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Remove unused variables and imports

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Ernő Horváth
2019-05-31 16:56:36 +02:00
parent affcc3f1fd
commit 5d6927a7d9
1 changed files with 0 additions and 3 deletions
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Mapping/lidar_to_grid_map/lidar_to_grid_map.py
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@@ -10,7 +10,6 @@ import math
import numpy as np
import cv2
import matplotlib.pyplot as plt
from math import cos, sin, radians, pi
EXTEND_AREA = 1.0
@@ -103,9 +102,7 @@ def generate_ray_casting_grid_map(ox, oy, xyreso, yawreso, breshen = True):
# occupancy grid computed with bresenham ray casting
if breshen:
for (x, y) in zip(ox, oy):
d = math.sqrt(x**2 + y**2)
angle = atan_zero_to_twopi(y, x)
angleid = int(math.floor(angle / yawreso))
ix = int(round((x - minx) / xyreso)) # x coordinte of the the occupied area
iy = int(round((y - miny) / xyreso)) # y coordinte of the the occupied area
laser_beams = bresenham((centix, centiy), (ix, iy)) # line form the lidar to the cooupied point