import sys, time
sys.path.append('..')
from walldetectionlib import detect_room
import pylab as pl
from simulator.plotter import *
from simulator.points_generator import *
import roslib; roslib.load_manifest('controller'); import rospy
from utility import *
from simulator.evaluator import Evaluator
""" setup evaluator """
evaluator = Evaluator("wmm")
""" generate points """
points = generate_points(evaluator.sigma)
""" non-generated points """
#from simulator.points_dataset_... import points
#from outlierfilter import outlierfilterlib
#points = outlierfilterlib.filter_outliers(points)
""" pre-filtered points """
#from simulator.points_dataset_fish_robot_room import points
""" detect room """
#L = detect_room(points, do_preprocessing=False, numwalls=[4, 6, 8, 10], numcalculations=4, fancy_output=True)
#L = detect_room(points, do_preprocessing=False, numwalls=[4, 6], numcalculations=2, fancy_output=True)
L = detect_room(points, do_preprocessing=False, numwalls=[4], numcalculations=12, fancy_output=True)
#L = detect_room(points, do_preprocessing=False, numwalls=[4], numcalculations=1, fancy_output=True)
""" evaluate """
import sys, time
sys.path.append('..')
from walldetectionlib import detect_room
import pylab as pl
from simulator.plotter import *
from simulator.points_generator import *
import roslib
roslib.load_manifest('controller')
import rospy
from utility import *
from simulator.evaluator import Evaluator
""" setup evaluator """
evaluator = Evaluator("wmm")
""" generate points """
points = generate_points(evaluator.sigma)
""" non-generated points """
#from simulator.points_dataset_... import points
#from outlierfilter import outlierfilterlib
#points = outlierfilterlib.filter_outliers(points)
""" pre-filtered points """
#from simulator.points_dataset_fish_robot_room import points
""" detect room """
#L = detect_room(points, do_preprocessing=False, numwalls=[4, 6, 8, 10], numcalculations=4, fancy_output=True)
#L = detect_room(points, do_preprocessing=False, numwalls=[4, 6], numcalculations=2, fancy_output=True)
L = detect_room(points,
do_preprocessing=False,
numwalls=[4],
numcalculations=12,
fancy_output=True)
#L = detect_room(points, do_preprocessing=False, numwalls=[4], numcalculations=1, fancy_output=True)
""" evaluate """
import sys, subprocess, os, shlex
from scipy.io import loadmat, savemat
from pylab import *
sys.path.append("..")
from simulator.plotter import *
from simulator.points_generator import *
import hough
from simulator.evaluator import Evaluator
""" setup evaluator """
evaluator = Evaluator("hough", detected_walls="N/A")
""" generate points """
points = generate_points(evaluator.sigma)
""" non-generated points """
# sys.path.append('../..')
# from simulator.points_dataset_real2 import points
# from outlierfilter import outlierfilterlib
# points = outlierfilterlib.filter_outliers(points)
""" hough transform """
rhos, thetas, hgrid = hough.hough_transform(points, n_theta=460, n_rho=360)
# print " hough transform complete"
""" get lines from hough transform (matlab) """
MATLAB_HOUGH_FILE = "matlab_io/input_hough.mat"
MATLAB_PEAKS_FILE = "matlab_io/output_peaks.mat"
# check if matlab can be skipped
skip_matlab = False
import sys, subprocess, os, shlex
from scipy.io import loadmat, savemat
from pylab import *
sys.path.append('..')
from simulator.plotter import *
from simulator.points_generator import *
import hough
from simulator.evaluator import Evaluator
""" setup evaluator """
evaluator = Evaluator("hough", detected_walls="N/A")
""" generate points """
points = generate_points(evaluator.sigma)
""" non-generated points """
#sys.path.append('../..')
#from simulator.points_dataset_real2 import points
#from outlierfilter import outlierfilterlib
#points = outlierfilterlib.filter_outliers(points)
""" hough transform """
rhos, thetas, hgrid = hough.hough_transform(points, n_theta=460, n_rho=360)
#print " hough transform complete"
""" get lines from hough transform (matlab) """
MATLAB_HOUGH_FILE = 'matlab_io/input_hough.mat'
MATLAB_PEAKS_FILE = 'matlab_io/output_peaks.mat'
# check if matlab can be skipped
skip_matlab = False
if os.path.isfile(MATLAB_HOUGH_FILE):
data = loadmat(MATLAB_HOUGH_FILE)
if data['H'].shape == hgrid.T.shape and (data['H'] == hgrid.T).all():
skip_matlab = True
#if not skip_matlab:
if True:
