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demo_localization.py
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demo_localization.py
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import numpy as np
from localization import particle_filter
from localization import viz
from navigation.parameters import *
from sensors.parameters import *
# log_file = "1613307394.txt"
log_file = "1613900096.txt"
DRAW = True
SAVE = False
START = 0
def read_data(filename):
with open(filename) as file:
data = np.loadtxt(file)
return data
def main():
log_filename = "./data/logs/" + log_file
data = read_data(log_filename)
start_time = int(data[START][0])
start_x = data[START][3] / 100 + 0.1425
start_y = data[START][4] / 100 + 0.09
start_o = 0.0
pf = particle_filter.ParticleFilter(x=start_x, y=start_y, o=start_o)
# viz.draw("Start", pf.particles, pf.i, save=SAVE, draw=DRAW)
# for steering, measurement in zip(steerings, measurements):
for i, line in enumerate(data[START:]):
steering = line[5]
sensor_data = [line[0], line[1:5]]
best_index = pf.run(
steering,
sensor_data,
sensor_poses,
VELOCITY,
TURN_RATE)
if not best_index:
continue
bp = pf.particles[best_index]
if not bp:
continue
title = "t=%d x=%.2f y=%.2f o=%.2f" % (i, bp.x, bp.y, bp.o)
print(title)
viz.draw(
title,
pf.particles,
i,
best_index=best_index,
save=SAVE,
draw=DRAW,
)
pf.resample()
pf.show(best_index)
# pf.particles[best_index].print()
main()