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example_visibility.py
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example_visibility.py
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from __future__ import print_function
import CMap2D
import numpy as np
import matplotlib.pyplot as plt
from matplotlib.colors import ListedColormap
Greys_c10 = ListedColormap(plt.cm.Greys(np.mod(np.linspace(0., 10., 256), 1.)))
from timeit import default_timer as timer
from map2d import gridshow
cmap2d = CMap2D.CMap2D(".", "tests")
# ij = cmap2d.xy_to_ij(np.array([[0, 0]], dtype=np.float32))
ij = np.array([[63,63]])
cmap2d.set_resolution(1.)
plt.figure()
tic = timer()
vis = cmap2d.visibility_map([0, 0])
toc = timer()
print("Vis : {} ms".format((toc-tic)*1000))
gridshow(vis + 100*cmap2d.occupancy())
# #
plt.figure()
tic = timer()
vis = cmap2d.visibility_map([40, 30])
toc = timer()
print("Vis : {} ms".format((toc-tic)*1000))
gridshow(vis + 100*cmap2d.occupancy())
cmap2d = CMap2D.CMap2D()
cmap2d.set_resolution(1.)
angle_min = 0.0
angle_max = 6.28125524521
angle_increment = 0.00581718236208
ranges = np.array([25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 22.30762481689453, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 21.910537719726562, 25.0, 25.0, 25.0, 24.10514259338379, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 17.709718704223633, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 11.36464786529541, 11.213593482971191, 11.066872596740723, 10.924304962158203, 10.785724639892578, 10.650971412658691, 10.519895553588867, 10.539292335510254, 10.568999290466309, 10.599233627319336, 10.630002975463867, 10.661312103271484, 10.693170547485352, 10.725582122802734, 10.758556365966797, 10.792098999023438, 10.82621955871582, 10.860925674438477, 10.896224975585938, 10.932125091552734, 10.968634605407715, 19.50922966003418, 19.317476272583008, 19.13010025024414, 18.946956634521484, 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angles = np.arange(angle_min, angle_max, angle_increment, dtype=np.float32) + np.pi / 8.
assert len(angles) == len(ranges)
plt.figure()
tic = timer()
vis = cmap2d.lidar_visibility_map_ij([40, 40], angles, ranges)
toc = timer()
print("Lidar Vis : {} ms".format((toc-tic)*1000))
gridshow(vis)
plt.show()