1 00:00:00,540 --> 00:00:06,140 Previously we developed the bot mapping module and now we need to be tested to see whether it is doing 2 00:00:06,150 --> 00:00:07,890 its job correctly or not. 3 00:00:08,730 --> 00:00:11,760 Now there are two ways to test out a specific module. 4 00:00:12,120 --> 00:00:17,130 One method is the method that we booked previously for testing out the localization module. 5 00:00:17,910 --> 00:00:23,970 That included running the simulation, then running the missile that has included that particular module 6 00:00:23,970 --> 00:00:24,840 that we want to test. 7 00:00:25,650 --> 00:00:30,960 This was fine for the localization module, but debugging the mapping module comes with a different 8 00:00:30,960 --> 00:00:31,860 set of problems. 9 00:00:32,520 --> 00:00:39,090 The problem is that we have a very large image which consist of hundreds of thousand pixels, and trying 10 00:00:39,090 --> 00:00:45,990 to debug mapping process in that large image would prove to be very tedious because mapping process 11 00:00:45,990 --> 00:00:51,600 includes finding the interest points that are just individual pixels and the connection and storing 12 00:00:51,600 --> 00:00:52,200 them in a graph. 13 00:00:52,530 --> 00:00:58,380 So individual pixels and the connection would be very hard to debug in a very large image. 14 00:00:58,920 --> 00:01:04,770 So instead what we would like to do is to go to our test mapping file where we have imported a very 15 00:01:04,770 --> 00:01:08,090 tiny image that is only of ten across ten bits. 16 00:01:08,730 --> 00:01:15,510 This gives us the luxury of easily debug a problem or debugging our mapping module if we somehow encounter 17 00:01:15,510 --> 00:01:21,120 a problem because we would know exactly what should have happened and what has happened and we would 18 00:01:21,270 --> 00:01:24,450 easily be able to correct that problem in our algorithm. 19 00:01:24,960 --> 00:01:31,380 So it does work correctly and we will be sure that this particular algorithm is scalable and it would 20 00:01:31,380 --> 00:01:35,380 indeed work correctly for our larger or older means. 21 00:01:36,180 --> 00:01:38,940 So let's go over to the test mapping file. 22 00:01:39,600 --> 00:01:44,910 So we go over to the test mapping file where we have imported the boat mapper and simply imported the 23 00:01:44,910 --> 00:01:49,920 tiny means that is often crossed in pixels and then pass it through that one pass algorithm. 24 00:01:50,460 --> 00:01:52,710 So we run it and as you can see. 25 00:01:53,690 --> 00:01:55,610 Our star name is has been important. 26 00:01:55,970 --> 00:02:01,760 So at the moment, you can see that it's a very simple maze and present space for we have encountered 27 00:02:02,330 --> 00:02:02,750 error. 28 00:02:03,170 --> 00:02:04,190 So what is this error? 29 00:02:04,280 --> 00:02:04,790 Let's look. 30 00:02:05,210 --> 00:02:10,520 It's an attribute error which says that the board mapper object has no attribute reset connection parameters. 31 00:02:10,820 --> 00:02:16,310 So basically, we are missing the definition of this function that was required to reset the state parameters 32 00:02:16,310 --> 00:02:21,200 that represent the state of each vertex connection to its neighbors. 33 00:02:21,470 --> 00:02:22,490 So we haven't defined it. 34 00:02:22,580 --> 00:02:28,100 So let's head over to the board mapping, where before we define the one pass algorithm, let's define 35 00:02:28,100 --> 00:02:30,680 this function and we have defined it right here. 36 00:02:30,860 --> 00:02:37,460 There is reset connection parameters and this basically gives or resets the connection or state parameters 37 00:02:37,460 --> 00:02:40,850 that represent the state of each vertex connection to its neighbors. 38 00:02:41,240 --> 00:02:43,070 So this is the resetting point. 39 00:02:43,190 --> 00:02:49,940 We set them all to false and pressing, say, save this file, and now we can simply rerun the test 40 00:02:49,940 --> 00:02:57,350 mapping file, rerunning it, reloading the maze resident space for loops we have encounter anywhere. 41 00:02:57,620 --> 00:02:59,510 And this time this is a name error. 42 00:02:59,510 --> 00:03:02,180 We'd say that the name neighbor case is not defined. 