diff --git a/README.md b/README.md
index 424b352..d2bd4f5 100644
--- a/README.md
+++ b/README.md
@@ -83,8 +83,8 @@ map and robot trajctory for the Lidar scan and odometry data in the log file
you can also try the log2png.py script to generate a
a PNG file instead.
-If you have installed Matplotlib, you can see a “live” animation
-by doing
+If you have installed [PyRoboViz]()https://github.com/simondlevy/PyRoboViz),
+you can see a “live” animation by doing
make movie
diff --git a/examples/logmovie.py b/examples/logmovie.py
index d6f7c77..577b4b1 100755
--- a/examples/logmovie.py
+++ b/examples/logmovie.py
@@ -40,7 +40,7 @@ MAP_SIZE_METERS = 32
from breezyslam.algorithms import Deterministic_SLAM, RMHC_SLAM
from mines import MinesLaser, Rover, load_data
-from pltslamshow import SlamShow
+from roboviz import Visualizer
from sys import argv, exit
from time import sleep
@@ -112,7 +112,7 @@ def main():
else Deterministic_SLAM(MinesLaser(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
# Set up a SLAM display, named by dataset
- display = SlamShow(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, dataset)
+ display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, dataset)
# Pose will be modified in our threaded code
pose = [0,0,0]
diff --git a/examples/pltslamshow.py b/examples/pltslamshow.py
deleted file mode 100644
index 5905df3..0000000
--- a/examples/pltslamshow.py
+++ /dev/null
@@ -1,150 +0,0 @@
-'''
-pltslamshow.py - Pyplot classes for displaying maps and robots in SLAM projects
-
-Copyright (C) 2016 Simon D. Levy, Matt Lubas, and Alfredo Rwagaju
-
-This code is free software: you can redistribute it and/or modify
-it under the terms of the GNU Lesser General Public License as
-published by the Free Software Foundation, either version 3 of the
-License, or (at your option) any later version.
-
-This code is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU Lesser General Public License
-along with this code. If not, see .
-'''
-
-# Robot display params
-ROBOT_HEIGHT_MM = 500
-ROBOT_WIDTH_MM = 300
-
-# This helps with Raspberry Pi
-import matplotlib
-matplotlib.use('TkAgg')
-
-import matplotlib.pyplot as plt
-import matplotlib.cm as colormap
-from math import sin, cos, radians
-import numpy as np
-from time import sleep
-
-class SlamShow(object):
-
- def __init__(self, map_size_pixels, map_scale_mm_per_pixel, title):
-
- # Store constants for update
- self.map_size_pixels = map_size_pixels
- self.map_scale_mm_per_pixel = map_scale_mm_per_pixel
-
- # Create a byte array to display the map with a color overlay
- self.bgrbytes = bytearray(map_size_pixels * map_size_pixels * 3)
-
- # Make a nice big (10"x10") figure
- fig = plt.figure(figsize=(10,10))
-
- # Store Python ID of figure to detect window close
- self.figid = id(fig)
-
- fig.canvas.set_window_title('SLAM')
- plt.title(title)
-
- self.ax = fig.gca()
- self.ax.set_aspect("auto")
- self.ax.set_autoscale_on(True)
-
- # Use an "artist" to speed up map drawing
- self.img_artist = None
-
- # We base the axis on pixels, to support displaying the map
- self.ax.set_xlim([0, map_size_pixels])
- self.ax.set_ylim([0, map_size_pixels])
-
- # Hence we must relabel the axis ticks to show millimeters
- ticks = np.arange(0,self.map_size_pixels+100,100)
- labels = [str(self.map_scale_mm_per_pixel * tick) for tick in ticks]
- self.ax.xaxis.set_ticks(ticks)
- self.ax.set_xticklabels(labels)
- self.ax.yaxis.set_ticks(ticks)
- self.ax.set_yticklabels(labels)
-
- self.ax.set_xlabel('X (mm)')
- self.ax.set_ylabel('Y (mm)')
-
- self.ax.grid(False)
-
- # Start vehicle at center
- 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))
-
- # Pause to allow display to refresh
- sleep(.001)
-
- if self.img_artist is None:
-
- self.img_artist = self.ax.imshow(mapimg, cmap=colormap.gray)
-
- else:
-
- self.img_artist.set_data(mapimg)
-
- def setPose(self, x_mm, y_mm, theta_deg):
- '''
- Sets vehicle pose:
- X: left/right (cm)
