def generateDataPoint1(nP, resampleRate, numIterations, headless):
ret = []
m = Map(imagePath, scale=100, sampleResolution=26)
d = Drone(m)
pf = ParticleFilter(m, d, numParticles=nP, resampleRate=resampleRate)
pf.calculateLikelihood()
for i in range(numIterations):
dp = d.generateRandomMovementVector_map()
d.move(dp)
pf.fullUpdate(dp)
# ret.append(pf.averageParticleDistance(d.pos))
ret.append(pf.numParticlesClusteredAroundGroundTruth(d.pos))
if not headless:
m.clearImage()
pf.drawParticles()
util.drawCircle(m.image, m.positionToPixel(d.pos))
m.show()
key = cv.waitKey(0)
return ret