43 00:03:02,780 --> 00:03:06,590 And the problem here is that we may have misspelled or miss. 44 00:03:06,590 --> 00:03:11,480 Define this neighbour's case then that was basically used to define a case of a neighbor. 45 00:03:12,020 --> 00:03:14,540 So the problem is occurring in the line of connect. 46 00:03:14,540 --> 00:03:16,730 Neighbors function in our block mapping file. 47 00:03:16,790 --> 00:03:21,650 So let's head over there and see what's happening inside the Connect neighbors function. 48 00:03:22,100 --> 00:03:24,650 So in the line like 80, you can see. 49 00:03:26,110 --> 00:03:27,880 Here we have the neighbors neighbors case. 50 00:03:28,210 --> 00:03:30,310 So why is this giving us the name error? 51 00:03:31,180 --> 00:03:35,680 The problem here is that we may have mis defined this particular variable where we have defined it. 52 00:03:35,860 --> 00:03:37,420 So we have defined it right here. 53 00:03:37,720 --> 00:03:42,610 And as you can see, we have not written the correct spelling of the neighbors gate neighbor case. 54 00:03:42,910 --> 00:03:44,530 We have the date as neighbors. 55 00:03:44,780 --> 00:03:48,220 So as is extra, we remove that and save this. 56 00:03:48,520 --> 00:03:51,250 We head over to test mapping and read on the test mapping. 57 00:03:51,820 --> 00:03:57,580 And this time you would observe that once we lowered our means, we run the spacebar. 58 00:03:58,760 --> 00:04:05,040 And zooming to our main interest points, you will see that this interest points looks a lot different 59 00:04:05,080 --> 00:04:06,260 than what we saw before. 60 00:04:06,800 --> 00:04:12,650 The problem here is and all the sprinkler is that we are simply drawing the interest point ship groupers 61 00:04:12,650 --> 00:04:13,730 and those interest points. 62 00:04:14,060 --> 00:04:20,660 But those ships that were included in circles and triangles are of larger than a single pixel. 63 00:04:20,960 --> 00:04:25,850 So because this is a very tiny image, they prove to simply cover the whole image. 64 00:04:26,120 --> 00:04:29,780 So we need to turn them off to simply display our interest points. 65 00:04:30,260 --> 00:04:35,660 So we had to work with the boat mapper both to close this over to the boat mapper. 66 00:04:37,250 --> 00:04:43,490 Reset our our state variables that we're doing interest points to set them to default and debug mapping 67 00:04:43,490 --> 00:04:45,130 because we want to debug the mapping. 68 00:04:45,140 --> 00:04:49,820 So we said this to group and this time we run the test mapping again. 69 00:04:51,400 --> 00:04:52,720 Once our mates get loaded. 70 00:04:55,060 --> 00:04:57,730 We minimize this, said this always on top. 71 00:05:00,800 --> 00:05:02,990 Said This note is connected to always on top. 72 00:05:04,710 --> 00:05:06,480 And simply resize this. 73 00:05:08,420 --> 00:05:10,310 So that you understand what's happening. 74 00:05:11,840 --> 00:05:14,810 And then zoom this snow is connected to now. 75 00:05:15,140 --> 00:05:18,740 What's happening is that we are debugging the individual steps of the mapping. 76 00:05:19,010 --> 00:05:22,550 This involved finding the interest points and connecting them to the neighbors. 77 00:05:23,090 --> 00:05:25,430 So on the left hand side, you'll see the interest points. 78 00:05:25,430 --> 00:05:27,830 On the right hand side, you see the connection. 79 00:05:28,160 --> 00:05:32,900 So at the moment we have found the two interest points that included the start interest point and the 80 00:05:32,900 --> 00:05:33,800 second interest part. 81 00:05:34,250 --> 00:05:38,750 The START interest points does not get connected to any of its neighbors at the start. 82 00:05:39,020 --> 00:05:43,850 And the reason is that there's nothing above it that it needs to be connected to. 83 00:05:44,210 --> 00:05:50,930 So we look in the second interest point, and this will get connected because this includes a neighbor 84 00:05:50,930 --> 00:05:51,770 in its vicinity. 85 00:05:52,100 --> 00:05:58,070 And this light blue simply indicates that this is a three junction as it can get connected to above 86 00:05:58,070 --> 00:06:02,750 interest point or interest point and to its bottom left interest point. 87 00:06:03,230 --> 00:06:06,200 So let's see how this is get connected to this top interest point. 