No more OpenCV

examples/logmovie.py

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+#!/usr/bin/env python
+
+'''
+logdemo.py : BreezySLAM Python demo.  Reads logfile with odometry and scan data
+             from Paris Mines Tech and displays showing robot pose and map in 
+             real time.
+             
+For details see
+
+    @inproceedings{coreslam-2010,
+      author    = {Bruno Steux and Oussama El Hamzaoui},
+      title     = {CoreSLAM: a SLAM Algorithm in less than 200 lines of C code},
+      booktitle = {11th International Conference on Control, Automation, 
+                   Robotics and Vision, ICARCV 2010, Singapore, 7-10 
+                   December 2010, Proceedings},
+      pages     = {1975-1979},
+      publisher = {IEEE},
+      year      = {2010}
+    }
+                 
+Copyright (C) 2016 Simon D. Levy and Matt Lubas
+
+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 <http://www.gnu.org/licenses/>.
+'''
+
+# Map size, scale
+MAP_SIZE_PIXELS          = 800
+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, sleep
+from threading import Thread
+
+def threadfunc(robot, slam, timestamps, lidars, odometries, use_odometry, mapbytes, pose):
+    '''
+    Threaded function runs SLAM, setting the map bytes and robot pose for display
+    on the main thread.
+    '''
+
+    # Initialize time for delay
+    prevtime = 0
+
+    # Loop over scans    
+    for scanno in range(len(lidars)):
+
+        if use_odometry:
+                  
+            # Convert odometry to velocities
+            velocities = robot.computeVelocities(odometries[scanno])
+                                 
+            # Update SLAM with lidar and velocities
+            slam.update(lidars[scanno], velocities)
+            
+        else:
+        
+            # Update SLAM with lidar alone
+            slam.update(lidars[scanno])
+
+        # Get new position
+        pose[0],pose[1],pose[2] = slam.getpos()    
+
+        # Get new map
+        slam.getmap(mapbytes)
+
+        # Add delay to yield to main thread
+        currtime = timestamps[scanno] / 1.e6 # Convert usec to sec
+        if prevtime > 0:
+            sleep(currtime-prevtime)
+        prevtime = currtime
+    
+def main():
+	    
+    # Bozo filter for input args
+    if len(argv) < 3:
+        print('Usage:   %s <dataset> <use_odometry> <random_seed>' % argv[0])
+        print('Example: %s exp2 1 9999' % argv[0])
+        exit(1)
+    
+    # Grab input args
+    dataset = argv[1]
+    use_odometry  =  True if int(argv[2]) else False
+    seed =  int(argv[3]) if len(argv) > 3 else 0
+    
+	# Load the data from the file    
+    timestamps, lidars, odometries = load_data('.', dataset)
+    
+    # Build a robot model if we want odometry
+    robot = Rover() if use_odometry else None
+        
+    # Create a CoreSLAM object with laser params and optional robot object
+    slam = RMHC_SLAM(MinesLaser(), MAP_SIZE_PIXELS, MAP_SIZE_METERS, random_seed=seed) \
+           if seed \
+           else Deterministic_SLAM(MinesLaser(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
+           
+    # Create a byte array to receive the computed maps
+    mapbytes = bytearray(MAP_SIZE_PIXELS * MAP_SIZE_PIXELS)
+
+    # Set up a SLAM display, named by dataset
+    display = SlamShow(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, dataset)
+
+    # Pose will be modified in our threaded code
+    pose = [0,0,0]
+
+    # Launch the data-collection / update thread
+    thread = Thread(target=threadfunc, args=(robot, slam, timestamps, lidars, odometries, use_odometry, mapbytes, pose))
+    thread.daemon = True
+    thread.start()
+    
+    # Loop forever,displaying current map and pose
+    while True:
+
+        # Display map and robot pose
+        display.displayMap(mapbytes)
+        display.setPose(*pose)
+
+        # Refresh the display, exiting gracefully if user closes it
+        if not display.refresh():
+            exit(0)
+                    
+main()