_origin = (2, 2) #(5, 5)#(4, 4)#(4, 8) map_resolution = 0.1 cloud_size = 80 #25 #80 # 80 # 5 - 80 const map_size = 10 sample_count = 200 # end init environment = load_svg_environment("./geometries/" + DEFAULT_MAP + ".svg", map_size, 0.5) grid_map = GridMap(map_size, map_resolution) grid_map.load_environment(environment)