88 00:06:06,560 --> 00:06:11,150 So this move into Smart is getting connected to this orange interest point, which is basically the 89 00:06:11,150 --> 00:06:15,110 start of the maze and it is getting connected in the up direction. 90 00:06:15,260 --> 00:06:20,780 And this is indicated by the green color because we have set all of prediction interest points or abduction 91 00:06:20,780 --> 00:06:22,340 connection to green color. 92 00:06:22,580 --> 00:06:26,330 So this you can see the connection that is being made between these two vertices. 93 00:06:26,690 --> 00:06:31,760 So at the moment, if you look in the in the output that is being generated on this terminal, you can 94 00:06:31,760 --> 00:06:38,750 see that we have connected the 2404 interest point 4 to 4 is basically two rows and four columns representing 95 00:06:38,750 --> 00:06:45,260 the three junction and zero four is the zero row and four column interest point representing the maze 96 00:06:45,290 --> 00:06:47,000 entry or this orange and just point. 97 00:06:47,420 --> 00:06:52,790 So these two are being connected with case that we are stepping up with a value of two. 98 00:06:52,970 --> 00:06:57,830 So two pixel two is getting connected and this gives us a cost of two. 99 00:06:58,220 --> 00:07:01,370 So connecting these two interest points give us a cost of two. 100 00:07:01,580 --> 00:07:02,960 And because we are connecting up. 101 00:07:03,200 --> 00:07:06,440 So this is indicated by this display of up and this green color. 102 00:07:06,890 --> 00:07:12,100 So the same way we move to the next interest point and next connection, you will see that this purple 103 00:07:12,380 --> 00:07:17,300 interest point, which basically indicates a four junction, gets connected to the student on the left 104 00:07:17,300 --> 00:07:17,810 hand side. 105 00:07:18,050 --> 00:07:23,480 And because this connection is in the left hand side is indicated in the notes connected by a red color 106 00:07:23,810 --> 00:07:26,240 of this red color on this connection. 107 00:07:26,510 --> 00:07:35,280 And if you look in the output, you can see that we have connected a333 column, 0.23 column or 3 to 108 00:07:35,280 --> 00:07:37,670 1 column interest point, which is basically this. 109 00:07:37,670 --> 00:07:41,600 DURDEN And this is being connected by moving two steps to the left. 110 00:07:42,290 --> 00:07:48,170 So basically from four junction, we move one step and two step to connect this to the state end. 111 00:07:48,560 --> 00:07:50,360 And this has a cost of two. 112 00:07:50,540 --> 00:07:55,400 And because we were connecting the left direction, this is basically being printed in the terminal 113 00:07:55,430 --> 00:07:57,620 that is connected to the left. 114 00:07:57,920 --> 00:08:01,550 And this red color also indicates that there's a connection. 115 00:08:02,120 --> 00:08:07,350 And then moving further, you will see that because this was purple indicated a four junction. 116 00:08:07,400 --> 00:08:10,550 So this will basically get connected to four of its neighbors. 117 00:08:11,000 --> 00:08:16,190 So this is first it gets connected to this debt and then it will get connected to the three junction, 118 00:08:16,190 --> 00:08:17,300 which is this light blue color. 119 00:08:18,550 --> 00:08:20,770 And as you can see, this is connected to this. 120 00:08:21,040 --> 00:08:22,270 Then it will get connected to it. 121 00:08:22,270 --> 00:08:22,570 Right. 122 00:08:24,220 --> 00:08:25,390 This is indicated by this. 123 00:08:26,260 --> 00:08:28,510 And then it will get connected to its bottom. 124 00:08:28,510 --> 00:08:28,930 Right. 125 00:08:29,140 --> 00:08:30,550 So right now. 126 00:08:31,060 --> 00:08:36,880 So it is you can see this purple interest point gets connected to four of its neighbors and just forms. 127 00:08:37,630 --> 00:08:42,470 And then moving further, you will see that we have encountered a turn which is indicated by this large, 128 00:08:42,580 --> 00:08:43,450 dark blue color. 129 00:08:43,810 --> 00:08:48,850 So as tunes are basically any interest points that have to pass to the vicinity. 130 00:08:49,150 --> 00:08:51,820 So one path is up to it and one path to its right. 131 00:08:52,030 --> 00:08:56,110 So it will first get connected to its up interest point, which is this slight blue color, which is 132 00:08:56,110 --> 00:09:01,720 a three junction and this is indicated by this green color and then it will get connected to its interest 133 00:09:01,720 --> 00:09:03,070 point, which is a full junction. 