- Y: forward/back (cm)
- theta: rotation (degrees)
- '''
- #remove old arrow
- self.vehicle.remove()
-
- #create a new arrow
- self._add_vehicle(x_mm, y_mm, theta_deg)
-
- def _add_vehicle(self, x_mm, y_mm, theta_deg):
-
- #Use a very short arrow shaft to orient the head of the arrow
- dx, dy = plt_rotate(0, 0, 0.1, theta_deg)
-
- s = self.map_scale_mm_per_pixel
-
- self.vehicle=self.ax.arrow(x_mm/s, y_mm/s,
- dx, dy, head_width=ROBOT_WIDTH_MM/s, head_length=ROBOT_HEIGHT_MM/s, fc='r', ec='r')
-
- def refresh(self):
-
- # If we have a new figure, something went wrong (closing figure failed)
- if self.figid != id(plt.gcf()):
- return False
-
- # Redraw current objects without blocking
- plt.draw()
-
- # Refresh display, setting flag on window close or keyboard interrupt
- try:
- plt.pause(.01) # Arbitrary pause to force redraw
- return True
- except:
- return False
-
- return True
-
- # Converts millimeters to pixels
- def mm2pix(self, mm):
- return int(mm / float(self.map_scale_mm_per_pixel))
-
-# Helpers -------------------------------------------------------------
-
-def plt_rotate(x, y, r, deg):
- rad = radians(deg)
- c = cos(rad)
- s = sin(rad)
- dx = r * c
- dy = r * s
- return x+dx, y+dy
diff --git a/examples/rpslam.py b/examples/rpslam.py
index ca831b8..cc096a1 100755
--- a/examples/rpslam.py
+++ b/examples/rpslam.py
@@ -32,7 +32,7 @@ MIN_SAMPLES = 200
from breezyslam.algorithms import RMHC_SLAM
from breezyslam.sensors import RPLidarA1 as LaserModel
from rplidar import RPLidar as Lidar
-from pltslamshow import SlamShow
+from roboviz import Visualizer
if __name__ == '__main__':
@@ -43,7 +43,7 @@ if __name__ == '__main__':
slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
# Set up a SLAM display
- display = SlamShow(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
+ display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
# Initialize an empty trajectory
trajectory = []
diff --git a/examples/rpslam_scipy.py b/examples/rpslam_scipy.py
index 663aa2e..5eea4ce 100755
--- a/examples/rpslam_scipy.py
+++ b/examples/rpslam_scipy.py
@@ -33,7 +33,7 @@ from breezyslam.sensors import RPLidarA1 as LaserModel
from rplidar import RPLidar as Lidar
-from pltslamshow import SlamShow
+from roboviz import Visualizer
from scipy.interpolate import interp1d
import numpy as np
@@ -47,7 +47,7 @@ if __name__ == '__main__':
slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
# Set up a SLAM display
- display = SlamShow(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
+ display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
# Initialize an empty trajectory
trajectory = []
diff --git a/examples/urgslam.py b/examples/urgslam.py
index be8236c..fe02410 100755
--- a/examples/urgslam.py
+++ b/examples/urgslam.py
@@ -28,7 +28,7 @@ from breezyslam.sensors import URG04LX as LaserModel
from breezylidar import URG04LX as Lidar
-from pltslamshow import SlamShow
+from roboviz import Visualizer
if __name__ == '__main__':
@@ -39,7 +39,7 @@ if __name__ == '__main__':
slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
# Set up a SLAM display
- display = SlamShow(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
+ display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
# Initialize empty map
mapbytes = bytearray(MAP_SIZE_PIXELS * MAP_SIZE_PIXELS)
diff --git a/examples/xvslam.py b/examples/xvslam.py
index 5a7df33..e8a633e 100755
--- a/examples/xvslam.py
+++ b/examples/xvslam.py
@@ -28,7 +28,7 @@ from breezyslam.sensors import XVLidar as LaserModel
from xvlidar import XVLidar as Lidar
-from pltslamshow import SlamShow
+from roboviz import Visualizer
from sys import stdout
@@ -41,7 +41,7 @@ if __name__ == '__main__':
slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
# Set up a SLAM display
- display = SlamShow(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
+ display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
# Initialize an empty trajectory
trajectory = []