From bb926bac955d316e6c5907ca87ef7b4484549bd8 Mon Sep 17 00:00:00 2001 From: simondlevy Date: Thu, 25 Aug 2016 19:42:18 -0400 Subject: [PATCH] Cleaned up --- examples/pltslamshow.py | 33 ++------------------------------- 1 file changed, 2 insertions(+), 31 deletions(-) diff --git a/examples/pltslamshow.py b/examples/pltslamshow.py index eba5463..d85c1ff 100644 --- a/examples/pltslamshow.py +++ b/examples/pltslamshow.py @@ -18,33 +18,8 @@ along with this code. If not, see . ''' # Robot display params -ROBOT_COLOR_BGR = (0, 0, 255) -ROBOT_HEIGHT = 16 -ROBOT_WIDTH = 10 - -ROBOT_HEIGHT_MM = 500 -ROBOT_WIDTH_MM = 300 - -# Scan point display params -SCANPOINT_RADIUS = 1 -SCANPOINT_COLOR_BGR = (0, 255, 0) - -# Display params for odometry-based velocity -SENSOR_V_MAX_MM = 1000 -SENSOR_THETA_MAX_DEG = 20 -SENSOR_BAR_X = 150 -SENSOR_BAR_Y_OFFSET = 3 -SENSOR_BAR_WIDTH = 20 -SENSOR_BAR_MAX_HEIGHT = 200 -SENSOR_TEXT_X = 20 -SENSOR_V_Y = 30 -SENSOR_THETA_Y = 80 -SENSOR_LABEL_COLOR_BGR = (255,0,0) -SENSOR_POSITIVE_COLOR_BGR = (0,255,0) -SENSOR_NEGATIVE_COLOR_BGR = (0,0,255) - -# Trajectory display params -TRAJECTORY_COLOR_BGR = (255, 0, 0) +ROBOT_HEIGHT_MM = 500 +ROBOT_WIDTH_MM = 300 import matplotlib.pyplot as plt import matplotlib.cm as colormap @@ -75,8 +50,6 @@ class SlamShow(object): self.ax.set_aspect("auto") self.ax.set_autoscale_on(True) - map_size_mm = map_scale_mm_per_pixel * map_size_pixels - # Use an "artist" to speed up map drawing self.img_artist = None @@ -167,5 +140,3 @@ def plt_rotate(x, y, r, deg): dx = r * c dy = r * s return x+dx, y+dy - -