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Displaying with OpenCV

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Dr. Simon Levy
2016-08-10 13:25:27 -04:00
parent fd5ccab8d1
commit 0f8d598b8d
1 changed files with 13 additions and 1 deletions
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14
examples/logdemo.py
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@@ -39,8 +39,8 @@ MAP_SIZE_PIXELS = 800
MAP_SIZE_METERS = 32 MAP_SIZE_METERS = 32
from breezyslam.algorithms import Deterministic_SLAM, RMHC_SLAM from breezyslam.algorithms import Deterministic_SLAM, RMHC_SLAM
from mines import MinesLaser, Rover, load_data from mines import MinesLaser, Rover, load_data
from cvslamshow import SlamShow
from sys import argv, exit from sys import argv, exit
@@ -73,6 +73,9 @@ def main():
# Create a byte array to receive the computed maps # Create a byte array to receive the computed maps
mapbytes = bytearray(MAP_SIZE_PIXELS * MAP_SIZE_PIXELS) mapbytes = bytearray(MAP_SIZE_PIXELS * MAP_SIZE_PIXELS)
# Set up a SLAM display
display = SlamShow(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
# Loop over scans # Loop over scans
for scanno in range(nscans): for scanno in range(nscans):
@@ -98,6 +101,15 @@ def main():
# Get current map # Get current map
slam.getmap(mapbytes) slam.getmap(mapbytes)
# Display map and robot pose
display.displayMap(mapbytes)
display.displayRobot((x_mm, y_mm, theta_degrees))
# Exit gracefully if user closes display
key = display.refresh()
if key != None and (key&0x1A):
exit(0)
# XXX Add delay for real-time plot # XXX Add delay for real-time plot