Restored OpenCV version

examples/logdemo.py

@@ -36,13 +36,14 @@ along with this code.  If not, see <http://www.gnu.org/licenses/>.
 
 # Map size, scale
 MAP_SIZE_PIXELS          = 800
-MAP_SIZE_METERS          =  32
+MAP_SIZE_METERS          = 32
 
 from breezyslam.algorithms import Deterministic_SLAM, RMHC_SLAM
 from mines import MinesLaser, Rover, load_data
 from pltslamshow import SlamShow
 
 from sys import argv, exit
+from time import time
 
 def main():
 	    
@@ -76,11 +77,12 @@ def main():
 
     # Set up a SLAM display
     display = SlamShow(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
+
+    start_time = time()
     
     # Loop over scans    
     for scanno in range(nscans):
    
-
         if use_odometry:
                   
             # Convert odometry to velocities
@@ -98,17 +100,20 @@ def main():
         x_mm, y_mm, theta_degrees = slam.getpos()    
 
         # Get new map
-        slam.getmap(mapbytes)
+        #slam.getmap(mapbytes)
 
         # Display map and robot pose
-        display.displayMap(mapbytes)
+        #display.displayMap(mapbytes)
 
-        display.setPose(x_mm, y_mm, theta_degrees)   
+        #display.setPose(x_mm, y_mm, theta_degrees)   
 
         # Exit gracefully if user closes display
         if not display.refresh():
             exit(0)
-        
+
+        curr_time = time()
+        print(curr_time - start_time)
+        start_time = curr_time
  
         # XXX Add delay for real-time plot