def get_unknown_regions(self):
"""
:return: list of unknown regions
:type: [Region]
"""
cm = ClusterRegions()
cm.set_region_type(RegionType.unknown)
cm.set_field(self.field)
cm.group_regions()
self.unknown_regions = cm.get_result_regions()
return self.unknown_regions
def test5(self):
""" Split the following form into regions:
xxxx
x
x
xxxx
"""
print "test5"
test_field3 = self.make_free_map()
test_field3[0][5].set_unknown()
test_field3[0][6].set_unknown()
test_field3[0][7].set_unknown()
test_field3[0][8].set_unknown()
test_field3[1][5].set_unknown()
test_field3[2][5].set_unknown()
test_field3[3][5].set_unknown()
test_field3[3][6].set_unknown()
test_field3[3][7].set_unknown()
test_field3[3][8].set_unknown()
cm = ClusterRegions(True)
cm.set_field(test_field3)
cm.print_field()
cm.group_regions()
# cm.print_segmented_field()
c = cm.get_result_map()
# regions = cm.get_result_regions()
# print "Region count: " + str(len(regions))
# for r in regions:
# print r
# print "Distance of region to (0,0): " + str(r.euclidean_distance_to_avg(0,0))
# cubified_field = cm.cubify_regions()
# cm.print_2d_field(cubified_field)
regions_not_sorted = cm.split_and_cubify_regions()
# Check the cells of the splitted regions
regions = regions_not_sorted
self.assertEquals(len(regions), 3)
self.assertEquals(regions[0].cell_coords,
[[3, 5], [3, 6], [3, 7], [3, 8]])
self.assertEquals(regions[1].cell_coords,
[[0, 5], [0, 6], [0, 7], [0, 8]])
self.assertEquals(regions[2].cell_coords, [[1, 5], [2, 5]])
def get_unknown_regions(self):
"""
:return: list of unknown regions
:type: [Region]
"""
cm = ClusterRegions()
cm.set_region_type(RegionType.unknown)
cm.set_field(self.field)
cm.group_regions()
self.unknown_regions = cm.get_result_regions()
return self.unknown_regions
def test5(self):
""" Split the following form into regions:
xxxx
x
x
xxxx
"""
print "test5"
test_field3 = self.make_free_map()
test_field3[0][5].set_unknown()
test_field3[0][6].set_unknown()
test_field3[0][7].set_unknown()
test_field3[0][8].set_unknown()
test_field3[1][5].set_unknown()
test_field3[2][5].set_unknown()
test_field3[3][5].set_unknown()
test_field3[3][6].set_unknown()
test_field3[3][7].set_unknown()
test_field3[3][8].set_unknown()
cm = ClusterRegions(True)
cm.set_field(test_field3)
cm.print_field()
cm.group_regions()
# cm.print_segmented_field()
c = cm.get_result_map()
# regions = cm.get_result_regions()
# print "Region count: " + str(len(regions))
# for r in regions:
# print r
# print "Distance of region to (0,0): " + str(r.euclidean_distance_to_avg(0,0))
# cubified_field = cm.cubify_regions()
# cm.print_2d_field(cubified_field)
regions_not_sorted = cm.split_and_cubify_regions()
# Check the cells of the splitted regions
regions = regions_not_sorted
self.assertEquals(len(regions), 3)
self.assertEquals(regions[0].cell_coords, [[3,5],[3,6],[3,7],[3,8]])
self.assertEquals(regions[1].cell_coords, [[0,5],[0,6],[0,7],[0,8]])
self.assertEquals(regions[2].cell_coords, [[1,5],[2,5]])
def get_obstacle_regions(self):
"""
Searches for a list of obstacle regions with the same color. will only be calculated once.
