fixup! Add debug tool to follow_wall_angle.

osgar/lib/drawscan.py

@@ -0,0 +1,42 @@
+import cv2
+import numpy as np
+import math
+import osgar.explore
+
+NO_MEASUREMENT = 0
+MAX_OBSTACLE_DISTANCE = 20
+
+
+def draw_scan(scan, max_obstacle_distance=None, scan_left=135, scan_right=-135):
+    if max_obstacle_distance is None:
+        max_obstacle_distance = MAX_OBSTACLE_DISTANCE
+    n = len(scan)
+    scan = np.asarray(scan) / 1000
+
+    angles = np.linspace(math.radians(scan_right), math.radians(scan_left), n).reshape((1, -1))
+    angles_cos = np.cos(angles)
+    angles_sin = np.sin(angles)
+    is_valid = scan != NO_MEASUREMENT
+    valid_scan = scan[is_valid]
+    is_valid = is_valid.reshape((1, -1))
+    acoss = angles_cos[is_valid]
+    asins = angles_sin[is_valid]
+    x = acoss * valid_scan
+    y = asins * valid_scan
+    far_map = valid_scan > max_obstacle_distance
+
+    height_px = 768
+    width_px = 1024
+    img = np.zeros((height_px, width_px, 3), dtype=np.uint8)
+
+    scale = 50
+    for ix, iy, is_far in zip(x, y, far_map):
+        point = (width_px//2 - int(iy*scale), height_px//2 - int(ix*scale))
+        color = (0, 255, 0) if not is_far else (120, 120, 120)
+        cv2.circle(img, point, radius=3, color=color, thickness=-1)
+
+    point = (width_px//2, height_px//2)
+    point2 = (width_px//2, height_px//2-20)
+    cv2.drawMarker(img, point, color=(0, 0, 255), markerType=cv2.MARKER_DIAMOND, thickness=3, markerSize=10)
+    cv2.line(img, point, point2, thickness=3, color=(0, 0, 255))
+    return img