def f1(route_id):
matcher = 'rmse'
pre_proc = {'blur': True, 'shape': (180, 50)}
window = 14
dist = 100
w, x_inlimit, y_inlimit, world_grid_imgs, x_route, y_route, \
route_heading, route_images = load_route(route_id=route_id, grid_pos_limit=dist)
pre_world_grid_imgs = pre_process(world_grid_imgs, pre_proc)
pre_route_images = pre_process(route_images, pre_proc)
nav = spm.SequentialPerfectMemory(pre_route_images, matcher, window=window)
recovered_heading, window_log = nav.navigate(pre_world_grid_imgs)
print(mean_degree_error(x_inlimit, y_inlimit, x_route, y_route, route_heading, recovered_heading))
from source2 import pre_process, load_route, check_for_dir_and_create, plot_map
from source2 import seqnav as spm
directory = 'LoopRoutes/'
matcher = 'mae'
pre_proc = {'blur': True, 'shape': (180, 50)}
window = 11
figures_path = 'Figures/'
dist = 100
check_for_dir_and_create(figures_path)
w, x_inlimit, y_inlimit, world_grid_imgs, x_route, y_route, \
route_heading, route_images = load_route(route_id=1, grid_pos_limit=dist)
plot_map(w, [x_route, y_route], [x_inlimit, y_inlimit],
size=(15, 15),
route_headings=route_heading,
scale=40)
pre_world_grid_imgs = pre_process(world_grid_imgs, pre_proc)
pre_route_images = pre_process(route_images, pre_proc)
nav = spm.SequentialPerfectMemory(pre_route_images, matcher, window=window)
recovered_heading, window_log = nav.navigate(pre_world_grid_imgs)
# nav = pm.PerfectMemory(pre_route_images, matcher)
# recovered_heading = nav.navigate(pre_world_grid_imgs)
# print(mean_degree_error(x_inlimit, y_inlimit, x_route, y_route, route_heading, recovered_heading))
plot_map(w, [x_route, y_route], [x_inlimit, y_inlimit],
size=(15, 15),