:return: list of obstacle regions with the same color
:type: [Region]
"""
if len(self.obstacle_regions) == 0:
cm = ClusterRegions()
cm.set_field(self.field)
cm.set_region_type(RegionType.blue)
cm.group_regions()
cm.set_region_type(RegionType.green)
cm.group_regions()
cm.set_region_type(RegionType.red)
cm.group_regions()
cm.set_region_type(RegionType.cyan)
cm.group_regions()
cm.set_region_type(RegionType.yellow)
cm.group_regions()
cm.set_region_type(RegionType.magenta)
cm.group_regions()
cm.set_region_type(RegionType.undef)
cm.group_regions()
rospy.logdebug("Clustering results:")
rospy.logdebug(cm.print_segmented_field())
rospy.logdebug(cm.print_field())
self.obstacle_regions = cm.get_result_regions()
return self.obstacle_regions
# field[0][7].set_unknown()
field[0][8] = Cell()
field[0][8].set_unknown()
field[1][7] = Cell()
field[1][7].set_unknown()
field[2][6] = Cell()
field[2][6].set_unknown()
# field[1][8] = Cell()
# field[1][8].set_unknown()
# field[2][8] = Cell()
# field[2][8].set_unknown()
return field
cm = ClusterRegions()
cm.set_field(test_field4())
cm.print_field()
print "Returned regions: " + str(cm.group_regions())
print "Grouping done"
cm.print_segmented_field()
c = cm.get_result_map()
regions = cm.get_result_regions()
print "Region count: " + str(len(regions))
for r in regions:
print r
print "Distance of region to (0,0): " + str(r.euclidean_distance_to_avg(0,0))
cubified_field = cm.cubify_regions()
cm.print_2d_field(cubified_field)
field[0][8] = Cell()
field[0][8].set_unknown()
field[1][7] = Cell()
field[1][7].set_unknown()
field[2][6] = Cell()
field[2][6].set_unknown()
# field[1][8] = Cell()
# field[1][8].set_unknown()
# field[2][8] = Cell()
# field[2][8].set_unknown()
return field
cm = ClusterRegions()
cm.set_field(test_field4())
cm.print_field()
print "Returned regions: " + str(cm.group_regions())
print "Grouping done"
cm.print_segmented_field()
c = cm.get_result_map()
regions = cm.get_result_regions()
print "Region count: " + str(len(regions))
for r in regions:
print r
print "Distance of region to (0,0): " + str(
r.euclidean_distance_to_avg(0, 0))
cubified_field = cm.cubify_regions()
def test6(self):
test_field = self.make_free_map()
test_field[1][2].set_obstacle()
test_field[1][2].set_blue()
test_field[1][3].set_obstacle()
test_field[1][3].set_blue()
test_field[1][4].set_obstacle()
test_field[1][4].set_blue()
test_field[1][5].set_obstacle()
test_field[1][5].set_blue()
test_field[1][6].set_obstacle()
test_field[1][6].set_green()
test_field[2][2].set_obstacle()
test_field[2][2].set_blue()
test_field[2][3].set_obstacle()
test_field[2][3].set_green()
test_field[2][4].set_obstacle()
test_field[2][4].set_green()
test_field[2][5].set_obstacle()
test_field[2][5].set_green()
test_field[2][6].set_obstacle()
test_field[2][6].set_green()
cm = ClusterRegions(True)
cm.set_field(test_field)
cm.print_field()
cm.set_region_type(RegionType.blue)
cm.group_regions()
cm.set_region_type(RegionType.green)
cm.group_regions()
cm.set_region_type(RegionType.red)
cm.group_regions()
cm.set_region_type(RegionType.cyan)
cm.group_regions()
cm.set_region_type(RegionType.yellow)
cm.group_regions()
cm.set_region_type(RegionType.magenta)
cm.group_regions()
regions = cm.get_result_regions()
for r in regions:
print r.get_color_id()
muh = [[[1, 2], [2, 2], [1, 3], [1, 4], [1, 5]],
[[1, 6], [2, 6], [2, 5], [2, 4], [2, 3]]]
self.assertTrue(regions[0].cell_coords in muh)
self.assertTrue(regions[1].cell_coords in muh)
def test1(self):
""" Split the following form into regions:
xxx
x x
x x
"""
test_field3 = self.make_free_map()
test_field3[0][6].set_unknown()
test_field3[0][7].set_unknown()
test_field3[0][8].set_unknown()
test_field3[1][6].set_unknown()
test_field3[2][6].set_unknown()
test_field3[1][8].set_unknown()
test_field3[2][8].set_unknown()
cm = ClusterRegions()
cm.set_field(test_field3)
cm.print_field()
print "Returned regions: " + str(cm.group_regions())
print "Grouping done"
cm.print_segmented_field()
