上传文件至 /

config.py

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+import argparse
+
+
+
+parser = argparse.ArgumentParser()
+
+parser.add_argument('--acreage', type=int, default=100, help='Minimum wall area')
+parser.add_argument('--length', type=int, default=80, help='Minimum value of wall length in line detection')
+parser.add_argument('--k', type=int, default=45, help='door width')
+parser.add_argument('--m', type=int, default=200, help='wall length')
+parser.add_argument('--log-imgs', type=int, default=16, help='number of images for W&B logging, max 100')
+parser.add_argument('--workers', type=int, default=8, help='maximum number of dataloader workers')
+parser.add_argument('--distance', type=int, default=25, help='Minimum distance between wall endpoints')
+
+'''语义物体参数设置'''
+parser.add_argument('--min_samples_115', type=int, default=4, help='Minimum number of samples')
+parser.add_argument('--max_eps_115', type=int, default=4, help='Maximum cluster radius')
+parser.add_argument('--shape_115', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_115', type=int, default=1, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_116', type=int, default=10, help='Minimum number of samples')
+parser.add_argument('--max_eps_116', type=int, default=15, help='Maximum cluster radius')
+parser.add_argument('--shape_116', type=int, default=0, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_116', type=int, default=0, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_117', type=int, default=10, help='Minimum number of samples')
+parser.add_argument('--max_eps_117', type=int, default=15, help='Maximum cluster radius')
+parser.add_argument('--shape_117', type=int, default=0, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_117', type=int, default=0, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_118', type=int, default=16, help='Minimum number of samples')
+parser.add_argument('--max_eps_118', type=int, default=28, help='Maximum cluster radius')
+parser.add_argument('--shape_118', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_118', type=int, default=0, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_119', type=int, default=16, help='Minimum number of samples')
+parser.add_argument('--max_eps_119', type=int, default=28, help='Maximum cluster radius')
+parser.add_argument('--shape_119', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_119', type=int, default=0, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_120', type=int, default=16, help='Minimum number of samples')
+parser.add_argument('--max_eps_120', type=int, default=24, help='Maximum cluster radius')
+parser.add_argument('--shape_120', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_120', type=int, default=0, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_121', type=int, default=4, help='Minimum number of samples')
+parser.add_argument('--max_eps_121', type=int, default=15, help='Maximum cluster radius')
+parser.add_argument('--shape_121', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_121', type=int, default=0, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_150', type=int, default=8, help='Minimum number of samples')
+parser.add_argument('--max_eps_150', type=int, default=20, help='Maximum cluster radius')
+parser.add_argument('--shape_150', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_150', type=int, default=0, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_151', type=int, default=10, help='Minimum number of samples')
+parser.add_argument('--max_eps_151', type=int, default=28, help='Maximum cluster radius')
+parser.add_argument('--shape_151', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_151', type=int, default=0, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_152', type=int, default=10, help='Minimum number of samples')
+parser.add_argument('--max_eps_152', type=int, default=60, help='Maximum cluster radius')
+parser.add_argument('--shape_152', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_152', type=int, default=0, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_153', type=int, default=12, help='Minimum number of samples')
+parser.add_argument('--max_eps_153', type=int, default=10, help='Maximum cluster radius')
+parser.add_argument('--shape_153', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_153', type=int, default=0, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_154', type=int, default=4, help='Minimum number of samples')
+parser.add_argument('--max_eps_154', type=int, default=8, help='Maximum cluster radius')
+parser.add_argument('--shape_154', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_154', type=int, default=1, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_155', type=int, default=8, help='Minimum number of samples')
+parser.add_argument('--max_eps_155', type=int, default=40, help='Maximum cluster radius')
+parser.add_argument('--shape_155', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_155', type=int, default=0, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_156', type=int, default=4, help='Minimum number of samples')
+parser.add_argument('--max_eps_156', type=int, default=60, help='Maximum cluster radius')
+parser.add_argument('--shape_156', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_156', type=int, default=0, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_200', type=int, default=8, help='Minimum number of samples')
+parser.add_argument('--max_eps_200', type=int, default=6, help='Maximum cluster radius')
+parser.add_argument('--shape_200', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_200', type=int, default=1, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_201', type=int, default=4, help='Minimum number of samples')
+parser.add_argument('--max_eps_201', type=int, default=4, help='Maximum cluster radius')
+parser.add_argument('--shape_201', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_201', type=int, default=1, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_202', type=int, default=20, help='Minimum number of samples')
+parser.add_argument('--max_eps_202', type=int, default=60, help='Maximum cluster radius')
+parser.add_argument('--shape_202', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_202', type=int, default=0, help='0 means by outline, 1 means regular rectangle')
+
+
+parser.add_argument('--min_samples_203', type=int, default=2, help='Minimum number of samples')
+parser.add_argument('--max_eps_203', type=int, default=80, help='Maximum cluster radius')
+parser.add_argument('--shape_203', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_203', type=int, default=0, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_204', type=int, default=4, help='Minimum number of samples')
+parser.add_argument('--max_eps_204', type=int, default=60, help='Maximum cluster radius')
+parser.add_argument('--shape_204', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_204', type=int, default=0, help='0 means by outline, 1 means regular rectangle')
+
+
+parser.add_argument('--min_samples_205', type=int, default=2, help='Minimum number of samples')
+parser.add_argument('--max_eps_205', type=int, default=14, help='Maximum cluster radius')
+parser.add_argument('--shape_205', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_205', type=int, default=0, help='0 means by outline, 1 means regular rectangle')
+
+parser.add_argument('--min_samples_209', type=int, default=4, help='Minimum number of samples')
+parser.add_argument('--max_eps_209', type=int, default=4, help='Maximum cluster radius')
+parser.add_argument('--shape_209', type=int, default=1, help='Shape 0 is a circle, shape 1 is a rectangle')
+parser.add_argument('--size_209', type=int, default=1, help='0 means by outline, 1 means regular rectangle')
+
+
+opt = parser.parse_args()

map.cpp

@@ -0,0 +1,53 @@
+#include"ros/ros.h"
+#include "nav_msgs/OccupancyGrid.h"
+#include "std_msgs/String.h"
+#include <opencv2/opencv.hpp>
+#include <opencv2/highgui.hpp>
+#include <stdio.h>
+
+ 
+
+
+void callback(const nav_msgs::OccupancyGrid::ConstPtr& mapmsg)
+{
+   int height,width,k=0;
+   // cv::Mat map(2000,2000,CV_8UC1);
+   height = mapmsg->info.height;
+   width = mapmsg->info.width;
+   cv::Mat map(height,width,CV_8UC1);
+   std::vector<int> compression_params;
+   compression_params.push_back(cv::IMWRITE_PNG_COMPRESSION);
+   compression_params.push_back(0);   
+
+   for (int i = 0; i < height; i++)
+   {
+       for(int j = 0; j < width; j++)
+       {
+          map.at<uchar>(i,j) = mapmsg->data[k];
+          k++;
+       }
+       
+   }
+
+   cv::imshow("map",map);
+   if (cv::waitKey(1)==27)
+   {
+      cv::imwrite("map.png", map, compression_params);
+      exit(0);
+   }
+   
+}
+
+
+
+int main(int argc, char *argv[])
+{
+    //init_keyboard();
+    setlocale(LC_ALL,"");
+    ros::init(argc,argv,"listener_map");
+    ros::NodeHandle nh;
+    ros::Subscriber map_sub = nh.subscribe<nav_msgs::OccupancyGrid>("map",1,callback);
+    ros::spin();
+    return 0;
+
+}