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Replaced cvslamshow with pltslamshow

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This commit is contained in:
simondlevy
2016-10-14 17:36:35 -04:00
parent bb926bac95
commit 1a3307e4a6
1 changed files with 2 additions and 10 deletions
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12
examples/urgslam.py
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@@ -28,7 +28,7 @@ from breezyslam.components import URG04LX as LaserModel
from breezylidar import URG04LX as Lidar from breezylidar import URG04LX as Lidar
from cvslamshow import SlamShow from pltslamshow import SlamShow
if __name__ == '__main__': if __name__ == '__main__':
@@ -41,9 +41,6 @@ if __name__ == '__main__':
# Set up a SLAM display # Set up a SLAM display
display = SlamShow(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM') display = SlamShow(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
# Initialize an empty trajectory
trajectory = []
# Initialize empty map # Initialize empty map
mapbytes = bytearray(MAP_SIZE_PIXELS * MAP_SIZE_PIXELS) mapbytes = bytearray(MAP_SIZE_PIXELS * MAP_SIZE_PIXELS)
@@ -60,12 +57,7 @@ if __name__ == '__main__':
display.displayMap(mapbytes) display.displayMap(mapbytes)
display.displayRobot((x, y, theta)) display.setPose(x, y, theta)
trajectory.append((x,y))
# Display trajectory
display.displayTrajectory(trajectory)
# Exit on ESCape # Exit on ESCape
key = display.refresh() key = display.refresh()