c = cm.get_result_map()
regions = cm.get_result_regions()
print "Region count: " + str(len(regions))
for r in regions:
print r
print "Distance of region to (0,0): " + str(
r.euclidean_distance_to_avg(0, 0))
cubified_field = cm.cubify_regions()
cm.print_2d_field(cubified_field)
regions_not_sorted = cm.split_and_cubify_regions()
# Check the cells of the splitted regions
regions = sorted(regions_not_sorted)
self.assertEquals(len(regions), 3)
muh = [[[0, 6], [0, 7], [0, 8]], [[1, 6], [2, 6]], [[1, 8], [2, 8]]]
self.assertTrue(regions[0].cell_coords in muh)
self.assertTrue(regions[1].cell_coords in muh)
self.assertTrue(regions[2].cell_coords in muh)
def test6(self):
test_field = self.make_free_map()
test_field[1][2].set_obstacle()
test_field[1][2].set_blue()
test_field[1][3].set_obstacle()
test_field[1][3].set_blue()
test_field[1][4].set_obstacle()
test_field[1][4].set_blue()
test_field[1][5].set_obstacle()
test_field[1][5].set_blue()
test_field[1][6].set_obstacle()
test_field[1][6].set_green()
test_field[2][2].set_obstacle()
test_field[2][2].set_blue()
test_field[2][3].set_obstacle()
test_field[2][3].set_green()
test_field[2][4].set_obstacle()
test_field[2][4].set_green()
test_field[2][5].set_obstacle()
test_field[2][5].set_green()
test_field[2][6].set_obstacle()
test_field[2][6].set_green()
cm = ClusterRegions(True)
cm.set_field(test_field)
cm.print_field()
cm.set_region_type(RegionType.blue)
cm.group_regions()
cm.set_region_type(RegionType.green)
cm.group_regions()
cm.set_region_type(RegionType.red)
cm.group_regions()
cm.set_region_type(RegionType.cyan)
cm.group_regions()
cm.set_region_type(RegionType.yellow)
cm.group_regions()
cm.set_region_type(RegionType.magenta)
cm.group_regions()
regions = cm.get_result_regions()
for r in regions:
print r.get_color_id()
muh = [[[1, 2], [2, 2], [1, 3], [1, 4], [1, 5]], [[1, 6], [2, 6], [2, 5], [2, 4], [2, 3]]]
self.assertTrue(regions[0].cell_coords in muh)
self.assertTrue(regions[1].cell_coords in muh)
def test1(self):
""" Split the following form into regions:
xxx
x x
x x
"""
test_field3 = self.make_free_map()
test_field3[0][6].set_unknown()
test_field3[0][7].set_unknown()
test_field3[0][8].set_unknown()
test_field3[1][6].set_unknown()
test_field3[2][6].set_unknown()
test_field3[1][8].set_unknown()
test_field3[2][8].set_unknown()
cm = ClusterRegions()
cm.set_field(test_field3)
cm.print_field()
print "Returned regions: " + str(cm.group_regions())
print "Grouping done"
cm.print_segmented_field()
c = cm.get_result_map()
regions = cm.get_result_regions()
print "Region count: " + str(len(regions))
for r in regions:
print r
print "Distance of region to (0,0): " + str(r.euclidean_distance_to_avg(0,0))
cubified_field = cm.cubify_regions()
cm.print_2d_field(cubified_field)
regions_not_sorted = cm.split_and_cubify_regions()
# Check the cells of the splitted regions
regions = sorted(regions_not_sorted)
self.assertEquals(len(regions), 3)
muh = [[[0,6],[0,7],[0,8]], [[1,6],[2,6]], [[1,8],[2,8]]]
self.assertTrue(regions[0].cell_coords in muh)
self.assertTrue(regions[1].cell_coords in muh)
self.assertTrue(regions[2].cell_coords in muh)
def get_obstacle_regions(self):
"""
Searches for a list of obstacle regions with the same color. will only be calculated once.
:return: list of obstacle regions with the same color
:type: [Region]
"""
if len(self.obstacle_regions) == 0:
cm = ClusterRegions()
cm.set_field(self.field)
cm.set_region_type(RegionType.blue)
cm.group_regions()
cm.set_region_type(RegionType.green)
cm.group_regions()
cm.set_region_type(RegionType.red)
cm.group_regions()
cm.set_region_type(RegionType.cyan)
cm.group_regions()
cm.set_region_type(RegionType.yellow)
cm.group_regions()
cm.set_region_type(RegionType.magenta)
cm.group_regions()
cm.set_region_type(RegionType.undef)
cm.group_regions()
rospy.logdebug("Clustering results:")
rospy.logdebug(cm.print_segmented_field())
rospy.logdebug(cm.print_field())
self.obstacle_regions = cm.get_result_regions()
return self.obstacle_regions
