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Works with simplified MapVisualizer API

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simondlevy
2019-01-12 23:08:39 -05:00
parent c5ac00142e
commit 0aadd46aaf
5 changed files with 19 additions and 49 deletions
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10
examples/logmovie.py
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@@ -111,7 +111,7 @@ def main():
else Deterministic_SLAM(MinesLaser(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
# Set up a SLAM display, named by dataset
display = MapVisualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, dataset)
viz = MapVisualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, dataset)
# Pose will be modified in our threaded code
pose = [0,0,0]
@@ -124,12 +124,8 @@ def main():
# Loop forever,displaying current map and pose
while True:
# Display map and robot pose
display.displayMap(mapbytes)
display.setPose(pose[0]/1000., pose[1]/1000., pose[2])
# Refresh the display, exiting gracefully if user closes it
if not display.refresh():
# Display map and robot pose, exiting gracefully if user closes it
if not viz.display(pose[0]/1000., pose[1]/1000., pose[2], mapbytes):
exit(0)
main()