Removed all elements of OpenCV from file, removed the wait key function that allowed for graceful exit from OpenCV

Removed elements of OpenCV from files

examples/logdemo.py

@@ -102,7 +102,6 @@ def main():
 
         # Display map and robot pose
         display.displayMap(mapbytes)
-        display.displayRobot((x_mm, y_mm, theta_degrees))
 
         display.setPose(x_mm, y_mm, theta_degrees)   
 

examples/pltslamshow.py

@@ -46,12 +46,7 @@ SENSOR_NEGATIVE_COLOR_BGR       = (0,0,255)
 # Trajectory display params
 TRAJECTORY_COLOR_BGR            = (255, 0, 0)
 
-import cv
 import matplotlib.pyplot as plt
-
-# Arbitrary font for OpenCV
-FONT_FACE                       = cv.CV_FONT_HERSHEY_COMPLEX
-
 from math import sin, cos, radians
 
 class SlamShow(object):
@@ -66,19 +61,6 @@ class SlamShow(object):
         # Create a byte array to display the map with a color overlay
         self.bgrbytes = bytearray(map_size_pixels * map_size_pixels * 3)
         
-        # Create an empty OpenCV image to be filled with map bytes
-        self.image = cv.CreateImageHeader((map_size_pixels,map_size_pixels), cv.IPL_DEPTH_8U, 3)
-    
-        # Create an OpenCV window for displaying the map
-        cv.NamedWindow(window_name)
-        
-        # Set up font for displaying velocities
-        self.font = cv.InitFont(FONT_FACE, 1, 1)
-    
-        # Display initial empty image
-        cv.SetData(self.image, self.bgrbytes, self.map_size_pixels*3)
-        cv.ShowImage(self.window_name, self.image)
-
         # Make a nice big (10"x10") figure
         fig = plt.figure(figsize=(10,10))
 
@@ -101,7 +83,7 @@ class SlamShow(object):
 
         self.ax.grid(False)
 
-        #Starting vehicle at Center, 1600mm, 1600mm
+        #Starting vehicle at Center, 16000mm, 16000mm
         self._add_vehicle(16000,16000,0)
 
     def displayMap(self, mapbytes):
@@ -111,35 +93,7 @@ class SlamShow(object):
         self.bgrbytes[1::3] = mapbytes
         self.bgrbytes[2::3] = mapbytes
         
-        
-
         # Put color bytes into image
-        cv.SetData(self.image, self.bgrbytes, self.map_size_pixels*3)
-        
- 
-    def displayRobot(self, (x_mm, y_mm, theta_deg), color=ROBOT_COLOR_BGR, scale=1, line_thickness=1):
-
-        # Get a polyline (e.g. triangle) to represent the robot icon
-        robot_points = self.robot_polyline(scale)
-        
-        # Rotate the polyline by the current angle... would use rotate instead of this
-        robot_points = map(lambda pt: rotate(pt, theta_deg), robot_points)
-        
-        # Convert the robot position from meters to pixels
-        x_pix, y_pix = self.mm2pix(x_mm), self.mm2pix(y_mm)
-
-        # Move the polyline to the current robot position ... would use rotate instead of this?
-        robot_points = map(lambda pt: (x_pix+pt[0], y_pix+pt[1]), robot_points)
-       
-        # Add an icon for the robot
-        cv.PolyLine(self.image, [robot_points], True, color, line_thickness) 
-
-    def displayScan(self, scan, offset_mm = (0,0), color=SCANPOINT_COLOR_BGR):
-   
-       for point in scan:
-           cv.Circle(self.image, (self.mm2pix(point[0]+offset_mm[0]), self.mm2pix(point[1]+offset_mm[1])), \
-                     SCANPOINT_RADIUS, color)
-      
                
     def displayVelocities(self, dxy_mm, dtheta_deg):
         
