Speedup

examples/logdemoplt.py

@@ -46,7 +46,7 @@ from sys import argv, exit
 from time import time, sleep
 from threading import Thread
 
-def threadfunc(robot, slam, lidars, odometries, use_odometry, mapbytes, pose):
+def threadfunc(display, robot, slam, lidars, odometries, use_odometry, mapbytes, pose):
 
     # Loop over scans    
     for scanno in range(len(lidars)):
@@ -70,8 +70,8 @@ def threadfunc(robot, slam, lidars, odometries, use_odometry, mapbytes, pose):
         # Get new map
         slam.getmap(mapbytes)
 
-        # XXX Add delay for real-time plot
+        # Add delay to yield to main thread
-        sleep(.1)
+        sleep(0.01)
 
         print(scanno)
     
@@ -100,9 +100,6 @@ def main():
            if seed \
            else Deterministic_SLAM(MinesLaser(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
            
-    # Report what we're doing
-    nscans = len(lidars)
-    
     # Create a byte array to receive the computed maps
     mapbytes = bytearray(MAP_SIZE_PIXELS * MAP_SIZE_PIXELS)
 
@@ -114,7 +111,7 @@ def main():
     pose = [0,0,0]
 
     # Launch the data-collection / update thread
-    thread = Thread(target=threadfunc, args=(robot, slam, lidars, odometries, use_odometry, mapbytes, pose))
+    thread = Thread(target=threadfunc, args=(display, robot, slam, lidars, odometries, use_odometry, mapbytes, pose))
     thread.daemon = True
     thread.start()
     
@@ -132,8 +129,6 @@ def main():
         print(curr_time - start_time)
         start_time = curr_time
 
-        sleep(.01)
-
            
 # Helpers ---------------------------------------------------------        
 

examples/pltslamshow.py

@@ -47,6 +47,7 @@ SENSOR_NEGATIVE_COLOR_BGR       = (0,0,255)
 TRAJECTORY_COLOR_BGR            = (255, 0, 0)
 
 import matplotlib.pyplot as plt
+import matplotlib.cm as colormap
 from math import sin, cos, radians
 import numpy as np
 
@@ -76,6 +77,8 @@ class SlamShow(object):
 
         map_size_mm = map_scale_mm_per_pixel * map_size_pixels
  
+        self.img_artist = None
+
         #self.ax.set_xlim([0, map_size_mm])
         #self.ax.set_ylim([0, map_size_mm])
 
@@ -87,20 +90,21 @@ class SlamShow(object):
 
         self.ax.grid(False)
 
-        #Starting vehicle at Center, 16000mm, 16000mm
+        # Start vehicle at Center
-        self._add_vehicle(16000,16000,0)
+        map_center_mm = map_scale_mm_per_pixel * map_size_pixels
+        self._add_vehicle(map_center_mm,map_center_mm,0)
 
     def displayMap(self, mapbytes):
 
         mapimg = np.reshape(np.frombuffer(mapbytes, dtype=np.uint8), (self.map_size_pixels, self.map_size_pixels))
 
-        plt.imshow(mapimg)
+        if self.img_artist is None:
-        plt.set_cmap('gray')
 
-        # Interleave the grayscale map bytes into the color bytes
+            self.img_artist = self.ax.imshow(mapimg, cmap=colormap.gray)
-        self.bgrbytes[0::3] = mapbytes
+
-        self.bgrbytes[1::3] = mapbytes
+        else:
-        self.bgrbytes[2::3] = mapbytes
+
+            self.img_artist.set_data(mapimg)
 
     def setPose(self, x_mm, y_mm, theta_deg):
         '''