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Works with roboviz.MapVisualizer instead of Visualizer

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simondlevy
2019-01-04 01:45:26 -05:00
parent e2e6ce53a1
commit c5ac00142e
5 changed files with 10 additions and 10 deletions
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4
examples/logmovie.py
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@@ -40,7 +40,7 @@ MAP_SIZE_METERS = 32
from breezyslam.algorithms import Deterministic_SLAM, RMHC_SLAM from breezyslam.algorithms import Deterministic_SLAM, RMHC_SLAM
from mines import MinesLaser, Rover, load_data from mines import MinesLaser, Rover, load_data
from roboviz import Visualizer from roboviz import MapVisualizer
from sys import argv, exit from sys import argv, exit
from time import sleep from time import sleep
@@ -111,7 +111,7 @@ def main():
else Deterministic_SLAM(MinesLaser(), MAP_SIZE_PIXELS, MAP_SIZE_METERS) else Deterministic_SLAM(MinesLaser(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
# Set up a SLAM display, named by dataset # Set up a SLAM display, named by dataset
display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, dataset) display = MapVisualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, dataset)
# Pose will be modified in our threaded code # Pose will be modified in our threaded code
pose = [0,0,0] pose = [0,0,0]

4
examples/rpslam.py
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@@ -32,7 +32,7 @@ MIN_SAMPLES = 200
from breezyslam.algorithms import RMHC_SLAM from breezyslam.algorithms import RMHC_SLAM
from breezyslam.sensors import RPLidarA1 as LaserModel from breezyslam.sensors import RPLidarA1 as LaserModel
from rplidar import RPLidar as Lidar from rplidar import RPLidar as Lidar
from roboviz import Visualizer from roboviz import MapVisualizer
if __name__ == '__main__': if __name__ == '__main__':
@@ -43,7 +43,7 @@ if __name__ == '__main__':
slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS) slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
# Set up a SLAM display # Set up a SLAM display
display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM') display = MapVisualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
# Initialize an empty trajectory # Initialize an empty trajectory
trajectory = [] trajectory = []

4
examples/rpslam_scipy.py
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@@ -33,7 +33,7 @@ from breezyslam.sensors import RPLidarA1 as LaserModel
from rplidar import RPLidar as Lidar from rplidar import RPLidar as Lidar
from roboviz import Visualizer from roboviz import MapVisualizer
from scipy.interpolate import interp1d from scipy.interpolate import interp1d
import numpy as np import numpy as np
@@ -47,7 +47,7 @@ if __name__ == '__main__':
slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS) slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
# Set up a SLAM display # Set up a SLAM display
display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM') display = MapVisualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
# Initialize an empty trajectory # Initialize an empty trajectory
trajectory = [] trajectory = []

4
examples/urgslam.py
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@@ -28,7 +28,7 @@ from breezyslam.sensors import URG04LX as LaserModel
from breezylidar import URG04LX as Lidar from breezylidar import URG04LX as Lidar
from roboviz import Visualizer from roboviz import MapVisualizer
if __name__ == '__main__': if __name__ == '__main__':
@@ -39,7 +39,7 @@ if __name__ == '__main__':
slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS) slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
# Set up a SLAM display # Set up a SLAM display
display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM') display = MapVisualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
# Initialize empty map # Initialize empty map
mapbytes = bytearray(MAP_SIZE_PIXELS * MAP_SIZE_PIXELS) mapbytes = bytearray(MAP_SIZE_PIXELS * MAP_SIZE_PIXELS)

4
examples/xvslam.py
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@@ -28,7 +28,7 @@ from breezyslam.sensors import XVLidar as LaserModel
from xvlidar import XVLidar as Lidar from xvlidar import XVLidar as Lidar
from roboviz import Visualizer from roboviz import MapVisualizer
if __name__ == '__main__': if __name__ == '__main__':
@@ -39,7 +39,7 @@ if __name__ == '__main__':
slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS) slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
# Set up a SLAM display # Set up a SLAM display
display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM') display = MapVisualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
# Initialize an empty trajectory # Initialize an empty trajectory
trajectory = [] trajectory = []