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)
