CoverageControl/python/tests/deprecated/testplot.py at main · KumarRobotics/CoverageControl · GitHub

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import numpy as np

import math

import pyCoverageControl # Main library

from pyCoverageControl import Point2 # for defining points

from pyCoverageControl import PointVector # for defining list of points

# We can visualize the map in python

import matplotlib.pylab as plt

import seaborn as sns

colormap = sns.color_palette("light:b", as_cmap=True)

def plot_map(map):

ax = sns.heatmap(map.transpose(), vmax=1, cmap=colormap, square=True)

ax.invert_yaxis()

nrow, ncol = map.shape

if(nrow > 50 and nrow < 500):

septicks = 5 ** (math.floor(math.log(nrow, 5)) - 1)

else:

septicks = 10 ** (math.floor(math.log(nrow, 10)) - 1)

plt.xticks(np.arange(0, nrow, septicks), np.arange(0, nrow, septicks))

plt.yticks(np.arange(0, ncol, septicks), np.arange(0, ncol, septicks))

plt.show()

################

## Parameters ##

################

# The parameters can be changed from python without needing to recompile.

# The parameters are given in config/parameters.yaml

# After changing the parameters, use the following function call to use the yaml file.

# Make sure the path of the file is correct

params_ = pyCoverageControl.Parameters('params/parameters.yaml')

############

## Point2 ##

############

# Point2 has two atrributes x and y

pt = Point2(0,0) # Needs two arguments for x and y

print(pt)

pt[0] = 5

pt[1] = 10

print(pt[0])

point_list = PointVector()

point_list.append(pt)

pt1 = Point2(512, 512)

point_list.append(pt1)

#################################

## BivariateNormalDistribution ##

#################################

from pyCoverageControl import BivariateNormalDistribution as BND # for defining bivariate normal distributions

dist1 = BND() # zero-mean, sigma = 1, circular

mean = Point2(512, 512)

sigma = 20

peak_val = 200

dist2 = BND(mean, sigma, peak_val) # circular gaussian

mean3 = Point2(900,100)

sigma_skewed = Point2(2, 3)

rho = 0.5

dist3 = BND(mean3, sigma_skewed, rho, peak_val) # general BND

##############

## WorldIDF ##

##############

from pyCoverageControl import WorldIDF # for defining world idf

world_idf = WorldIDF(params_)

world_idf.AddNormalDistribution(dist1); # Add a distribution to the idf

world_idf.AddNormalDistribution(dist2); # Add a distribution to the idf

# world_idf.AddNormalDistribution(dist3); # Add a distribution to the idf

print("Calling CUDA")

world_idf.GenerateMapCuda() # Generate map, use GenerateMap() for cpu version

world_idf.PrintMapSize()

# world_idf.WriteWorldMap("map.dat"); # Writes the matrix to the file. Map should have been generated before writing

map = world_idf.GetWorldMap(); # Get the world map as numpy nd-array. You can only "view", i.e., flags.writeable = False, flags.owndata = False

CoverageControl/python/tests/deprecated/testplot.py at main · KumarRobotics/CoverageControl · GitHub

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