134 00:09:03,580 --> 00:09:09,340 So in this way, we can be sure that our mapping process is indeed working correctly for this time. 135 00:09:10,150 --> 00:09:15,760 And as it can see, once we get to the end, you will see that our interest points that we are from 136 00:09:16,120 --> 00:09:18,850 this particular maze are basically two tones. 137 00:09:20,480 --> 00:09:23,390 Five three junction and two for junction. 138 00:09:23,570 --> 00:09:24,590 So 252. 139 00:09:24,830 --> 00:09:31,760 Only the nine interest points were necessary to represent this me is 500 pixels that was represented 140 00:09:31,910 --> 00:09:33,170 in 100 pixels image. 141 00:09:33,710 --> 00:09:40,700 So this is how we see our memory and also the processing time and simply get the same results of finding 142 00:09:40,700 --> 00:09:42,830 or mapping our whole mess. 143 00:09:43,460 --> 00:09:49,670 Now we can head over to our larger image that is our original maze and see whether it does the same 144 00:09:49,670 --> 00:09:50,450 job there. 145 00:09:50,870 --> 00:09:56,750 So for that, we head over to the board mapping and we first need to reset these state variables. 146 00:09:56,750 --> 00:10:01,610 The first is that we want to draw the interest point because in the larger maze we could not easily 147 00:10:01,610 --> 00:10:03,590 see the colors of the individual pixel. 148 00:10:03,890 --> 00:10:08,240 So we need to draw them by representing them in the form of shapes around those pixels. 149 00:10:08,540 --> 00:10:15,140 So basically a circle represents a basically ordered and grinding represents a three junction in that 150 00:10:15,140 --> 00:10:15,440 case. 151 00:10:15,800 --> 00:10:21,110 And because we don't want to debug mapping anymore in the larger context, because there it would just 152 00:10:21,110 --> 00:10:24,200 take a lot of time because there are 100,000 pixels. 153 00:10:24,290 --> 00:10:25,460 So we set this to false. 154 00:10:25,880 --> 00:10:28,010 Now we have already started the simulation. 155 00:10:28,010 --> 00:10:35,270 We head over to our terminal, open the new terminal, build this again and then run this. 156 00:10:35,840 --> 00:10:40,320 And this time you will see once we get the output of the localising stage, which is basically the middle 157 00:10:40,370 --> 00:10:47,090 occupancy grid, and then we can now move testing our mapping and this runs for a few seconds and then 158 00:10:47,600 --> 00:10:52,760 it's displays as the interest point that is found and the connection between those interests point. 159 00:10:53,120 --> 00:10:57,290 So you can easily see on the left hand side we have found the interest points which are basically the 160 00:10:57,290 --> 00:11:01,910 subject color indicating the end and junction or dead end because there's no path. 161 00:11:02,150 --> 00:11:06,830 And then going back and this time that represents the three junction and square represents the four 162 00:11:06,830 --> 00:11:07,310 junction. 163 00:11:07,880 --> 00:11:13,190 And on the right hand side, you can see the connection part of the mapping module working correctly 164 00:11:13,460 --> 00:11:20,480 because this green line simply represents an upper connection of a node or interest point to its neighbor. 165 00:11:20,780 --> 00:11:26,600 So as you can see, this large green line or very long green line simply indicates that this interest 166 00:11:26,600 --> 00:11:32,900 point that was built below this below this green line and the stop of this green line has been connected 167 00:11:33,200 --> 00:11:36,740 by simply this two ingress points and the connection between them. 168 00:11:36,980 --> 00:11:40,070 So all of these extra pixels were simply redundant. 169 00:11:40,310 --> 00:11:46,910 And we have saved this information and save and save a lot of processing power so that our algorithm 170 00:11:46,910 --> 00:11:49,520 works a lot faster and simpler, easier. 171 00:11:50,030 --> 00:11:56,600 So this proves that our mapping module is indeed working correctly, and now we can move on to attempting 172 00:11:56,600 --> 00:11:57,860 the path planning algorithm. 173 00:11:58,370 --> 00:11:58,970 Till then. 174 00:11:59,240 --> 00:11:59,780 Thank you. 175 00:11:59,990 --> 00:12:00,590 And by.