@@ -153,12 +107,6 @@ class SlamShow(object):
             
             x1_mm, y1_mm = trajectory[k-1]
             x2_mm, y2_mm = trajectory[k]
-            
-            cv.Line(self.image, 
-                (self.mm2pix(x1_mm), self.mm2pix(y1_mm)), \
-                (self.mm2pix(x2_mm), self.mm2pix(y2_mm)), \
-                TRAJECTORY_COLOR_BGR)
-    
 
     def setPose(self, x_mm, y_mm, theta_deg):
         '''
@@ -167,7 +115,6 @@ class SlamShow(object):
         Y:      forward/back (cm)
         theta:  rotation (degrees)
         '''
-
         #remove old arrow
         self.vehicle.remove()
         
@@ -176,8 +123,8 @@ class SlamShow(object):
 
     def _add_vehicle(self, x_mm, y_mm, theta_deg):
 
-        #XXX Use a very short arrow shaft to orient the head of the arrow
+        #Use a very short arrow shaft to orient the head of the arrow
-        dx, dy = plt_rotate(0, 0, 1, theta_deg)
+        dx, dy = plt_rotate(0, 0, 0.1, theta_deg)
 
         self.vehicle=self.ax.arrow(x_mm, y_mm, dx, dy, head_width=ROBOT_WIDTH_MM, head_length=ROBOT_HEIGHT_MM, fc='r', ec='r')
 
@@ -193,72 +140,17 @@ class SlamShow(object):
 
         # Refresh display, setting flag on window close or keyboard interrupt
         try:
-            plt.pause(.01)
+            plt.pause(.0001)
+
+            return True
         except:
             return False
-
+    
-        # Display image
-        cv.ShowImage(self.window_name, self.image)
-
-        # Force image display, returning False if user hit ESC, True otherwise
-        key = cvdisplay()
-        return False if key==27 else True
-
-    def waitkey(self, action):
-        
-        print('Hit any key to %s ...' % action)
-        
-        key = -1
-        
-        while True:
-            
-            key = cvdisplay()
-            if key > -1:
-                break
-        
-        return key    
-        
-        
-    # Puts text in the image to label the velocity display
-    def show_velocity(self, value, valspan, label, y):
-        cv.PutText(self.image, label+':', (SENSOR_TEXT_X, y), self.font, SENSOR_LABEL_COLOR_BGR) 
-        bar_x1 = SENSOR_BAR_X + SENSOR_BAR_MAX_HEIGHT
-        bar_y1 = y + SENSOR_BAR_Y_OFFSET
-        bar_x2 = bar_x1 + int(value / valspan * SENSOR_BAR_MAX_HEIGHT)
-        bar_y2 = y - SENSOR_BAR_WIDTH + SENSOR_BAR_Y_OFFSET
-        bar_color = SENSOR_NEGATIVE_COLOR_BGR if value < 0 else SENSOR_POSITIVE_COLOR_BGR
-        cv.Rectangle(self.image, (bar_x1, bar_y1), (bar_x2, bar_y2), bar_color, cv.CV_FILLED) 
-
-
-    # Builds an array of points for a polyline representing the robot, pointing 
-    # rightward and centered at (0,0).
-    # Currently builds an isoceles triangle pointing rightward
-    def robot_polyline(self, scale):
-        
-        xlft = -ROBOT_HEIGHT / 2 * scale
-        xrgt =  ROBOT_HEIGHT / 2 * scale
-        ybot =  ROBOT_WIDTH / 2  * scale
-        ytop = -ROBOT_HEIGHT / 2 * scale
-        return [(xlft,ybot), (xrgt,0), (xlft,ytop)]
-
-
     # Converts millimeters to pixels
     def mm2pix(self, mm):
         return int(mm / float(self.map_scale_mm_per_pixel))
                 
 # Helpers -------------------------------------------------------------        
-        
-# Forces OpenCV image display, returning id of key it or -1 if none            
-def cvdisplay():
-    return cv.WaitKey(1)
-    
-# Rotates a point by a specified number of degrees
-def rotate(pt, deg):
-    rad = radians(deg)
-    c = cos(rad)
-    s = sin(rad)
-    x,y = pt  
-    return int(x*c - y*s), int(x*s + y*c)
 
 def plt_rotate(x, y, r, deg):
     rad = radians(deg)
@@ -266,6 +158,6 @@ def plt_rotate(x, y, r, deg):
     s = sin(rad)
     dx = r * c
     dy = r * s
-    
     return x+dx, y+dy 
-    
+   
+