def check_noise()

in simulation_ws/src/aws_robomaker_simulation_common/nodes/route_manager.py [0:0]

• 13 lines of code
• 4 McCabe index (conditional complexity)

    def check_noise(self, x, y, row_id=None):
        """
        Check if the point in the world is not a map consistency.

        - Low resolution/ noisy sensor data might lead to
            noisy patches in the map.
        - This function checks if the random valid point is not a noisy
            bleap on the map by looking for its neighbor consistency.

        Args
        ----
            x (int): in grid coordinates
            y (int): in grid coordinates

        Returns
        -------
            bool. False if noise, else True

        """
        # to make it depend on resolution
        delta_x = max(2, self.meta_data.width // 50)
        delta_y = max(2, self.meta_data.height // 50)

        l_bound, r_bound = max(
            0, x - delta_x), min(self.meta_data.width - 1, x + delta_x)
        t_bound, b_bound = max(
            0, y - delta_y), min(self.meta_data.height - 1, y + delta_y)

        for _x in range(l_bound, r_bound):
            for _y in range(t_bound, b_bound):
                _row_id = self.ravel_index(_x, _y)
                if self.occupancy_data.data[_row_id] != 0:
                    return False

        return True