91 lines
2.3 KiB
Python
91 lines
2.3 KiB
Python
# !/usr/bin/env python3
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# -*- encoding: utf-8 -*-
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import matplotlib.pyplot as plt
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import numpy as np
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import pickle
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import os
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from scipy.ndimage import binary_dilation
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from scene import scene
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def draw_grid_map(grid_map):
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# 生成新的地图图像
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plt.imshow(grid_map, cmap='binary', alpha=0.5, origin='lower') # 黑白网格
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# 绘制坐标轴
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plt.xlabel('y', loc='right')
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plt.ylabel('x', loc='top')
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# 显示网格线
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plt.grid(color='black', linestyle='-', linewidth=0.5)
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# 显示图像
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plt.show()
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#plt.pause(0.01)
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def discretize_map(scene, scale_ratio):
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X = int(950 / scale_ratio) # 采点数量
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Y = int(1850 / scale_ratio)
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map = np.zeros((X, Y))
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for x in range(X):
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for y in range(Y):
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if not scene.reachable_check(x * scale_ratio - 350, y * scale_ratio - 400, Yaw=0):
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map[x, y] = 1
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print(x, y)
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file_name = 'map_'+str(scale_ratio)+'.pkl'
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if not os.path.exists(file_name):
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open(file_name, 'w').close()
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with open(file_name, 'wb') as file:
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pickle.dump(map, file)
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print('保存成功')
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def expand_obstacles(scale_ratio, expand_range=1):
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'''
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障碍物边沿扩展
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TODO: 扩展后的地图不可用！！！
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'''
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file_name = 'map_'+str(scale_ratio)+'.pkl'
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dilated_file_name = 'map_'+str(scale_ratio)+'_e'+str(expand_range)+'.pkl'
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if os.path.exists(file_name):
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with open(file_name, 'rb') as file:
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map = pickle.load(file)
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dilated_map = binary_dilation(map, iterations=expand_range)
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if not os.path.exists(dilated_file_name):
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open(dilated_file_name, 'w').close()
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with open(dilated_file_name, 'wb') as file:
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pickle.dump(dilated_map, file)
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print('保存成功')
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def show_map(file_name):
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if os.path.exists(file_name):
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with open(file_name, 'rb') as file:
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map = pickle.load(file)
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draw_grid_map(map)
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if __name__ == '__main__':
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# scene.init_world(scene_num=1, mapID=11)
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# scene = scene.Scene(sceneID=0)
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#
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# # 离散化地图
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# discretize_map(scene, scale_ratio=4)
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# # 扩张构型空间
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# expand_obstacles(scale_ratio=3, expand_range=1)
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# 展示离散化地图
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file_name = 'costMap_4.pkl'
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show_map(file_name)
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