Benchmarking 2D-A* algorithms

benchmarks.py

import imageio
import numpy as np
import pyastar


def maze_to_grid(img):
    grid = img.astype(np.float32)
    grid[grid == 0] = np.inf
    grid[grid == 255] = 1

    return grid


def test_smooth_1000(benchmark):
    filepath = "/home/hendrik/work/astar-gridmap-2d/data/maze_1000_smooth.pgm"
    img = imageio.imread(filepath)
    grid = maze_to_grid(img)

    height, width = grid.shape[0:2]

    start = (0, width // 2)
    end = (height - 1, width // 2)

    benchmark(pyastar.astar_path, grid, start, end, True)


def test_large(benchmark):
    filepath = "/home/hendrik/work/astar-gridmap-2d/data/maze_large.pgm"
    img = imageio.imread(filepath)
    grid = maze_to_grid(img)

    height, width = grid.shape[0:2]

    start = (0, width // 2)
    end = (height - 1, width // 2)

    benchmark(pyastar.astar_path, grid, start, end, True)


def test_small(benchmark):
    filepath = "/home/hendrik/work/astar-gridmap-2d/data/maze_250.pgm"
    img = imageio.imread(filepath)
    grid = maze_to_grid(img)

    height, width = grid.shape[0:2]

    start = (0, width // 2)
    end = (height // 2, width // 2)

    benchmark(pyastar.astar_path, grid, start, end, True)